Communication method and device

Abstract

The invention provides a communication method and device, belongs to the technical field of communication, and is used for improving the precision of sensing data. In the method, a sensing function can determine a first device and a second device which jointly execute a sensing service according to a sensing demand corresponding to the sensing service, and after the sensing function triggers the first device and the second device to execute the sensing service, the second device can enhance sensing data obtained by executing the sensing service by the first device, so that the sensing data is enhanced. The sparsity of the sensing data can be improved, and the precision of the sensing data is further improved so as to meet the requirements of sensing services.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a communication method and apparatus. Background Technology

[0002] The core idea of ​​integrated sensing and communication (ISAC) technology is to add sensing capabilities to mobile communication networks, building the ability to detect, track, and image targets, thereby integrating communication and sensing capabilities into a single network. Currently, the sensing function (SF) can receive sensing service requests from the application function (AF) and generate corresponding sensing control requests based on these requests. The SF can then send these sensing control requests to sensing devices. The sensing devices can perform sensing operations based on the received sensing control requests to obtain sensing data. For a single sensing service, multiple sensing devices may need to perform joint sensing, and the sensing data measured by these multiple sensing devices is integrated to obtain the sensing result.

[0003] However, how to improve the accuracy of the perceived data is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a communication method and apparatus to improve the accuracy of sensed data.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, a communication method is provided. This method can be executed by a sensing function, by a module applied to the sensing function (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the sensing function. For ease of description, the following description uses the method executed by a sensing function as an example. The method includes: the sensing function receiving a sensing service request and, based on the sensing requirements corresponding to the sensing service, determining a first device and a second device that need to jointly execute the sensing service; the sensing function triggering the first device and the second device to execute the sensing service. The sensing service request includes the sensing requirements corresponding to the sensing service, and the second device is used to enhance the sensing data obtained by the first device executing the sensing service.

[0007] As can be seen from the method described in the first aspect, the sensing function can determine the first device and the second device to jointly execute the sensing service according to the sensing requirements corresponding to the sensing service. After the sensing function triggers the first device and the second device to execute the sensing service, the second device can enhance the sensing data obtained by the first device in executing the sensing service. In this way, the sparsity of the sensing data can be improved, and the accuracy of the sensing data can be further improved to meet the requirements of the sensing service.

[0008] In one possible design, the sensing function determines the first and second devices that need to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service. This includes: the sensing function determining the first and second devices based on the sensing capabilities of the first device and / or the second device, as well as the sensing requirements corresponding to the sensing service. The sensing capabilities of the first device include the sensing requirements that the first device can meet, and the sensing capabilities of the second device include the sensing requirements that the second device can meet. In other words, the sensing function can first determine the first and second devices based on the sensing capabilities of the first and / or the second device, as well as the sensing requirements corresponding to the sensing service, so that the first and second devices can be subsequently triggered to jointly execute the sensing service.

[0009] In one possible design, the method described in the first aspect may further include: the sensing function sending a first sensing requirement, or a sensing requirement corresponding to a sensing service, to a first device; and the sensing function sending a second sensing requirement, or a sensing requirement corresponding to a sensing service, to a second device. The first sensing requirement is determined by the sensing requirement corresponding to the sensing service and the sensing capability of the first device; the second sensing requirement is determined by the sensing requirement corresponding to the sensing service and the sensing capability of the second device.

[0010] In other words, the sensing function can determine the first requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the first device, and determine the second requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the second device. The first requirement is within the range of sensing needs that the first device can meet, and the second requirement is within the range of sensing needs that the second device can meet. In this way, it can avoid the situation where the sensing needs allocated to the first and second devices exceed their sensing capabilities, thereby improving the efficiency of sensing. Alternatively, the sensing function can also directly send the sensing needs corresponding to the sensing service to the first and second devices without calculation and processing, thus saving costs.

[0011] In one possible design, the sensing function determines a first device and a second device that need to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service. This includes: the sensing function determines the first device based on the sensing requirements corresponding to the sensing service, and determines the second device based on the first sensing data and the sensing requirements corresponding to the sensing service. The first sensing data is obtained by the first device executing the sensing service. In other words, the sensing function can first determine the first device to execute the sensing service, and then determine the second device based on the first sensing data obtained by the first device and the sensing requirements corresponding to the sensing service. For example, if the first sensing data cannot meet the sensing requirements corresponding to the sensing service, the second device can be determined to improve the accuracy of the first sensing data and better meet the needs of the sensing service.

[0012] In one possible design scheme, after the sensing function determines the first device based on the sensing requirements corresponding to the sensing service, the method described in the first aspect may further include: the sensing function sending a first sensing requirement, or a sensing requirement corresponding to the sensing service, to the first device. The first sensing requirement is determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the first device. After the sensing function determines the second device based on the first sensing data and the sensing requirements corresponding to the sensing service, the method described in the first aspect may further include: the sensing function sending a second sensing requirement, or a sensing requirement corresponding to the sensing service, to the second device. The second sensing requirement is determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the second device.

[0013] In other words, the sensing function can first determine the first requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the first device. Then, after the sensing function determines that the second device needs to jointly execute the sensing service, it determines the second requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the second device. The first requirement falls within the range of sensing needs that the first device can meet, and the second requirement falls within the range of sensing needs that the second device can meet. This avoids the sensing needs allocated to the first and second devices exceeding their sensing capabilities, thereby improving sensing efficiency. Alternatively, the sensing function can directly send the sensing needs of the sensing service to the first and second devices without calculation or processing, saving overhead.

[0014] In one possible design, the method described in the first aspect may further include: the sensing function acquiring the sensing capabilities of the first device and the second device, for the sensing function to determine that the first device and the second device need to jointly execute the sensing service, as well as the first sensing requirement and the second sensing requirement, etc. It is understood that the sensing function may acquire the sensing capabilities of the first device from the first device (through forwarding via other network elements) or data management network elements, without limitation; the sensing function may acquire the sensing capabilities of the second device from the second device (through forwarding via other network elements) or data management network elements, without limitation.

[0015] In one possible design, the method described in the first aspect may further include: the sensing function sending first instruction information to the second device. The first instruction information is used to instruct the second device to enhance the sensing data obtained by the first device from performing sensing services. That is, the sensing function can trigger the second device to enhance the sensing data obtained by the first device from performing sensing services through the first instruction information, thereby achieving on-demand instruction and flexibility.

[0016] In one possible design, the method described in the first aspect may further include: the sensing function receiving sensing data obtained from a first device performing a sensing service, and receiving sensing data obtained from a second device performing a sensing service. The sensing function performs data fusion on the sensing data obtained from the first device performing a sensing service and the sensing data obtained from the second device performing a sensing service to obtain fused sensing data. That is, the sensing function can be used to perform data augmentation, in which case the data processing capabilities required for the first and second devices are relatively low.

[0017] In one possible design scheme, the sensing requirements corresponding to the sensing service include at least one of the following: sensing accuracy, resolution, refresh rate, latency, detection rate, sensing area, missed detection rate, false alarm rate, confidence level, or sensing time, to meet the needs of different sensing scenarios and sensing services.

[0018] Secondly, a communication method is provided. This method can be executed by a first device, by a module applied to the first device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first device. For ease of description, the following description assumes that the method is executed by the first device. The method includes: the first device determining second indication information based on a first condition and sending the second indication information to the sensing function. The first condition includes at least one of the following: the sensing capability of the first device, the sensing requirement corresponding to the sensing service, a first sensing requirement, or first sensing data; the first sensing requirement is determined based on the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service; the second indication information indicates that other devices need to jointly perform the sensing service with the first device, or that the sensing capability or the first sensing data of the first device cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0019] As can be seen from the method described in the second aspect, the first device can determine that other devices need to jointly perform the sensing service based on one or more of the first device's sensing capabilities, the sensing requirements corresponding to the sensing service, the first sensing requirement, or the first sensing data. In other words, if the first device's sensing capabilities or the first sensing data cannot meet the sensing requirements corresponding to the sensing service or the first sensing requirement, the first device can send a second indication message to the sensing function to trigger the sensing function to determine the device that will jointly perform the sensing service with the first device, so as to improve the accuracy of the sensing data and meet the requirements of the sensing service.

[0020] In one possible design, the method described in the second aspect may further include: a first device sending third instruction information to a sensing function and receiving third sensing data from a second device. The third instruction information indicates that other devices are needed to enhance the sensing data obtained by the first device performing sensing services; the second device is a device determined by the sensing function to jointly perform sensing services with the first device; the third sensing data is obtained by the second device after fusing the first and second sensing data; the first and second sensing data are obtained by the first device performing sensing services. That is, the first device can use the third instruction information to indicate to the sensing function that other devices are needed to enhance the sensing data obtained by the first device performing sensing services. Subsequently, the sensing function can directly determine the second device with data processing capabilities based on the third instruction information and instruct the second device to enhance the sensing data obtained by the first device performing sensing services.

[0021] In one possible design, before the first device receives the third sensing data from the second device, the method described in the second aspect may further include: the first device sending the first sensing data to the second device. That is, the first device can first send the first sensing data to the second device, and subsequently the second device can directly enhance the first sensing data without requesting the first device to obtain the first sensing data again, thereby enabling the second device to enhance the first sensing data.

[0022] In one possible design, the method described in the second aspect may further include: a first device sending a fourth indication message to a sensing function and receiving second sensing data from a second device. The first device performs data fusion on the second sensing data and the first sensing data to obtain third sensing data. The fourth indication message indicates that the first device has data processing capabilities; the second device is a device determined by the sensing function to jointly perform sensing services with the first device; the second sensing data is obtained by the second device performing the sensing services; and the first sensing data is obtained by the first device performing the sensing services. That is, the first device reports to the sensing function that it has data processing capabilities, so that the sensing function can subsequently instruct the second device jointly performing the sensing services to send corresponding second sensing data to the first device, thereby enabling the first device to enhance the second sensing data.

[0023] In one possible design, the second aspect of the method may further include: the first device receiving a first sensing request or a sensing request corresponding to a sensing service from the sensing function. That is, the sensing service may be triggered by an application function, which sends the sensing request corresponding to the sensing service to the sensing function. The sensing function can directly send the sensing request corresponding to the sensing service to the first device, simplifying implementation and reducing overhead. Alternatively, the sensing function may, based on the sensing request corresponding to the sensing service and the sensing capabilities of the first device, send a first request within the range of sensing requests that the first device can satisfy, to avoid situations where the sensing requests allocated to the first device exceed its sensing capabilities, thereby improving sensing efficiency. It is understood that the sensing service may also be triggered by the first device itself, without limitation.

[0024] In one possible design, the second aspect of the method may further include: the first device determining a third sensing requirement based on a second condition and sending the third sensing requirement to the sensing function. The second condition includes at least one of the following: a sensing requirement corresponding to a sensing service, first sensing data, or the sensing capability of the first device. The third sensing requirement may be a sensing requirement that the first device needs from other devices (which may be equal to the sensing requirement corresponding to the sensing service), so that the subsequent sensing function can directly instruct the second device to perform the sensing service based on the third sensing requirement. Alternatively, the sensing function may also determine a sensing requirement, such as a fourth sensing requirement, based on the third sensing requirement and the sensing capability of the second device, and instruct the second device to perform the sensing service based on the fourth sensing requirement, etc., without limitation.

[0025] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0026] Furthermore, the technical effects of the method described in the second aspect can also refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0027] Thirdly, a communication method is provided. This method can be executed by a first device, by a module applied to the first device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first device. For ease of description, the following description assumes that the method is executed by the first device. The method includes: the first device determining fifth indication information based on a third condition and sending the fifth indication information to a second device. The third condition includes at least one of the following: the first device's sensing capability, the sensing requirement corresponding to the sensing service, a first sensing requirement, or first sensing data; the first sensing requirement is determined based on the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service; the fifth indication information indicates that the second device needs to jointly perform the sensing service with the first device, or that the first device's sensing capability or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0028] Based on the method described in the third aspect, the first device can determine that the second device needs to jointly execute the sensing service based on one or more of the first device's sensing capabilities, the sensing requirements corresponding to the sensing service, the first sensing requirements, or the first sensing data. In other words, if the first device's sensing capabilities or the first sensing data cannot meet the sensing requirements corresponding to the sensing service or the first sensing requirements, the first device can trigger the sending of a fifth instruction message to the second device, so as to subsequently trigger the second device to determine the device that will jointly execute the sensing service with the first device, thereby improving the accuracy of the sensing data and meeting the requirements of the sensing service.

[0029] In one possible design, the method described in the third aspect may further include: the first device sending a sixth instruction message to the second device and receiving third sensing data from the second device. The sixth instruction message indicates that the second device needs to enhance the sensing data obtained by the first device performing sensing services; the third sensing data is obtained by the second device after data fusion of the first and second sensing data; the first and second sensing data are obtained by the first device performing sensing services. That is, the first device may send a fifth instruction message to the second device indicating that the second device needs to enhance the sensing data obtained by the first device performing sensing services, and subsequently, the second device may determine to enhance the sensing data obtained by the first device performing sensing services.

[0030] In one possible design, the method described in the third aspect may further include: before the first device receives the third sensing data from the second device, the method described in the third aspect may further include: the first device sending the first sensing data to the second device.

[0031] In one possible design, the method described in the third aspect may further include: the first device sending a seventh indication message to the second device and receiving second sensing data from the second device. The first device performs data fusion on the second sensing data and the first sensing data to obtain third sensing data; wherein, the first sensing data is obtained by the first device performing sensing services. The seventh indication message is used to indicate that the first device has data processing capabilities; the second sensing data is obtained by the second device performing sensing services; the first sensing data is obtained by the first device performing sensing services. That is, the first device reports to the second device that it has data processing capabilities, so that the second device can subsequently send corresponding second sensing data to the first device to enhance the second sensing data.

[0032] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0033] Furthermore, the technical effects of the method described in the third aspect can also refer to the technical effects of the methods described in the first and second aspects, which will not be elaborated here.

[0034] Fourthly, a communication method is provided. This method can be executed by a second device, by a module applied to the second device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the second device. For ease of description, the following description assumes that the method is executed by a second device. The method includes: the second device receiving first indication information from a sensing function, and obtaining third sensing data based on the first indication information. The first indication information is used to instruct the second device to enhance the sensing data obtained by the first device performing a sensing service; the third sensing data is obtained by the second device after fusing the first and second sensing data; the first sensing data is obtained by the first device performing a sensing service, and the second sensing data is obtained by the second device performing a sensing service.

[0035] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0036] Furthermore, the technical effects of the method described in the fourth aspect can also refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0037] Fifthly, a communication method is provided. This method can be executed by a second device, by a module applied to the second device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the second device. For ease of description, the following description assumes that the method is executed by the second device. The method includes: the second device receiving fifth indication information from a first device and executing a sensing service according to the fifth indication information. The fifth indication information is used to instruct the second device and the first device to jointly execute the sensing service, or, the first device's sensing capability or first sensing data cannot meet the sensing requirements or first sensing requirements corresponding to the sensing service, whereby the first sensing requirements are determined based on the sensing requirements corresponding to the sensing service, and the first sensing data is obtained by the first device executing the sensing service.

[0038] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0039] Furthermore, the technical effects of the method described in the fifth aspect can also refer to the technical effects of the methods described in the first and third aspects, which will not be repeated here.

[0040] A sixth aspect provides a communication device. The communication device includes modules for performing the method described in the first aspect. For example, a transceiver module and a processing module. The transceiver module performs the transceiver functions of the communication device, and the processing module performs functions of the communication device other than the transceiver functions.

[0041] The transceiver module receives sensing service requests. The processing module determines the first and second devices that need to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service, and triggers the first and second devices to execute the sensing service. The sensing service request includes the sensing requirements corresponding to the sensing service; the second device enhances the sensing data obtained by the first device executing the sensing service.

[0042] In one possible design, the processing module is further configured to determine the first device and the second device based on the sensing capabilities of the first device and / or the second device, as well as the sensing requirements corresponding to the sensing services. The sensing capabilities of the first device include the sensing requirements that the first device can meet, and the sensing capabilities of the second device include the sensing requirements that the second device can meet.

[0043] In one possible design, the transceiver module is further configured to send a first sensing requirement, or a sensing requirement corresponding to a sensing service, to a first device, and to send a second sensing requirement, or a sensing requirement corresponding to a sensing service, to a second device. The first sensing requirement is determined by the sensing requirement corresponding to the sensing service and the sensing capability of the first device; the second sensing requirement is determined by the sensing requirement corresponding to the sensing service and the sensing capability of the second device.

[0044] In one possible design, the processing module is further configured to determine a first device based on the sensing requirements corresponding to the sensing service, and to determine a second device based on the first sensing data and the sensing requirements corresponding to the sensing service. The first sensing data is obtained by the first device performing the sensing service.

[0045] In one possible design, after the communication device described in the sixth aspect determines the first device based on the sensing requirements corresponding to the sensing service, the transceiver module is further configured to send the first sensing requirement, or the sensing requirement corresponding to the sensing service, to the first device. After the communication device determines the second device based on the first sensing data and the sensing requirements corresponding to the sensing service, the transceiver module is further configured to send the second sensing requirement, or the sensing requirement corresponding to the sensing service, to the second device. The first sensing requirement is determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the first device; the second sensing requirement is determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the second device.

[0046] In one possible design, the processing module is also used to acquire the sensing capabilities of the first device and the second device.

[0047] In one possible design, the transceiver module is further configured to send first indication information to the second device. This first indication information instructs the second device to enhance the sensing data obtained by the first device from performing sensing services.

[0048] In one possible design, the transceiver module is further configured to receive sensing data obtained from the first device performing sensing services, and to receive sensing data obtained from the second device performing sensing services. The processing module is further configured to perform data fusion on the sensing data obtained from the first device performing sensing services and the sensing data obtained from the second device performing sensing services, to obtain fused sensing data.

[0049] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0050] Optionally, the transceiver module may include a sending module and a receiving module. The sending module implements the sending function of the communication device described in the sixth aspect, and the receiving module implements the receiving function of the communication device described in the sixth aspect.

[0051] Optionally, the communication device described in the sixth aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the first aspect.

[0052] It is understood that the communication device described in the sixth aspect may be a sensing function, or a chip (system) or other component or assembly that can be set in the sensing function, or a device that includes a sensing function. This application does not limit this.

[0053] Furthermore, the technical effects of the communication device described in the sixth aspect can be referred to the technical effects of the method described in the first aspect, and will not be repeated here.

[0054] A seventh aspect provides a communication device. The communication device includes: a module for performing the method described in the second aspect, for example, a transceiver module and a processing module. The transceiver module is used to perform the transceiver functions of the communication device, and the processing module is used to perform functions of the communication device other than the transceiver functions.

[0055] The processing module is used to determine the second indication information based on the first condition. The transceiver module is used to send the second indication information to the sensing function. The first condition includes at least one of the following: the sensing capability of the communication device described in the seventh aspect, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data; the first requirement is determined based on the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the communication device performing the sensing service; the second indication information is used to indicate that other devices need to jointly perform the sensing service with the first device, or that the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0056] In one possible design, before the communication device described in the seventh aspect receives the third sensing data from the second device, the transceiver module is also used to send the first sensing data to the second device.

[0057] In one possible design, the transceiver module is further configured to send a fourth indication message to the sensing function and receive second sensing data from the second device. The processing module is further configured to fuse the second sensing data and the first sensing data to obtain third sensing data. The fourth indication message indicates that the communication device described in the seventh aspect has data processing capabilities; the second device is a device determined by the sensing function to jointly perform sensing services with the communication device; the second sensing data is obtained by the second device performing the sensing services; and the first sensing data is obtained by the communication device performing the sensing services.

[0058] In one possible design, the transceiver module is also used to receive the first sensing requirement from the sensing function or the sensing requirement from the sensing service.

[0059] In one possible design, the processing module is further configured to determine a third sensing requirement based on the second condition. The transceiver module is further configured to send the third sensing requirement to the sensing function. The second condition includes at least one of the following: sensing requirement corresponding to the sensing service, first sensing data, or the sensing capability of the communication device described in the seventh aspect.

[0060] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0061] Optionally, the transceiver module may include a transmitting module and a receiving module. The transmitting module implements the transmitting function of the communication device described in the seventh aspect, and the receiving module implements the receiving function of the communication device described in the seventh aspect.

[0062] Optionally, the communication device described in the seventh aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the second aspect.

[0063] It is understood that the communication device described in the seventh aspect may be the first device, or a chip (system) or other component or assembly that can be disposed in the first device, or a device that includes the first device, and this application does not limit it in this regard.

[0064] Furthermore, the technical effects of the communication device described in the seventh aspect can be referred to the technical effects of the method described in the second aspect, and will not be repeated here.

[0065] Eighthly, a communication device is provided. The communication device includes: a module for performing the method described in the third aspect, for example, a transceiver module and a processing module. The transceiver module is used to perform the transceiver functions of the communication device, and the processing module is used to perform functions of the communication device other than the transceiver functions.

[0066] The processing module is used to determine the fifth indication information based on the third condition. The transceiver module is used to send the fifth indication information to the second device. The third condition includes at least one of the following: the sensing capability of the communication device described in the eighth aspect, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data; the first sensing requirement is determined based on the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the communication device performing the sensing service; the fifth indication information is used to indicate that the second device needs to jointly perform the sensing service with the communication device, or that the sensing capability of the communication device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0067] In one possible design, the transceiver module is further configured to send a sixth instruction message to the second device and receive third sensing data from the second device. The sixth instruction message indicates that the second device needs to enhance the sensing data obtained by the communication device performing sensing services as described in the eighth aspect; the third sensing data is obtained by the second device after fusing the first and second sensing data; the first sensing data is obtained by the communication device performing sensing services, and the second sensing data is obtained by the second device performing sensing services.

[0068] In one possible design, before the communication device described in the eighth aspect receives the third sensing data from the second device, the transceiver module is also used to send the first sensing data to the second device.

[0069] In one possible design, the transceiver module is further configured to send a seventh indication message to the second device and receive second sensing data from the second device. The processing module is further configured to fuse the second sensing data and the first sensing data to obtain third sensing data. The seventh indication message is used to indicate that the communication device described in the eighth aspect has data processing capabilities; the second sensing data is obtained by the second device performing sensing services; and the first sensing data is obtained by the communication device performing sensing services.

[0070] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0071] Optionally, the transceiver module may include a transmitting module and a receiving module. The transmitting module implements the transmitting function of the communication device described in the eighth aspect, and the receiving module implements the receiving function of the communication device described in the eighth aspect.

[0072] Optionally, the communication device described in the eighth aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the third aspect.

[0073] It is understood that the communication device described in the eighth aspect may be the first device, or a chip (system) or other component or assembly that can be disposed in the first device, or a device that includes the first device, and this application does not limit it in this regard.

[0074] Furthermore, the technical effects of the communication device described in the eighth aspect can be referred to the technical effects of the method described in the third aspect, and will not be repeated here.

[0075] A ninth aspect provides a communication device. The communication device includes: a module for performing the method described in the fourth aspect, for example, a transceiver module and a processing module. The transceiver module is used to perform the transceiver functions of the communication device, and the processing module is used to perform functions of the communication device other than the transceiver functions.

[0076] The transceiver module is used to receive fifth indication information from the first device. The processing module is also used to execute sensing services according to the fifth indication information. The fifth indication information is used to instruct the communication device described in the ninth aspect to jointly execute sensing services with the first device, or, if the sensing capability of the first device or the first sensing data cannot meet the sensing requirements of the sensing service or the first sensing requirement, the first sensing requirement is determined according to the sensing requirements corresponding to the sensing service, and the first sensing data is obtained by the first device executing the sensing service.

[0077] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0078] Optionally, the transceiver module may include a transmitting module and a receiving module. The transmitting module implements the transmitting function of the communication device described in the ninth aspect, and the receiving module implements the receiving function of the communication device described in the ninth aspect.

[0079] Optionally, the communication device described in the ninth aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the fourth aspect.

[0080] It is understood that the communication device described in the ninth aspect may be a second device, or a chip (system) or other component or assembly that can be disposed in the second device, or a device that includes the second device. This application does not limit this.

[0081] Furthermore, the technical effects of the communication device described in the ninth aspect can be referred to the technical effects of the method described in the fourth aspect, and will not be repeated here.

[0082] A tenth aspect provides a communication device. The communication device includes: a module for performing the method described in the fifth aspect, such as a transceiver module and a processing module. The transceiver module performs the transceiver function of the communication device, and the processing module performs functions of the communication device other than the transceiver function.

[0083] The transceiver module is further configured to receive fifth instruction information from the first device. The processing module is configured to execute sensing services according to the fifth instruction information. The fifth instruction information is used to instruct the communication device described in the tenth aspect and the communication device described in the eighth aspect to jointly execute sensing services with the first device, or that the sensing capability or first sensing data of the first device cannot meet the sensing requirements or first sensing requirements corresponding to the sensing services, whereby the first sensing requirements are determined based on the sensing requirements corresponding to the sensing services, and the first sensing data is obtained by the first device executing the sensing services.

[0084] In one possible design scheme, the perception requirements corresponding to the perception service include at least one of the following: perception accuracy, resolution, refresh rate, latency, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

[0085] Optionally, the transceiver module may include a transmitting module and a receiving module. The transmitting module implements the transmitting function of the communication device described in the tenth aspect, and the receiving module implements the receiving function of the communication device described in the tenth aspect.

[0086] Optionally, the communication device according to the tenth aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the fifth aspect.

[0087] It is understood that the communication device described in the tenth aspect may be a second device, or a chip (system) or other component or assembly that can be disposed in the second device, or a device that includes the second device, and this application does not limit it in this regard.

[0088] Furthermore, the technical effects of the communication device described in the tenth aspect can be referred to the technical effects of the method described in the fifth aspect, and will not be repeated here.

[0089] Eleventhly, a communication device is provided, comprising: a processor; the processor being coupled to a memory for storing a computer program, wherein when the processor executes the computer program, the communication device is configured to perform the method described in any one of the first to fifth aspects.

[0090] In one possible design, the communication device described in the eleventh aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the eleventh aspect and other communication devices.

[0091] In the embodiments of this application, the communication device described in the eleventh aspect can be the sensing function described in the first aspect, or a chip (system) or other component or assembly disposed in the sensing function, or a device containing the sensing function; or, the communication device described in the eleventh aspect can be the first device described in the second or third aspect, or a chip (system) or other component or assembly disposed in the first device, or a device containing the first device; or, the communication device described in the eleventh aspect can be the second device described in the fourth or fifth aspect, or a chip (system) or other component or assembly disposed in the second device, or a device containing the second device.

[0092] Furthermore, the technical effects of the communication device described in the eleventh aspect can be referred to the technical effects of the method described in any of the implementations of the first to fifth aspects, and will not be repeated here.

[0093] In a twelfth aspect, a communication device is provided. The communication device includes a processor coupled to a memory, the processor being configured to execute a computer program stored in the memory, such that the communication device performs the method described in any one of the possible implementations of the first to fifth aspects.

[0094] In one possible design, the communication device described in the twelfth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the twelfth aspect and other communication devices.

[0095] In the embodiments of this application, the communication device described in the twelfth aspect may be the sensing function described in the first aspect, or a chip (system) or other component or assembly disposed in the sensing function, or a device containing the sensing function; or, the communication device described in the twelfth aspect may be the first device described in the second or third aspect, or a chip (system) or other component or assembly disposed in the first device, or a device containing the first device; or, the communication device described in the twelfth aspect may be the second device described in the fourth or fifth aspect, or a chip (system) or other component or assembly disposed in the second device, or a device containing the second device.

[0096] Furthermore, the technical effects of the communication device described in the twelfth aspect can be referred to the technical effects of the method described in any of the implementations of the first to fifth aspects, and will not be repeated here.

[0097] In a thirteenth aspect, a communication device is provided, comprising: a processor and a memory; the memory is configured to store a computer program, which, when executed by the processor, causes the communication device to perform the method described in any one of the first to fifth aspects.

[0098] In one possible design, the communication device described in aspect thirteen may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in aspect thirteen and other communication devices.

[0099] In the embodiments of this application, the communication device described in the thirteenth aspect can be the sensing function described in the first aspect, or a chip (system) or other component or assembly disposed in the sensing function, or a device containing the sensing function; or, the communication device described in the thirteenth aspect can be the first device described in the second or third aspect, or a chip (system) or other component or assembly disposed in the first device, or a device containing the first device; or, the communication device described in the thirteenth aspect can be the second device described in the fourth or fifth aspect, or a chip (system) or other component or assembly disposed in the second device, or a device containing the second device.

[0100] Furthermore, the technical effects of the communication device described in aspect thirteen can be referred to the technical effects of the method described in any of the implementations of aspect one or aspect two, and will not be repeated here.

[0101] Fourteenthly, a communication system is provided. The communication system includes the sensing functions, a first device, and a second device as described in the first to fifth aspects.

[0102] In a fifteenth aspect, a communication chip is provided, wherein instructions are stored that, when the chip is operated on a communication device, cause the communication method described in any one of the first to fifth aspects to be implemented.

[0103] In a sixteenth aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, causing the computer to perform the method described in any one of the possible implementations of the first to fifth aspects.

[0104] In a seventeenth aspect, a computer program product is provided, comprising: a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in any one of the possible implementations of the first to fifth aspects. Attached Figure Description

[0105] Figure 1 This is a schematic diagram of a 5G network architecture based on a service-oriented architecture.

[0106] Figure 2 This is a schematic diagram of a 5G network architecture based on a point-to-point interface.

[0107] Figure 3 This is a schematic diagram of the architecture of the communication system provided in the embodiments of this application;

[0108] Figure 4 Flowchart of the communication method provided in the embodiments of this application Figure 1 ;

[0109] Figure 5 Flowchart of the communication method provided in the embodiments of this application Figure 2 ;

[0110] Figure 6 Flowchart of the communication method provided in the embodiments of this application Figure 3 ;

[0111] Figure 7 Flowchart of the communication method provided in the embodiments of this application Figure 4 ;

[0112] Figure 8 Flowchart of the communication method provided in the embodiments of this application Figure 5 ;

[0113] Figure 9 Flowchart of the communication method provided in the embodiments of this application Figure 6 ;

[0114] Figure 10 Flowchart of the communication method provided in the embodiments of this application Figure 7 ;

[0115] Figure 11 This is a schematic diagram of the communication device provided in this embodiment. Figure 1 ;

[0116] Figure 12 This is a schematic diagram of the communication device provided in this embodiment. Figure 2 . Detailed Implementation

[0117] For ease of understanding, the technical terms involved in the embodiments of this application will be introduced below.

[0118] 1. Fifth generation (5G) mobile communication system

[0119] Figure 1 This is a schematic diagram of a 5G network architecture based on a service-oriented architecture. (For example...) Figure 1 As shown, the 5G network may include an access network (AN) and a core network (CN), and may also include terminal equipment.

[0120] The aforementioned terminal equipment can be a terminal with transceiver functions, or a chip or chip system that can be installed in the terminal. This terminal equipment can also be referred to as user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user device. The terminal devices in the embodiments of this application may be mobile phones, cellular phones, smartphones, tablets, wireless data cards, personal digital assistants (PDAs), wireless modems, handsets, laptop computers, machine-type communication (MTC) terminals, computers with wireless transceiver capabilities, virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, roadside units (RSUs) with terminal functions, etc. The terminal device of this application may also be an on-board module, on-board unit, on-board component, on-board chip or on-board unit that is built into a vehicle as one or more components or units.

[0121] The aforementioned AN is used to implement access-related functions, providing network access capabilities to authorized users in specific areas, and determining transmission links of different quality levels to transmit user data based on user level, service requirements, etc. The AN forwards control signals and user data between the terminal device and the CN. The AN may include access network equipment, also known as radio access network (RAN) equipment. The CN is primarily responsible for maintaining the mobile network's subscription data, providing terminal devices with functions such as session management, mobility management, policy management, and security authentication. The CN mainly includes the following: User plane function (UPF), Authentication server function (AUSF), Access and mobility management function (AMF), Session management function (SMF), Network slice selection function (NSSF), Network exposure function (NEF), Network repository function (NRF), Policy control function (PCF), Unified data management (UDM), Unified data repository (UDR), Sensing function (SF), and Application function (AF).

[0122] like Figure 1 As shown, the UE accesses the 5G network through the RAN device. The UE communicates with the AMF through the N1 interface (N1 for short); the RAN communicates with the AMF through the N2 interface (N2 for short); the RAN communicates with the UPF through the N3 interface (N3 for short); the SMF communicates with the UPF through the N4 interface (N4 for short); and the UPF accesses the data network (DN) through the N6 interface (N6 for short). Furthermore, Figure 1The control plane functions shown, such as AUSF, AMF, SMF, NSSF, NEF, NRF, PCF, UDM, UDR, or AF, interact using service-oriented interfaces. For example, the service-oriented interface provided by AUSF is Nausf; AMF is Namf; SMF is Nsmf; NSSF is Nnssf; NEF is Nnef; NRF is Nnrf; PCF is Npcf; UDM is Nudm; UDR is Nudr; AF is Naf; and the service-oriented interface provided by SF can be any other possible interface without limitation.

[0123] RAN equipment can be a device that provides access for terminal devices. For example, RAN equipment may include: access network equipment in a future mobile communication system, such as a base station in a future communication system, or in a future mobile communication system, the network equipment may also have other naming conventions, all of which are covered within the protection scope of the embodiments of this application, and this application does not limit them in any way. Alternatively, RAN equipment may also include 5G, such as a gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in 5G, or it may be a network node constituting a gNB, a transmission and reception point (TRP) or a transmission point (TP) or a transmission measurement function (TMF), such as a building baseband unit (BBU), or a centralized unit (CU) or a distributed unit (DU), an RSU with base station functionality, or a wired access gateway, or the core network of 5G. Alternatively, RAN equipment may also include access points (APs) in wireless fidelity (WiFi) systems, wireless relay nodes, wireless backhaul nodes, various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, vehicle-mounted equipment, and so on.

[0124] UPF is primarily responsible for user data processing (forwarding, receiving, billing, etc.).

[0125] AUSF is primarily used to perform security authentication for terminal devices.

[0126] AMF is primarily used for mobility management in mobile networks. Examples include user location updates, user network registration, and user handover.

[0127] SMF is primarily used for session management in mobile networks. This includes session establishment, modification, and release. Specific functions include assigning Internet Protocol (IP) addresses to users and selecting a UPF (User Provider for Packet Forwarding) to provide packet forwarding capabilities.

[0128] The PCF primarily supports providing a unified policy framework to control network behavior, delivering policy rules to control-layer network functions, and acquiring user subscription information related to policy decisions. The PCF can provide policies to the AMF and SMF, such as Quality of Service (QoS) policies and slice selection policies.

[0129] NSSF is primarily used to select network slices for terminal devices.

[0130] NEF is primarily used to support the opening of capabilities and events.

[0131] UDM is primarily used to store user data, such as contract data and authentication / authorization data.

[0132] UDR is primarily used to store structured data, including contract data, policy data, externally exposed structured data, and application-related data.

[0133] The SF (Sensing Controller) primarily participates in receiving sensing service requests and acquiring corresponding sensing requirements, selecting and requesting relevant sensing devices to perform sensing operations and receiving corresponding sensing measurement data, and providing the sensing measurement data or sensing results obtained based on the sensing measurement data to the sensing requester. The SF can have separate control and user planes; that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separate. The SF-C can send control signaling to sensing devices through the control plane, such as sensing control requests. The SF-U can receive sensing measurement data from sensing devices through the data plane and optionally process the sensing measurement data to obtain sensing results. The SF-C can control the SF-U; for example, the SF-C can select a suitable SF-U and configure one or more of the identification rules, processing rules, or routing rules for sensing measurement data to that SF-U. The SF can be a location management function (LMF), or the SF can be part of an LMF; or the SF and LMF can be combined, without limitation.

[0134] AF primarily supports interaction with CN to provide services, such as influencing data routing decisions, policy control functions, or providing third-party services to the network side.

[0135] Figure 2 This is a schematic diagram of a 5G network architecture based on a point-to-point interface. Figure 2 With the above Figure 1 The difference is that, Figure 2 The interfaces between the various network elements are point-to-point interfaces, not service-oriented interfaces. This is understandable. Figure 2 For a detailed introduction to the functions of each network element, please refer to the above. Figure 1 The specific details of the relevant content will not be elaborated upon here.

[0136] It is understood that the CN may also include other possible network elements, without limitation. The functions mentioned in the embodiments of this application may also describe functional network elements or functional entities. For example, UPF can be described as UPF network element, AMF can be described as AMF network element, SMF can be described as SMF network element, PCF can be described as PCF network element, and so on, without limitation.

[0137] It should be noted that this application uses a 5G system as an example to introduce the relevant technical solutions, but the application of these technical solutions is not limited to 5G systems. It is understood that the relevant technical solutions may also be applicable to subsequent evolved communication systems (future communication systems).

[0138] 2. Perception

[0139] Perception can refer to the process by which communication entities in a wireless network determine information about their surrounding environment by sending and receiving signals after they have passed through objects. This environmental information can include information about one or more objects within the environment. Object information can include the object's position, speed, size, or shape. These objects can alter the transmission characteristics of signals, such as changing the transmission direction, transmission gain, transmission delay, or frequency. Therefore, communication entities can achieve perception by detecting these changes in signal transmission characteristics. For example, channel response information obtained through channel estimation can reflect changes in a signal after passing through different transmission environments (or channels). Consequently, when a signal passes through an object, the channel response information can reflect the changes in the object's transmission characteristics.

[0140] For example, channel response information may include channel impulse response (CIR), channel frequency response (CFR), or channel state information (CSI), etc., and this application embodiment does not specifically limit it.

[0141] It should be understood that the "signal after being acted upon by an object" mentioned above may include: a signal after being reflected by an object; a signal after being refracted by an object; a signal after being scattered by an object; a signal after being diffracted by an object; or a signal after being transmitted by an object, etc. The embodiments of this application do not specifically limit this.

[0142] It is understood that the aforementioned objects can be moving or stationary, and can be active or passive. Active objects can refer to those with data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, and radio frequency identification (RFID) devices. Passive objects can refer to those without data processing capabilities, such as human bodies, animals, plants, vehicles, and buildings.

[0143] It should be understood that "object" can also be called "scatterer", "reflector", "refractor", "blocker", or "obstacle", etc. In other words, in the embodiments of this application, "object", "scatterer", "reflector", "refractor", "blocker", and "obstacle" can be used interchangeably, which will be uniformly stated here and will not be repeated below.

[0144] It should also be understood that the aforementioned "communication entity" can also be referred to as "network entity," "communication device," "communication equipment," "communication node," or "site." In other words, in the embodiments of this application, "communication entity," "network entity," "communication device," "communication equipment," "communication node," and "site" can be used interchangeably, and will not be elaborated further below.

[0145] 3. Integrated Sensing and Communication (ISAC)

[0146] ISAC, also known as Harmonized Communication and Sensing (HCS), is considered a key technology for expanding the service capabilities of mobile communication networks during the evolution from 5G to 5G-advanced (5G-A) technology. The core idea of ​​this technology is to add sensing capabilities to the mobile communication network, building the ability to detect, track, and image targets, thereby integrating communication and sensing capabilities into a single network.

[0147] With the development of 5G networks, the demand for new network capabilities based on sensing is gradually emerging. For example, in certain scenarios of smart cities and smart transportation, the need to acquire relative positions and angles between objects, as well as to sense the distance, speed, and shape of target objects, is becoming increasingly apparent. To meet these business needs, 5G networks should be further enhanced to have the ability to assist wireless networks in sensing. In the future, 5G can deploy radar-communication integrated base stations to enhance the sensing capabilities of base stations. The precise sensing capabilities of radar can enable precise communication and improve communication efficiency. For example, the communication and sensing resources of base stations can be time-division multiplexed or space-division multiplexed to achieve the perception of the surrounding environment or objects. Sensing functions can be used for detection in security scenarios where cameras cannot be installed. For example, in specific industrial parks, it can detect intrusions by flying objects such as drones. In traffic scenarios, roadside stations can perform functions such as traffic flow statistics and vehicle navigation, all of which require roadside base stations to have certain sensing capabilities.

[0148] The technical principles of sensing differ somewhat from those of communication. In communication, the transmitting end modulates information onto radio waves and sends it to the receiving end, which then demodulates the signal to obtain the information. Sensing, however, requires the transmitting end to send radio waves in a specific direction. When these radio waves strike a target surface, they are reflected, and the receiving end receives and processes these reflected waves to obtain information such as the target's position, speed, and type.

[0149] For example, existing wireless signals in the environment (sound, light, radio frequency signals, etc.) can be used "additionally" to sense the environment while fulfilling their primary functions (lighting, communication, etc.). Taking radio frequency signals as an example, radio waves generated by a signal transmitter undergo physical phenomena such as direct transmission, reflection, and scattering during propagation, thus forming multiple propagation paths. As a result, the multipath superposition signal formed at the signal receiver carries information reflecting the signal propagation space. Wireless sensing technology (or sensorless scene sensing technology) analyzes the changes in wireless signals during propagation to obtain the characteristics of the signal propagation space (channel), thereby achieving scene perception. During wireless communication, electromagnetic waves transmit signals while propagating through space, also carrying environmental information. For example, if the wireless fidelity (Wi-Fi) signal received by a mobile phone is weak, it may be because the phone is far from the wireless router; while if the Wi-Fi signal strength received by the phone drops sharply, it is likely because the phone has entered a specific enclosed space such as an elevator. In this example, the received signal strength indicator (RSSI) is used as a feature to infer the phone's location and its environment. The selection of signal features has a crucial impact on sensing accuracy, reliability, and model generalization ability.

[0150] Radar sensing is a common wireless sensing technology that analyzes the characteristics of received target echoes to extract and discover the target's position, shape, motion characteristics, and trajectory, and can further infer the characteristics of the target and its environment. Its function is similar to that of human eyes and ears. Compared to other sensors, radar sensing has many unique advantages. For example, compared to visual sensors, radar is unaffected by light conditions, has the ability to penetrate obstructions, and can better protect personal privacy; compared to ultrasonic technology, radar has a longer sensing range and does not cause harm to people or animals. Radar sensing can support a wide range of applications. For example, millimeter-wave radar is already widely used in automotive driver assistance systems to detect pedestrians and vehicles ahead, enabling collision avoidance warnings. In addition, radar has many potential applications in homes, smart buildings, autonomous driving, and wearable devices. Currently, with the continuous development of new low-power, small radar sensors, radar technology is widely used in many smart devices and electronic products.

[0151] The advantage of radar technology lies in motion detection. It observes and interprets the target's motion state, such as direction and speed, through the Doppler effect of the target's echo. When using multi-channel sensors, the target's motion can also be observed from different perspectives. By acquiring the target's motion state from different perspectives and combining instantaneous and historical information for analysis, complex motion can be distinguished.

[0152] The following is a simple explanation of existing sensing methods and algorithms, using the detection of the existence of a target object and its direction of motion as an example:

[0153] (1) Device A sends a sensing signal, which is reflected by a target in the environment and then received by Device B.

[0154] (2) Device B detects the existence of the target object and its direction of motion based on the sensing signal and the echo signal.

[0155] For example, device B can determine whether a target has passed through the detection area based on changes in echo signal intensity, mainly for line-of-sight (LOS) scene detection; device B can also use the amplitude and phase information in the channel state information, after filtering and other processing, to replace echo signal intensity detection, improve target detection accuracy, especially for non-line-of-sight (NLOS) scene detection.

[0156] (3) Device B analyzes the channel state information of multiple receivers to obtain the movement direction information of the target object in the monitoring area.

[0157] Currently, the SF can receive sensing service requests from the AF and generate corresponding sensing control requests based on these requests. The SF can then send these sensing control requests to the sensing devices. The sensing devices can perform sensing operations based on the received sensing control requests to obtain sensing data. For a single sensing service, multiple sensing devices may need to perform joint sensing. By integrating the sensing data measured by these multiple sensing devices, a sensing result can be obtained.

[0158] However, how to improve the accuracy of the perceived data is an urgent problem to be solved.

[0159] For example, with the large-scale application of sensing services, considering the limited sensing capabilities of sensing devices, the sensing capabilities of a certain sensing device may not be able to meet the sensing requirements corresponding to the sensing services. In this case, it may be necessary to enhance the sensing data measured by the sensing device to provide more accurate sensing data to SF and AF to meet the needs of the sensing services.

[0160] For example, the key performance indicator (KPI) for sensing data in the sensing service #1 requested by the AF is a sensing (distance) accuracy of 4 meters (m). Taking joint or collaborative sensing of this sensing service #1 by UE#1 and RAN#1 as an example, the sensing accuracy corresponding to the sensing data obtained by UE#1 in executing sensing service #1 is 10m, and the sensing accuracy corresponding to the sensing data obtained by RAN#1 in executing sensing service #1 is 5m. Neither UE#1 nor RAN#1 can achieve the sensing accuracy requested by sensing service #1. In this case, RAN#1 can enhance the sensing data obtained by UE#1 in executing sensing service #1 (i.e., data fusion), or UE#1 can enhance the sensing data obtained by RAN#1 in executing sensing service #1 to obtain sensing data with a sensing accuracy of 4 meters, and then make it available to AF and SF to achieve the enhancement of sensing data.

[0161] To address the aforementioned technical problems, this application proposes the following technical solutions to improve the accuracy of perceived data.

[0162] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0163] The technical solutions of this application can be applied to various communication systems, such as Wi-Fi wireless network systems, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, fourth-generation (4G) mobile communication systems such as LTE systems, worldwide interoperability for microwave access (WiMAX) communication systems, 5G such as NR systems, and future communication systems.

[0164] In the embodiments of this application, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information (such as the first instruction information, second instruction information, or third instruction information below) is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Simultaneously, the common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0165] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0166] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information messages sent separately, and the sending period and / or timing of these sub-information messages can be the same or different. The specific sending method is not limited in this application embodiment. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the sending device by sending configuration information to the receiving device.

[0167] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device. This application does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0168] The “protocol” mentioned in this application embodiment may refer to a protocol family in the field of communication, a standard protocol with a similar protocol family frame structure, or a related protocol applied to future communication systems. This application embodiment does not specifically limit this.

[0169] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0170] In the description of the embodiments of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of this application is merely a description of 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, and B alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. "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, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., are not necessarily different. Furthermore, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0171] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0172] To facilitate understanding of the embodiments of this application, let's first take... Figure 3 The communication system illustrated herein is used as an example to illustrate a communication system applicable to embodiments of this application. For example, Figure 3 This is a schematic diagram of the architecture of a communication system to which the communication method provided in the embodiments of this application is applicable.

[0173] like Figure 3 As shown, this communication system can be applied to the aforementioned 5G communication system and mainly includes: sensing function, first device and second device.

[0174] The sensing function primarily involves receiving sensing service requests and acquiring corresponding sensing needs, selecting and requesting relevant sensing devices to perform sensing operations and receiving corresponding sensing measurement data, and providing the sensing measurement data or sensing results obtained based on the sensing measurement data to the sensing requester. For example, the sensing function could be the SF (Signal Transfer Function) in the aforementioned 5G communication system; specific details can be found in the relevant introduction to the aforementioned 5G communication system, and no limitations are imposed.

[0175] The first and second devices can be devices with sensing capabilities. For example, the first and second devices can be terminal devices or access network devices in the 5G communication system mentioned above. For details, please refer to the relevant introduction of the 5G communication system mentioned above. No limitation is made in this regard.

[0176] In this communication system, the sensing function can determine the first and second devices to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service. After the sensing function triggers the first and second devices to execute the sensing service, the second device can enhance the sensing data obtained by the first device in executing the sensing service. In this way, the sparsity of the sensing data can be improved, and the accuracy of the sensing data can be further improved to meet the requirements of the sensing service.

[0177] For ease of understanding, the following will combine... Figures 4-10 This paper details the interaction process between various network elements / devices in the aforementioned communication system through specific method embodiments. The communication method provided in this application can be applied to the aforementioned communication system and specifically to various scenarios mentioned in the aforementioned communication system, which will be described in detail below.

[0178] For example, Figure 4 Flowchart of the communication method provided in the embodiments of this application Figure 1 This communication method is applicable to the aforementioned communication system and mainly involves sensing functions, the interaction between the first device and the second device.

[0179] like Figure 4 As shown, the flow of this communication method is as follows:

[0180] S401, the sensing function receives sensing service requests.

[0181] Among them, the perception service request can include the perception requirements corresponding to the perception service.

[0182] The sensing requirements of this sensing service can be used to instruct the device performing the sensing to perform sensing operations according to the sensing requirements. In other words, every time the sensing function receives a sensing service request, the device performing the sensing needs to perform sensing operations according to the sensing requirements of the sensing service corresponding to the sensing service request.

[0183] In one possible design scheme, the sensing requirements corresponding to the sensing service may include at least one of the following: sensing accuracy, resolution, refresh rate, latency, detection rate, sensing area, missed detection rate, false alarm rate, confidence level, or sensing time.

[0184] Among them, the sensing accuracy can include sensing distance accuracy, speed accuracy, angle accuracy, etc., which are used to indicate the ability of the sensing device to perform sensing on the target and the error between the obtained sensing measurement result and the actual result, or the error requirement, or the degree of closeness. For example, sensing angle measurement accuracy can indicate the error between the sensing measurement value of the target and the true value in terms of angle.

[0185] Resolution can include distance resolution, velocity resolution, and angular resolution, which respectively indicate the ability of a sensing device to distinguish two neighboring targets in terms of distance, velocity, and angle when performing sensing of a measured target, or the requirement to distinguish two neighboring targets, or the difference required to distinguish two neighboring targets.

[0186] Refresh rate indicates the frequency at which sensing measurement data or sensing results are updated, or the continuity of sensing measurement data or sensing results. Refresh rate can also be called frame rate. For example, if the sensing measurement data is sensing point cloud information or point cloud images, then the refresh rate can be the refresh rate of the point cloud information. The higher the refresh rate, the better the continuity of the point cloud information or point cloud images.

[0187] Latency can be used to indicate the time interval between receiving a sensing request from a sensing requester and returning the sensing result to the requester; or, the time interval between a sensing application triggering a sensing request and its application receiving the sensing result; or, the time interval between a sensing device performing a sensing operation and returning the sensing result to the sensing requester.

[0188] The detection rate can be used to indicate the probability of a target being identified as actually existing, or in other words, the ratio of successful detection events to all detection events for an actual existing target when obtaining perception results within a predetermined period.

[0189] The sensing area can be used to indicate the geographical location or area where the sensing device needs to perform sensing operations. It can be represented by absolute coordinates or relative coordinates, without limitation.

[0190] The false negative rate can be used to indicate the probability that a target that actually exists is judged as not being a target. In other words, it indicates the ratio of the detection loss / failure events to all detection events for a target that actually exists when acquiring perception results within a predetermined period.

[0191] The false alarm rate can be used to indicate the probability of judging a target as present when it does not actually exist, or the probability of judging a target as absent when it actually exists. In other words, it indicates the ratio of events that do not represent a target object to all detected events when acquiring perception results within a predetermined period.

[0192] Confidence level can be used to indicate the percentage of true perception results among all detections at a given perception accuracy.

[0193] The sensing moment can be used to indicate a specific point in time when a sensing device needs to perform sensing.

[0194] It is understood that the perception requirements corresponding to perception business can also include any other possible parameters, without limitation. The naming of this perception requirement is only an example and can be replaced with any other possible names, such as perception KPI, perception data KPI, or perception parameter, without limitation.

[0195] Optionally, the sensing service request may also include the requested sensing service and the sensing service type. For example, the sensing service type may include road monitoring, residential intrusion detection, object distribution, illegal driving detection, object trajectory tracking, object positioning, weather monitoring, human health, etc., without limitation.

[0196] Optionally, the sensing service request may also include identification information of the sensing service, such as the identity (ID) of the sensing service. The ID of the sensing service corresponds one-to-one with the sensing requirement corresponding to the sensing service, so that the subsequent sensing function can identify which sensing service the received sensing data corresponds to.

[0197] It is understood that the Sensing Function (SF) can receive sensing service requests from the Application Function (AF). For example, the AF can send the sensing service request to the SF through the Network Capability Opening Function (NEF), i.e., the sensing service request triggered by the AF; or, the Sensing Function can obtain the sensing service request in any other possible way, without limitation.

[0198] It is understood that the naming of the above-mentioned perception service request is only an example. The perception service request can also be replaced with any other possible names, such as first message, request message, etc., without limitation.

[0199] S402, the sensing function determines the first and second devices that need to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service.

[0200] That is, the first and second devices are used to collaboratively perceive the sensing service.

[0201] The following example illustrates this step in detail.

[0202] Scenario 1:

[0203] The sensing function determines the first device and the second device based on the sensing capabilities of the first device and / or the second device, as well as the sensing requirements corresponding to the sensing services.

[0204] The sensing capability of the first device may include the sensing needs that the first device can meet (or provide), and the sensing capability of the second device may include the sensing needs that the second device can meet (or provide).

[0205] For example, the sensing requirements that the first device can meet may include at least one of the following: a first sensing resolution, a first sensing accuracy, a first sensing area, a first refresh rate, a first latency, a first detection rate, a first missed detection rate, a first false alarm rate, a first confidence level, or a first sensing time. The sensing requirements that the second device can meet may include at least one of the following: a second sensing resolution, a second sensing accuracy, a second sensing area, a second refresh rate, a second latency, a second detection rate, a second missed detection rate, a second false alarm rate, a second confidence level, or a second sensing time. This application does not limit whether the sensing requirements that the first device can meet and the sensing requirements that the second device can meet are the same.

[0206] Optionally, the sensing capability of the first device may also include indications such as whether the first device supports sensing or whether it has sensing capability, without limitation; the sensing capability of the second device may also include indications such as whether the second device supports sensing or whether it has sensing capability, without limitation.

[0207] In scenario 1, the sensing function can simultaneously identify the first device and the second device. For example, the sensing function can determine the first and second devices that need to jointly execute the sensing service based on the sensing capabilities of multiple devices (including the sensing requirements each device can meet) and the sensing requirements corresponding to the sensing service. For instance, taking sensing service #1 as an example, the sensing requirements include: a sensing (distance) accuracy of 4m and a sensing area of ​​square A; multiple devices including device #1, device #2, and device #3. Assume device #1's sensing capabilities include: a sensing (distance) accuracy of 5m and a sensing area of ​​area 1 in square A; device #2's sensing capabilities include: a sensing (distance) accuracy of 10m and a sensing area of ​​area 2 in square A; and device #3's sensing capabilities include: a sensing (distance) accuracy of 3m and a sensing area of ​​square B. At this point, SF can combine the sensing capabilities of device #1, device #2, device #3, and the sensing requirements corresponding to sensing service #1 to determine that device #1 (i.e., the first device mentioned above) and device #2 (i.e., the second device mentioned above) need to jointly execute sensing service #1.

[0208] Alternatively, the sensing function can determine the first and second devices (the second device must support sensing) that need to be jointly sensed based on the sensing capabilities of the first device (including the sensing requirements that the first device can meet) and the sensing requirements corresponding to the sensing services. In this case, the sensing function does not need to know the specific sensing requirements that the second device can meet, but only needs to know that the second device participates in sensing, i.e., the second device needs to have sensing capabilities. Or, the sensing function can determine the first and second devices (the first device must support sensing) that need to be jointly sensed based on the sensing capabilities of the second device (including the sensing requirements that the second device can meet) and the sensing requirements corresponding to the sensing services. In this case, the sensing function does not need to know the specific sensing requirements that the first device can meet, but only needs to know that the first device has sensing capabilities.

[0209] For example, taking the sensing requirements corresponding to sensing service #1 as follows: sensing (distance) accuracy is 4m, and the sensing area is square A, assuming that the sensing capability of device #1 includes: sensing (distance) accuracy is 5m, and the sensing area is area 1 in square A. In this case, SF can determine, based on the sensing capability of device #1 and the sensing requirements corresponding to sensing service #1, that device #1 (i.e., the first device mentioned above) and device #2 (i.e., the second device mentioned above) need to jointly execute sensing service #1, and device #2 must be capable of sensing. It can be understood that the sensing area of ​​device #2 may overlap with square A, etc., without limitation.

[0210] Scenario 2:

[0211] The sensing function determines the first device based on the sensing requirements corresponding to the sensing service.

[0212] The sensing function determines the second device based on the first sensing data and the sensing requirements corresponding to the sensing services.

[0213] The first sensing data can be obtained by the first device performing sensing services.

[0214] In other words, the sensing function can first identify the first device to perform the sensing service, and then determine the second device to jointly perform the sensing service based on the first sensing data reported by the first device. For example, the sensing function can determine which of multiple devices to call to perform the sensing service based on the sensing requirements corresponding to the sensing service, and this first device must be capable of sensing. It is understood that the sensing area of ​​the first device may overlap with the sensing area in the sensing requirements corresponding to the sensing service, etc., without limitation. Afterwards, the sensing function can receive the first sensing data from the first device, and the sensing function can determine the second device based on the first sensing data and the sensing requirements corresponding to the sensing service. For example, if the first sensing data cannot meet the sensing requirements corresponding to the sensing service, the sensing function can determine to call the second device to jointly perform sensing with the first device.

[0215] For example, taking the sensing requirements corresponding to sensing service #1 as follows: sensing (distance) accuracy is 4m, and the sensing area is square A, assuming device #1 executes sensing service #1 in area 1 of square A and obtains sensing data #1 (sensing (distance) accuracy is 5m), device #1 can report this sensing data #1 to SF. SF can determine, based on sensing data #1 and the sensing requirements corresponding to sensing service #1, that the sensing (distance) accuracy of sensing data #1 cannot meet the sensing requirements corresponding to sensing service #1. At this time, SF can determine to call other devices to jointly execute sensing service #1 with device #1. For example, SF can determine device #2 based on the sensing capabilities of multiple devices and the sensing requirements corresponding to the sensing services. It is understood that the implementation process of determining the second device for sensing function in this application embodiment is not limited.

[0216] Based on the descriptions of Situations 1 and 2 above, the second device can be used to enhance the sensing data obtained by the first device performing sensing services. For example, if at least one of the first and second devices cannot meet the sensing requirements corresponding to the sensing service, the second device can enhance the sensing data (i.e., the first sensing data) obtained by the first device performing the sensing service; or, if the first device can meet the sensing requirements corresponding to the sensing service, but in order to further improve the precision and accuracy of the sensing data, the second device can enhance the sensing data (i.e., the first sensing data) obtained by the first device performing the sensing service. The second device needs to have data processing capabilities, that is, the ability to fuse the sensing data obtained by the first device performing the sensing service with the sensing data obtained by the second device performing the sensing service. Its specific implementation can be referred to the relevant descriptions in steps S404 and S405 below, and will not be elaborated further.

[0217] It should be understood that if the first device has data processing capabilities, it can also enhance the sensing data obtained by the second device performing sensing services. The implementation principle is similar to that of the second device enhancing the sensing data obtained by the first device performing sensing services, and can be understood by reference, without further explanation. For ease of understanding, this application embodiment uses the enhancement of sensing data obtained by the second device performing sensing services on the first device as an example for subsequent description.

[0218] S403, the sensing function triggers the first and second devices to perform sensing services.

[0219] Before describing step S403, based on situation 1 above, in one possible design scheme, the above method embodiment may further include:

[0220] The sensing function sends a first sensing request, or a sensing request corresponding to a sensing service, to the first device. Correspondingly, the first device receives the first sensing request from the function, or the sensing request corresponding to the sensing service.

[0221] The sensing function sends a second sensing request, or a sensing request corresponding to a sensing service, to the second device. Correspondingly, the second device receives a first sensing request from the function, or a sensing request corresponding to a sensing service.

[0222] The first sensing requirement can be determined by the sensing requirements corresponding to the sensing service and the sensing capability of the first device. Optionally, the first sensing requirement can also be determined based on the sensing capability of the second device. The second sensing requirement can be determined by the sensing requirements corresponding to the sensing service and the sensing capability of the second device. Optionally, the second sensing requirement can also be determined based on the sensing capability of the first device.

[0223] In other words, the sensing function can determine the first sensing requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the first device. Alternatively, the sensing function can determine the first sensing requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the second device, and then send the first sensing requirement to the first device. This first sensing requirement is within the range of sensing needs that the first device can provide or satisfy. Similarly, the sensing function can determine the second sensing requirement based on the sensing needs corresponding to the sensing service and the sensing capabilities of the second device, or vice versa, and then send the second sensing requirement to the second device. This second sensing requirement is within the range of sensing needs that the first device can provide or satisfy. This avoids situations where the sensing needs allocated to the first and second devices exceed their sensing capabilities, thereby improving sensing efficiency. Alternatively, the sensing function can directly send the sensing needs of the sensing service to the first and second devices without calculation or processing, saving overhead and simplifying implementation.

[0224] It is understood that the first sensing requirement and the second sensing requirement can be the same or different, and are related to the sensing capabilities of the first device and the second device. This application does not limit this.

[0225] The sensing function can send a first sensing requirement or a sensing requirement corresponding to a sensing service to a first device through other network functions (such as AMF), and send a second sensing requirement or a sensing requirement corresponding to a sensing service to a second device, etc. This application embodiment does not limit this.

[0226] It should be noted that this design scheme is for situation 1 above, that is, the situation where the sensing function simultaneously determines the first device and the second device jointly executing the sensing service. In this design scheme, the embodiments of this application do not limit the order in which the sensing function sends the first sensing request or the sensing request corresponding to the sensing service to the first device, and sends the second sensing request or the sensing request corresponding to the sensing service to the second device.

[0227] Based on situation 2 above, in one possible design scheme, the above method embodiment may further include:

[0228] The sensing function sends a first sensing request, or a sensing request corresponding to a sensing service, to the first device. Correspondingly, the first device receives the first sensing request from the function, or the sensing request corresponding to the sensing service.

[0229] After the sensing function determines the second device based on the first sensing data and the sensing requirements corresponding to the sensing service, the above method embodiments may further include:

[0230] The sensing function sends a second sensing request, or a sensing request corresponding to a sensing service, to the second device. Correspondingly, the second device receives a first sensing request from the function, or a sensing request corresponding to a sensing service.

[0231] The first sensing requirement can be determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the first device; the second sensing requirement can be determined by the sensing requirements corresponding to the sensing service and the sensing capabilities of the second device. Optionally, the second sensing requirement can also be determined based on the first sensing data.

[0232] It should be noted that this design scheme is for scenario 2 above, where after the sensing function determines to invoke the first device to execute the sensing service, it first sends a first sensing request, or a sensing request corresponding to the sensing service, to the first device. The first device can perform sensing based on this first sensing request, or the sensing request corresponding to the sensing service, to obtain first sensing data, and then send this first sensing data to the sensing function. The sensing function can determine the second device based on the first sensing data, the sensing request corresponding to the sensing service, and the sensing capabilities of the second device. Afterwards, the sensing function sends a second sensing request, or a sensing request corresponding to the sensing service, to the second device for subsequent sensing based on this second sensing request, or the sensing request corresponding to the sensing service.

[0233] Based on the above description, after the sensing function sends a first sensing request or a sensing request corresponding to a sensing service to the first device, it can directly trigger the first device to perform sensing according to the first sensing request or the sensing request corresponding to the sensing service in order to obtain the first sensing data; similarly, after the sensing function sends a second sensing request or a sensing request corresponding to a sensing service to the second device, it can directly trigger the second device to perform sensing according to the second sensing request or the sensing request corresponding to the sensing service in order to obtain the second sensing data.

[0234] Alternatively, the sensing function can trigger the first and second devices to perform sensing services in other ways, without limitation. For example, after the sensing function sends a first sensing request or a sensing service-related sensing request to the first device, when the sensing function needs the first device to perform the sensing service, the sensing function can send an instruction message, such as instruction message #a, to the first device. This instruction message #a can be used to instruct the first device to perform the sensing service, triggering the first device to perform sensing according to the first sensing request or the sensing service-related sensing request to obtain first sensing data. Similarly, when the sensing function needs the second device to perform the sensing service, the sensing function can send an instruction message, such as instruction message #b, to the second device. This instruction message #b can be used to instruct the second device to perform the sensing service, triggering the second device to perform sensing according to the second sensing request or the sensing service-related sensing request to obtain second sensing data. In this way, on-demand instruction can be implemented to achieve flexibility.

[0235] S404, the sensing function sends a first instruction message to the second device. Correspondingly, the second device receives the first instruction message from the sensing function.

[0236] The first indication information can be used to instruct the second device to enhance the sensing data obtained by the first device from performing sensing services, i.e., a visible indication. For example, the enhancement of the sensing data obtained by the second device from performing sensing services can be achieved by the second device fusing the sensing data obtained by the first device (i.e., the first sensing data) with the sensing data obtained by the second device (i.e., the second sensing data). The precision and accuracy of the fused sensing data (i.e., the third sensing data) are higher than either the first or second sensing data. It is understood that the first device can also directly send the first sensing data to the second device. The second device can determine whether to enhance the first sensing data based on the first sensing data and the sensing requirements corresponding to the sensing services (sent by the sensing function). For example, if the first sensing data cannot meet the sensing requirements corresponding to the sensing services, this is an implicit indication, without limitation.

[0237] It is understood that the naming of the first instruction information mentioned above is only an example, and the first instruction information can be replaced with any other possible name without limitation.

[0238] S405, the second device obtains the third sensing data according to the first instruction information.

[0239] The third sensing data can be obtained by the second device after fusing the first sensing data and the second sensing data; the first sensing data can be obtained by the first device performing sensing services (based on the first sensing requirements or sensing requirements corresponding to the sensing services); and the second sensing data can be obtained by the second device performing sensing services (based on the second sensing requirements or sensing requirements corresponding to the sensing services).

[0240] The first sensing data can be a range-velocity (RV) spectrum, a Doppler velocity-range spectrum, or point cloud data, etc., without limitation; the second sensing data can be a range-velocity spectrum, a Doppler velocity-range spectrum, or point cloud data, etc., without limitation; the third sensing data can be a range-velocity spectrum, a Doppler velocity-range spectrum, or point cloud data, etc., without limitation.

[0241] For example, the first sensing data is RV spectrum #1, and the second sensing data is RV spectrum #2. The second device can fuse RV spectrum #1 and RV spectrum #2. The specific steps are as follows: The first access network device determines the overlapping parts in RV spectrum #1 and RV spectrum #2. If there are targets at the same positions in RV spectrum #1 and RV spectrum #2, then the target in one of the RV spectra can be selected. For example, the target information in the sensing data with higher precision can be selected as the final sensing data. For the non-overlapping parts in RV spectrum #1 and RV spectrum #2, the first access network device can migrate the non-overlapping parts in RV spectrum #2 to RV spectrum #1 based on RV spectrum #2, so as to fuse RV spectrum #1 and RV spectrum #2 to obtain the fused RV spectrum #3 (i.e., the aforementioned third sensing data).

[0242] It is understood that the above data fusion process is only an example, and the embodiments of this application do not limit it.

[0243] It is understood that the specific implementation of the second device obtaining the first sensing data in the embodiments of this application is not limited.

[0244] Optionally, after acquiring the third sensing data, the second device can send the third sensing data to the sensing function. The sensing function can also send the third sensing data to the application function so that the application function can perform subsequent processing based on the third sensing data. This will not be elaborated further. It should be noted that when the user plane of the sensing function is deployed in the network, the third sensing data can be sent to the user plane of the sensing function, i.e., SF-U.

[0245] In summary, the sensing function can determine the first and second devices to jointly execute the sensing service based on the sensing requirements corresponding to the sensing service. After the sensing function triggers the first and second devices to execute the sensing service, the second device can enhance the sensing data obtained by the first device in executing the sensing service and send the enhanced sensing data (i.e., the aforementioned third sensing data) to the sensing function. In this way, the sparsity of the sensing data can be improved, and the accuracy and precision of the sensing data can be further improved to meet the needs of the sensing service.

[0246] In conjunction with the above description, one possible design scheme for the above method embodiment may further include:

[0247] The sensing function acquires the sensing capabilities of the first device and the sensing capabilities of the second device.

[0248] It is understandable that the sensing function can obtain the sensing capabilities of the first device from the first device or the data management function (such as UDM); similarly, the sensing function can obtain the sensing capabilities of the first device from the second device or the data management function (such as UDM). For example, the first device can send its sensing capabilities to the sensing function through the AMF, and the second device can send its sensing capabilities to the sensing function through the AMF, etc., without limitation.

[0249] In one possible design scheme, the above method embodiment may further include:

[0250] The first device sends the sensing data (i.e., the first sensing data) obtained from performing sensing services to the sensing function. Correspondingly, the sensing function receives the sensing data obtained from the first device performing sensing services.

[0251] The second device sends the sensing data (i.e., the second sensing data) obtained from performing sensing services to the sensing function. Correspondingly, the sensing function receives the sensing data obtained from the second device performing sensing services.

[0252] The sensing function fuses the sensing data obtained by the first device performing sensing services and the sensing data obtained by the second device performing sensing services to obtain the fused sensing data (i.e., the third sensing data).

[0253] In other words, the first device can report the first sensing data to the sensing function, and the second device can report the second sensing data to the sensing function. Subsequently, the sensing function can fuse the first and second sensing data, and can also send the fused third sensing data to the application function so that the application function can perform further processing based on the third sensing data. This will not be elaborated further. In this case, the data processing capabilities required for the first and second devices are relatively low.

[0254] For example, Figure 5 Flowchart of the communication method provided in the embodiments of this application Figure 2 This communication method is applicable to the aforementioned communication system and mainly involves sensing functions, the interaction between the first device and the second device.

[0255] like Figure 5 As shown, the flow of this communication method is as follows:

[0256] S501, the first device determines the second instruction information based on the first condition.

[0257] The first condition may include at least one of the following: the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data. The first sensing requirement can be determined based on the sensing requirement corresponding to the sensing service. For example, the sensing function sends the sensing requirement corresponding to the sensing service or the first sensing requirement to the first device. Correspondingly, the first device receives the first sensing requirement or the sensing requirement corresponding to the sensing service from the sensing function.

[0258] For example, the AF can send the sensing service request to the SF through the NEF. This sensing service request includes the sensing requirements of the sensing service. The SF can then directly send the sensing requirements of the sensing service to the first and second devices through the AMF. Alternatively, the SF can determine the first sensing requirement based on the sensing requirements corresponding to the sensing service and the sensing capabilities of the first device, and send the first sensing requirement to the first device through the AMF, i.e., the sensing service request triggered by the AF. Alternatively, the sensing requirements corresponding to the sensing service can also be sensing requirements corresponding to a sensing service triggered by the first device itself, without limitation. It can be understood that the SF can also directly send the first sensing requirement or the sensing requirements corresponding to the sensing service to the first device, i.e., without forwarding through the AMF, without limitation.

[0259] The first sensing data can be obtained by the first device performing sensing services. For example, the first device can perform sensing services according to the sensing requirements of the sensing services or the first sensing requirements to obtain the first sensing data.

[0260] It should be understood that a detailed description of the sensing capabilities of the first device, the sensing requirements corresponding to the sensing services, the first sensing requirements, or the first sensing data can be found above. Figure 4 The relevant descriptions of the methods shown will not be repeated here.

[0261] The second instruction information can be used to indicate that other devices need to jointly perform sensing services with the first device, or that the sensing capabilities of the first device or the first sensing data cannot meet the sensing requirements or the first sensing needs corresponding to the sensing service. The following is an example illustrating this.

[0262] Scenario 3: The first condition may include: the sensing capability of the first device and the sensing requirements / first sensing requirements corresponding to the sensing services.

[0263] In scenario 3, the sensing function can determine the second indication information based on the sensing capabilities of the first device and the sensing requirements / first sensing requirements corresponding to the sensing service. For example, if the first device determines that its sensing capabilities cannot meet the sensing requirements or first sensing requirements of the sensing service, the first device can determine that other devices need to jointly execute the sensing service with the first device; or, if the first device determines that its sensing capabilities can meet the sensing requirements or first sensing requirements of the sensing service, but in order to further improve the accuracy and precision of the sensing data of the sensing service, the first device can determine that other devices need to jointly execute the sensing service with the first device, etc., without limitation.

[0264] Scenario 4: The first condition may include the first perception data and the perception requirements / first perception requirements corresponding to the perception service.

[0265] In scenario 4, the sensing function can determine the second indication information based on the first sensing data and the sensing requirements / first sensing requirements corresponding to the sensing service. For example, if the first device determines that the first sensing data cannot meet the sensing requirements or first sensing requirements of the sensing service, the first device can determine that other devices need to jointly execute the sensing service with the first device; or, if the first device determines that the first sensing data can meet the sensing requirements or first sensing requirements of the sensing service, but in order to further improve the accuracy and precision of the sensing data for the sensing service, the first device can determine that other devices need to jointly execute the sensing service with the first device, etc., without limitation.

[0266] It is understood that scenarios 3 and 4 above are merely examples, and the first device can determine the second instruction information in any other possible way, without limitation. It is also understood that the naming of the second instruction information above is merely an example, and the second instruction information can be replaced with any other possible name, without limitation.

[0267] S502, the first device sends second instruction information to the sensing function. Correspondingly, the sensing function receives the second instruction information from the first device.

[0268] The first device can send a second instruction to the sensing function to trigger the sensing function to identify other devices that jointly perform the sensing service with the first device.

[0269] S503, the sensing function determines the second device based on the second instruction information.

[0270] The second device can be a device (determined by the sensing function) that jointly performs the sensing service with the first device.

[0271] The following example illustrates the implementation process in detail.

[0272] Scenario 5: The sensing needs of the sensing service or the first sensing needs are obtained by the first device from the sensing function.

[0273] In scenario 5, the sensing function can determine which device to call to execute the sensing service based on the sensing requirements corresponding to the sensing service. The implementation principle is similar to that of scenario 2 above, and can be understood by referring to it without further explanation.

[0274] After the sensing function identifies the second device, it can send a second sensing requirement to the second device based on the second device's sensing capabilities and the sensing requirements corresponding to the sensing service. Alternatively, the sensing function can directly send the sensing requirements corresponding to the sensing service to the second device, so that the second device can subsequently execute the sensing service based on the second sensing requirement or the sensing requirements corresponding to the sensing service.

[0275] Scenario 6: The sensing requirement corresponding to the sensing service is the sensing requirement corresponding to the sensing service triggered by the first device itself.

[0276] In scenario 6, one possible design scheme, the above method embodiment may further include:

[0277] The first device determines the third sensing requirement based on the second condition.

[0278] The first device sends a third sensing request to the sensing function. Correspondingly, the sensing function receives the third sensing request from the first device.

[0279] The second condition may include at least one of the following: the sensing requirements corresponding to the sensing service, the first sensing data, or the sensing capability of the first device.

[0280] The third sensing requirement can be a sensing requirement that the first device needs from other devices (such as a sensing requirement to further improve accuracy and precision); or it can be a sensing requirement that the first device cannot meet (such as the first device not being able to meet part of the sensing requirement corresponding to the sensing service); or it can be the same as the sensing requirement corresponding to the sensing service, etc., without limitation. After the sensing function receives the third sensing requirement, the sensing function can determine which of the multiple devices to call to execute the sensing service based on the third sensing requirement. Its implementation principle is similar to that of case 2 above, which can be referred to for understanding and will not be elaborated further.

[0281] After the sensing function identifies the second device, it can send a fourth sensing request to the second device based on the third sensing request and the sensing capability of the second device. Alternatively, the sensing function can directly send a third sensing request to the second device so that the second device can subsequently execute the sensing service based on the fourth or third sensing request.

[0282] Based on situations 5 and 6 above, the following example illustrates the subsequent steps for determining the second device using the sensing function.

[0283] Scenario 7: The first device instructs other devices to perform enhancements.

[0284] Specifically, the first device sends a third instruction to the sensing function. Correspondingly, the sensing function receives the third instruction from the first device.

[0285] Based on the third indication information, the sensing function sends indication information #c to the second device. Correspondingly, the second device receives the indication information #c from the sensing function.

[0286] The second device obtains the third sensing data based on the instruction information #c;

[0287] The second device sends third sensing data to the first device. Correspondingly, the first device receives the third sensing data from the second device.

[0288] The third indication information can be used to instruct other devices to enhance the sensing data obtained by the first device performing sensing services. The indication information #c can be used to instruct the second device to enhance the sensing data obtained by the first device performing sensing services. The third sensing data can be obtained by the second device after fusing the first and second sensing data; the first sensing data can be obtained by the first device performing sensing services, and the second sensing data can be obtained by the second device performing sensing services.

[0289] For example, after receiving the third indication information, the sensing function can trigger the sending of indication information #c to the second device. The second device can then enhance the sensing data obtained by the first device from performing sensing services based on the indication information #c. For instance, the second device can perform sensing services based on the sensing requirements corresponding to the second / third sensing requirement / sensing service to obtain second sensing data, and then fuse the first and second sensing data to obtain third sensing data. The second device can send the enhanced third sensing data to the first device so that the first device can perform subsequent operations based on the third sensing data (such as the first device triggering a requested sensing service); the second device can also send the third sensing data to the sensing function, which in turn sends the third sensing data to the application function so that the application function can perform subsequent processing based on the third sensing data (such as the application function triggering a requested sensing service), which will not be elaborated further.

[0290] It is understood that the specific implementation of the second device in fusing the first and second sensing data can be referred to the relevant description in step S405 above, and will not be repeated here.

[0291] In scenario 7, in one possible design, before the first device receives the third sensing data from the second device, the above method embodiment may further include:

[0292] The first device sends first sensing data to the second device. Correspondingly, the second device receives the first sensing data from the first device.

[0293] It is understood that the first device can actively send the first sensing data to the second device, or the second device can request the first device to report the first sensing data; there is no limitation. It should be understood that, assuming the first device is a terminal device and the second device is an access network device, the first sensing data can also be stored by the second device during the process of the first device sending data to the sensing function, when the first device forwards the data through the second device, for subsequent data fusion. It is understood that the specific implementation of the second device obtaining the first sensing data in this application embodiment is not limited.

[0294] It is understood that the naming of the third instruction information mentioned above is only an example, and the third instruction information can be replaced with other possible names without limitation.

[0295] Situation 8: The first device indicates that it has data processing capabilities.

[0296] Specifically, the first device sends a fourth instruction to the sensing function. Correspondingly, the sensing function receives the fourth instruction from the first device.

[0297] Based on the fourth indication information, the sensing function sends indication information #d to the second device. Correspondingly, the second device receives the indication information #d from the sensing function.

[0298] The second device sends second sensing data to the first device according to the instruction information #d. Correspondingly, the first device receives the second sensing data from the second device.

[0299] The first device fuses the second and first sensing data to obtain the third sensing data.

[0300] The fourth indication information can be used to indicate that the first device has data processing capabilities. The indication information #d can be used to instruct the second device to send second sensing data to the first device. The second sensing data can be obtained by the second device performing sensing services, and the first sensing data can be obtained by the first device performing sensing services.

[0301] For example, after the sensing function receives the fourth indication information, it can determine that the first device has data processing capabilities, or in other words, the first device can perform data fusion on the sensing data. The sensing function can then trigger the sending of indication information #d to the second device. The second device can execute a sensing service according to the sensing requirements corresponding to the second sensing requirement / third sensing requirement / sensing service, obtain the second sensing data, and send the second sensing data to the first device according to the indication information #d. The first device can fuse the first and second sensing data to obtain the third sensing data. It should be noted that the first device can perform subsequent processing based on the third sensing data (such as the first device triggering a requested sensing service), without limitation. Alternatively, the first device can also send the third sensing data to the sensing function, which then sends the third sensing data to the application function for subsequent processing by the application function based on the third sensing data (such as the application function triggering a requested sensing service), without further elaboration.

[0302] It is understood that the specific implementation of the data fusion of the first sensing data and the second sensing data by the first device can be referred to the relevant description in step S405 above, and will not be repeated here. The naming of the fourth indication information mentioned above is only an example, and the fourth indication information can be replaced with any other possible name without limitation.

[0303] It should be noted that in scenarios 7 and 8 above, the process of the first device sending the third and fourth indication messages to the sensing function can be understood as displaying indications. The sensing function can also determine whether the first device has data processing capabilities based on whether it has reported the first sensing data, thereby determining whether to trigger the sending of indication message #c or indication message #d to the second device. For example, if the first device reports the first sensing data to the sensing function, it implicitly indicates that the first device does not have data processing capabilities, thus triggering the sensing function to send indication message #c to the second device; if the first device does not report the first sensing data to the sensing function, it implicitly indicates that the first device has data processing capabilities, thus triggering the sensing function to send indication message #d to the second device.

[0304] In summary, the first device can determine, based on one or more of its sensing capabilities, the sensing requirements corresponding to the sensing service, the first sensing requirement, or the first sensing data, that other devices need to jointly execute the sensing service with it. In other words, if the first device's sensing capabilities or the first sensing data cannot meet the sensing requirements or the first sensing requirement corresponding to the sensing service, the first device can trigger the sending of a second instruction to the sensing function. This instruction is then used to subsequently trigger the sensing function to determine the device that will jointly execute the sensing service with the first device, such as the second device mentioned above. The first device or the second device can perform data fusion on the sensing data obtained from their joint execution of the sensing service. This can improve the sparsity of the sensing data and further enhance its accuracy to meet the service requirements of the sensing service.

[0305] Figure 6 Flowchart of the communication method provided in the embodiments of this application Figure 3 This communication method is applicable to the aforementioned communication system and mainly involves sensing functions, the interaction between the first device and the second device.

[0306] like Figure 6 As shown, the flow of this communication method is as follows:

[0307] S601, the first device determines the fifth instruction information based on the third condition.

[0308] The third condition may include at least one of the following: the sensing capability of the first device, the sensing requirements corresponding to the sensing service, the first sensing requirement, or the first sensing data. The first sensing requirement can be determined based on the sensing requirements corresponding to the sensing service, and the first sensing data can be obtained by the first device performing the sensing service.

[0309] It should be understood that a detailed description of the sensing capabilities of the first device, the sensing requirements corresponding to the sensing services, the first sensing requirements, or the first sensing data can be found above. Figure 4The relevant descriptions of the methods shown will not be repeated here.

[0310] The fifth instruction information can be used to indicate that the second device needs to jointly perform the sensing service with the first device, or that the sensing capability of the first device or the first sensing data cannot meet the sensing requirements or the first sensing requirements corresponding to the sensing service.

[0311] The second device can be a device determined by the sensing function to jointly perform sensing services with the first device. The sensing function can send the information of the second device, such as the ID of the second device, to the first device so that the first device can determine the second device to jointly perform sensing services with the first device. The implementation principle can be referred to the relevant description in step S503 above, and will not be repeated here. Alternatively, the second device can be a device determined by the first device itself to jointly perform sensing services with the first device. For example, the first device can determine the second device based on the first sensing requirement or the sensing requirement corresponding to the sensing service, as well as the sensing capabilities of multiple devices (sent by multiple devices to the first device, or obtained by the first device from the UDM). The implementation principle is similar to step S503 above, and can be understood by reference, and will not be repeated here.

[0312] It should be understood that the specific implementation of step S601 can be referred to the relevant description in step S501 above (such as cases 3 and 4), and will not be repeated here.

[0313] It is understood that the first device can determine the fifth instruction information in any other possible way, without limitation. It is also understood that the naming of the fifth instruction information described above is merely an example, and the fifth instruction information can be replaced with any other possible name, without limitation.

[0314] S602, the first device sends a fifth instruction message to the second device. Correspondingly, the second device sends a fifth instruction message to the first device.

[0315] The first device can send a fifth instruction message to the second device to directly trigger the second device to execute the sensing service, without needing to go through other network functions, such as sensing function processing, which makes the implementation simple.

[0316] S603, the second device performs sensing services according to the fifth instruction information.

[0317] Before describing step S603, in one possible design, the above method embodiment may further include:

[0318] The first device determines the fifth sensing requirement based on the sixth condition.

[0319] The first device sends a fifth sensing request to the second device. Correspondingly, the second device receives the fifth sensing request from the first device.

[0320] The sixth condition may include at least one of the following: the sensing needs corresponding to the sensing service, the first sensing needs, the first sensing data, or the sensing capabilities of the first device.

[0321] The fifth sensing requirement can be a sensing requirement that the first device needs from the second device (such as a sensing requirement to further improve accuracy and precision); or, the fifth sensing requirement can be a sensing requirement that the first device cannot meet (such as the first device's sensing capabilities or first sensing data not meeting the sensing service's sensing requirements or a portion of the first sensing requirements); or, the fifth sensing requirement can be a sensing requirement corresponding to the sensing service or the first sensing requirement (i.e., the same), etc., without limitation. The first device can send the fifth sensing requirement to the second device for the second device to subsequently execute the sensing service based on the fifth sensing requirement.

[0322] After receiving the fifth sensing request, the second device can execute the sensing service according to the fifth sensing request and obtain the second sensing data.

[0323] It is understandable that the first device determines the implementation principle of the fifth sensing requirement based on the sixth condition, which is similar to the implementation principle of the first device determining the third sensing requirement in situation 6 above. This can be understood by reference and will not be elaborated further.

[0324] Based on the above introduction, the following example illustrates the subsequent steps after the second device obtains the second sensing data.

[0325] Scenario 9: The first device instructs the second device to perform enhancement.

[0326] Specifically, the first device sends a sixth instruction message to the second device. Correspondingly, the second device receives the sixth instruction message from the first device.

[0327] The second device obtains the third sensing data based on the sixth instruction information;

[0328] The second device sends third sensing data to the first device. Correspondingly, the first device receives the third sensing data from the second device.

[0329] The sixth instruction information can be used to instruct the second device to enhance the sensing data obtained by the first device in performing sensing services. The third sensing data can be obtained by the second device after fusing the first and second sensing data; the first sensing data can be obtained by the first device performing sensing services, and the second sensing data can be obtained by the second device performing sensing services (i.e., performing sensing services according to the fifth sensing requirement).

[0330] That is, the second device can fuse the first and second sensing data according to the sixth instruction information to obtain the third sensing data, and send the enhanced third sensing data to the first device for subsequent operations (such as triggering a requested sensing service by the first device) based on the third sensing data, without limitation. It should be noted that the second device can also send the third sensing data to the sensing function, and the sensing function can then send the third sensing data to the application function for subsequent processing (such as triggering a requested sensing service by the application function), etc., without further elaboration.

[0331] It is understood that the specific implementation of the second device in fusing the first and second sensing data can be found in the relevant description in step S405 above, and will not be repeated here. The naming of the sixth indication information mentioned above is only an example, and the sixth indication information can be replaced with any other possible name without limitation.

[0332] In scenario 9, in one possible design, before the first device receives the third sensing data from the second device, the above method embodiment may further include:

[0333] The first device sends first sensing data to the second device. Correspondingly, the second device receives the first sensing data from the first device.

[0334] It is understandable that the specific implementation of scenario 9 can be referred to the relevant introduction in scenario 7 above, and will not be repeated here.

[0335] Case 10: The first device indicates that it has data processing capabilities.

[0336] Specifically, the first device sends a seventh instruction message to the second device. Correspondingly, the second device receives the seventh instruction message from the first device.

[0337] The second device sends second sensing data to the first device according to the seventh instruction information. Correspondingly, the first device receives the second sensing data from the second device.

[0338] The first device fuses the second and first sensing data to obtain the third sensing data.

[0339] Among them, the seventh indication information can be used to indicate that the first device has data processing capabilities; the second perception data can be obtained by the second device performing the perception service (i.e., performing the perception service according to the fifth perception requirement); the first perception data can be obtained by the first device performing the perception service.

[0340] That is, the second device sends the second sensing data to the first device according to the seventh instruction information. The first device can fuse the first and second sensing data to obtain the third sensing data. It should be noted that the first device can perform subsequent processing based on the third sensing data (such as the first device triggering a requested sensing service), without limitation. Alternatively, the first device can also send the third sensing data to the sensing function, and the sensing function can then send the third sensing data to the application function for subsequent processing based on the third sensing data (such as the application function triggering a requested sensing service), etc., which will not be elaborated further.

[0341] It is understood that the specific implementation of the data fusion of the first sensing data and the second sensing data by the first device can be referred to the relevant description in step S405 above, and will not be repeated here. The naming of the seventh indication information mentioned above is only an example, and the seventh indication information can be replaced with any other possible name without limitation.

[0342] In summary, the first device can determine that the second device needs to jointly execute the sensing service based on one or more of its sensing capabilities, the sensing requirements of the sensing service, the first requirement, or the first sensing data. Alternatively, if the first device's sensing capabilities or the first sensing data cannot meet the sensing requirements of the sensing service or the first sensing requirement, the first device can trigger the sending of a fifth instruction message to the second device. This instruction message then prompts the second device to determine the device that will jointly execute the sensing service with the first device. The first or second device can perform data fusion on the sensing data obtained from their joint execution of the sensing service. This improves the sparsity of the sensing data and further enhances its accuracy to meet the service requirements of the sensing service.

[0343] It should be noted that the above method embodiment is illustrated using the joint sensing (same sensing service) of a first device and a second device as an example. The second device can perform data fusion on the sensing data obtained by the two devices jointly performing the sensing service. The above method embodiment is also applicable to scenarios where multiple devices jointly perform sensing (same sensing service). One or more of these devices can perform data fusion on the sensing data of other devices jointly performing the same sensing service to further improve the accuracy of the sensing data and meet the service requirements of the sensing service. The implementation principle is similar and can be understood by reference, so it will not be elaborated further.

[0344] The above, in conjunction with the method embodiments, provides an overall overview of the communication method provided in this application. For ease of understanding, the method is further described below using four specific scenarios:

[0345] It is understood that the first device mentioned above can be either a UE or a RAN, and the second device can also be either a UE or a RAN, without limitation. For ease of understanding, scenarios 1-4 below will be introduced using the UE as the first device and the RAN as the second device as an example.

[0346] Scene 1: Figure 7 Flowchart of the communication method provided in the embodiments of this application Figure 4 This communication method mainly involves the interaction between UE#1 (the aforementioned first device), RAN#1 (the aforementioned second device), SF (the aforementioned sensing function), AF (the aforementioned application function), AMF, and NEF. Scenario 1 uses RAN#1 enhancing sensing data as an example. It can be understood that UE#1 can also enhance sensing data; the implementation principle is similar and can be referenced for understanding, so it will not be elaborated further.

[0347] like Figure 7 As shown, the flow of this communication method is as follows:

[0348] S701, RAN#1 sends an N2 message to AMF.

[0349] The N2 message may include sensing capability information #1 and identification information of RAN #1.

[0350] The perception capability information #1 may include indications of whether RAN #1 supports perception or has perception capability.

[0351] Optionally, the perception capability information #1 may also include perception requirements that RAN #1 can meet or provide (i.e., the aforementioned second perception capability).

[0352] The identification information of RAN#1 may include the identifier of RAN#1, such as RAN#1ID, to identify that the sensing capability information #1 is the sensing capability information of RAN#1.

[0353] S702, UE#1 sends an N1 message to AMF.

[0354] The N1 message may include perception capability information #2 and UE#1 identification information.

[0355] The perception capability information #2 may include indications of whether UE#1 supports perception or has perception capabilities. Optionally, the perception capability information #1 may also include perception requirements that UE#1 can meet or provide (i.e., the aforementioned first perception capability).

[0356] The identification information of UE#1 may include the identifier of UE#1, such as UE#1ID, to identify that the perception capability information #2 is the perception capability information of UE#1.

[0357] S703, AMF sends NS1 message to SF.

[0358] The NS1 message may include the identification information of sensing capability information #1 and RAN#1, as well as the identification information of sensing capability information #2 and UE#1.

[0359] It is understandable that SF can also obtain perception ability information #1 and perception ability information #2 from UDM, without limitation.

[0360] It is understood that the specific implementation of steps S701-S703 above can be referred to the above. Figure 4 The details regarding "the sensing function acquiring the sensing capabilities of the first device and the second device" in the method shown will not be elaborated upon.

[0361] S704, AF sends Sensing Service Request #1 to SF.

[0362] It is understandable that when the AF has a need for a sensing service (such as sensing service #1), the AF can send a sensing service request #1 to the SF through the NEF (such as the sensing service request in step S401 above) to request the execution of sensing service #1. The sensing service request #1 may include the requested sensing service #1 and the sensing requirements corresponding to sensing service #1, such as sensing accuracy, sensing area, etc., without limitation.

[0363] Optionally, the sensing service request #1 may also include the identification information of the sensing service #1, such as the ID of the sensing service #1, without limitation.

[0364] It is understood that the order of steps S701-S704 is not limited in the embodiments of this application.

[0365] It is understood that the specific implementation of step S704 can be referred to the relevant introduction in step S401 above, and will not be repeated here.

[0366] S705, SF determines UE#1 and RAN#1 based on the perceived service request #1.

[0367] For example, the SF can determine, based on the sensing requirements, sensing capability information #1, and sensing capability information #2 corresponding to sensing service #1, that UE#1 and RAN#1 need to jointly execute sensing service #1. For instance, if the SF determines, based on sensing capability information #2 (which is associated with UE#1 through its identification information), that the sensing requirements provided by UE#1 cannot meet the sensing requirements corresponding to sensing service #1, then the SF can determine, in conjunction with sensing capability information #1 (which is associated with RAN#1 through its identification information), to call UE#1 and RAN#1 to jointly execute sensing service #1 (corresponding to case 1 above).

[0368] The SF can also determine the sensing requirements that UE#1 and RAN#1 need to provide, or in other words, the degree of processing of sensing data by UE#1 and RAN#1, based on the sensing capability information #1, sensing capability information #2, and the sensing requirements corresponding to sensing service #1. For example, the SF can determine that UE#1 needs to provide the first sensing requirement (as mentioned above). Figures 4-6 The first sensing requirement shown in the method embodiment) and RAN#1 need to provide the second sensing requirement (as described above) Figures 4-6 The first sensing requirement in the method embodiment shown. It can be understood that SF can also directly determine the sensing requirement of sensing service #1 (such as the sensing requirement corresponding to the sensing service in step S403 above) as the sensing requirement that needs to be provided by UE#1 and RAN#1, etc., without limitation.

[0369] Optionally, the SF can also determine the identifier of sensing service #1. If sensing service request #1 includes the identifier information of sensing service #1, the SF can directly determine the identifier of sensing service #1 based on the identifier information of sensing service #1; or, if sensing service request #1 does not include the identifier information of sensing service #1, the SF can assign an identifier to sensing service #1, and the assigned identifier can be used to identify sensing service #1 without limitation.

[0370] It is understood that the specific implementation of step S705 can be referred to in case 1 of step S402 and the relevant introduction in step S403 above, and will not be repeated here.

[0371] S706, SF sends NS1 response message to AMF.

[0372] The NS1 response message may include: the identifier of sensing service #1, the first sensing requirement, and the second sensing requirement.

[0373] Optionally, the NS1 response message may also include indication information #1 (as described above as the first indication information), which can be used to instruct RAN#1 to enhance the sensing data reported by UE#1. For example, if SF determines that the sensing requirements provided by UE#1 cannot meet the sensing requirements of sensing service #1, SF can instruct RAN#1 to enhance the sensing data reported by UE#1. Subsequently, AMF can forward the identifier of sensing service #1 and the first sensing requirement to UE#1, and forward the identifier of sensing service #1 and the second sensing requirement to RAN#1, i.e., steps S707 and S708 below.

[0374] S707, AMF sends message #1 to UE#1.

[0375] Message #1 may include the identifier of sensing service #1 and the first sensing requirement.

[0376] S708, AMF sends message #2 to RAN#1.

[0377] Among them, message #2 may include the identifier of sensing service #1 and the second sensing requirement.

[0378] Optionally, message #2 may also include instruction information #1.

[0379] It is understandable that the SF can also directly send the identifier of the sensing service #1 and the first sensing requirement to the UE#1, as well as directly send the identifier of the sensing service #1 and the second sensing requirement to the RAN#1, without going through the AMF, without any restrictions.

[0380] The specific implementation of steps S706-S708 can be found in the relevant descriptions in steps S403 and S404 above, and will not be repeated here.

[0381] S709, UE#1 sends message #3 to SF based on message #1.

[0382] When UE#1 determines that its sensing capability cannot meet the first sensing requirement based on the first sensing requirement, it can send message #3 to SF through AMF (corresponding to case 3 above). Message #3 may include indication information #2 (as described above as the second indication information) and the identifier of sensing service #1. The indication information #2 can be used to indicate that the sensing capability of UE#1 cannot meet the first sensing requirement.

[0383] Optionally, message #3 may also include the portion of the perception requirements that UE#1 cannot meet for the first perception requirement. For example, assuming the first perception requirement includes: a perception (distance) accuracy of 4.5m and a refresh rate of 10 times / second; and the perception requirements that UE#1's perception capability can support include: a perception (distance) accuracy of 5m and a refresh rate of 15 times / second, then the portion of the perception requirement that UE#1 cannot meet for the first perception requirement is the perception accuracy of 4.5m.

[0384] Optionally, message #3 may also include: indication information #3 (as described in the third indication information above), which may be used to indicate that other devices are needed to enhance the perception data obtained by UE #1 in performing perception services.

[0385] S710, SF sends message #4 to RAN#1 based on message #3.

[0386] Based on indication information #2 and indication information #3, the SF can determine that RAN #1 needs to enhance the sensing data (sensing service #1) reported by UE #1. The SF can then send message #4 to RAN #1 via AMF. Message #4 may include indication information #4 (as described in indication information #c above) and the identifier of sensing service #1. Indication information #4 can be used to instruct RAN #1 to enhance the sensing data reported by UE #1 (corresponding to case 7 above).

[0387] It is understood that steps S709 and S710 are optional.

[0388] S711, SF sends indication information #5 to UE#1 and indication information #6 to RAN#1.

[0389] When the SF determines that UE#1 needs to perform the sensing service #1, the SF can send indication information #5 to UE#1 through the AMF. The indication information #5 can be used to instruct UE#1 to perform the sensing service #1, and the indication information #5 can include the identifier of the sensing service #1.

[0390] Similarly, when the SF determines that RAN#1 needs to perform sensing service #1, the SF can send indication information #6 to RAN#1 through AMF. This indication information #6 can be used to instruct RAN#1 to perform sensing service #1, and the indication information #6 can include the identifier of sensing service #1.

[0391] It should be noted that step S711 is an optional step. UE#1 can directly execute the sensing service #1 after receiving the first sensing request, and SF does not need to trigger UE#1 to execute the sensing service #1 through indication information #5. Similarly, RAN#1 can directly execute the sensing service #1 after receiving the second sensing request, and SF does not need to trigger RAN#1 to execute the sensing service #1 through indication information #6.

[0392] For ease of understanding, the following explanation will take SF performing step S711 as an example.

[0393] S712, UE#1 executes Sensing Service #1.

[0394] UE#1 can perform sensing based on the identifier of sensing service#1 in indication information#5 and the first sensing requirement, and obtain sensing data#1 (such as the first sensing data mentioned above).

[0395] S713, UE#1 sends message #5 to RAN#1.

[0396] Among them, message #5 may include the identifiers of sensing data #1 and sensing service #1.

[0397] Optionally, message #5 may also include instruction information #7 (as described in the sixth instruction information above), which can be used to instruct RAN #1 to enhance the sensed data #1 (corresponding to case 9 above).

[0398] For example, UE#1 can determine that sensing data #1 cannot meet the first sensing requirement based on sensing data #1 and the first sensing requirement. Then, UE#1 can determine to send indication information #7 to RAN#1.

[0399] S714, RAN#1 executes Sensing Service #1.

[0400] RAN#1 can perform sensing based on the identifier of sensing service #1 and the second sensing requirement in the instruction information #6, and obtain sensing data #2 (such as the second sensing data mentioned above).

[0401] S715, RAN#1 enhances the sensing data #1.

[0402] RAN#1 can determine to enhance sensing data #1 based on condition #1. Condition #1 can include at least one of the following: message #2 includes indication information #1, message #4 includes indication information #4, or message #5 includes indication information #7. That is, RAN#1 can perform data fusion on sensing data #1 and sensing data #2 based on at least one of indication information #1, indication information #4, or indication information #7, and the identifier of sensing service #1, to obtain sensing data #3 (as described above as the third sensing data).

[0403] It is understandable that the specific implementation of step S715 can be referred to the relevant introductions in step S405, case 7, and case 9 above, and will not be repeated here.

[0404] S716, RAN#1 sends message #6 to SF.

[0405] Message #6 may include sensing data #3 (as described above) Figures 4-6 The third sensing data in the method embodiment shown) and the identifier of sensing service #1.

[0406] S717, SF sends message #7 to AF.

[0407] Among them, message #7 may include the identifiers of sensing data #3 and sensing service #1.

[0408] The SF can identify that sensing data #3 is the sensing data corresponding to sensing service #1 by using the identifier of sensing service #1, and send sensing data #3 to the AF via message #7. The AF can also identify that sensing data #3 is the sensing data corresponding to sensing service #1 by using the identifier of sensing service #1, and use it for subsequent operations without limitation. In this way, the SF can provide the AF with sensing data that meets the sensing requirements corresponding to sensing service #1.

[0409] It is understandable that after receiving the sensing data #1 reported by UE#1 and the sensing data #2 reported by RAN#1, SF can also perform data fusion on the sensing data #1 and sensing data #2 to obtain sensing data #3, without limitation.

[0410] It should be noted that the interaction between the aforementioned SF and RAN#1, as well as UE#1, may also be possible without the forwarding of other network functions (such as the aforementioned AMF), and this application embodiment does not limit this.

[0411] Scene 2: Figure 8 Flowchart of the communication method provided in the embodiments of this application Figure 4 This communication method mainly involves the interaction between UE#1 (the aforementioned first device), RAN#1 (the aforementioned second device), SF (the aforementioned sensing function), AF (the aforementioned application function), AMF, and NEF. Scenario 2 uses RAN#1 enhancing sensing data as an example. It can be understood that UE#1 can also enhance sensing data; its implementation principle is similar and can be referenced for understanding, so it will not be elaborated further.

[0412] like Figure 8 As shown, the flow of this communication method is as follows:

[0413] S801, RAN#1 sends N2 message to AMF.

[0414] S802, UE#1 sends N1 message to AMF.

[0415] S803, AMF sends an NS1 message to SF.

[0416] S804, AF sends Sensing Service Request #1 to SF.

[0417] S805, SF determines UE#1 and RAN#1 based on the perceived service request #1.

[0418] S806, SF sends NS1 response message to AMF.

[0419] S807, AMF sends message #1 to UE#1.

[0420] S808, AMF sends message #2 to RAN#1.

[0421] S809, UE#1 sends message #3 to SF according to message #1.

[0422] S810, SF sends message #4 to RAN#1 based on message #3.

[0423] It is understood that the detailed descriptions of steps S801-S810 above can be found in the relevant descriptions of steps S701-S710 above, and will not be repeated here. It should be noted that in this scenario 2, steps S809 and S810 are necessary steps.

[0424] S811, SF updates the first and second perception requirements.

[0425] SF can, based on message #4 (including the portion of the requirement that UE#1 cannot meet the first perception requirement), address the second perception requirement (as described above). Figures 4-6 The second sensing requirement in the method embodiment shown above and the first sensing requirement (as described above) Figures 4-6 The first sensing requirement in the method embodiment shown is updated or modified.

[0426] For example, continuing the above example, the sensing capabilities of UE#1 can support the following sensing requirements: a sensing (distance) accuracy of 5m and a refresh rate of 15 times / second; a second sensing requirement includes: a sensing accuracy of 8m and a refresh rate of 10 times / second; a first sensing requirement includes: a sensing (distance) accuracy of 4.5m and a refresh rate of 10 times / second; and a second sensing requirement includes: a sensing accuracy of 8m and a refresh rate of 10 times / second. That is, UE#1 cannot meet the sensing accuracy requirement in the first sensing requirement.

[0427] At this point, the SF can increase the perception accuracy requirement in the second perception requirement and decrease the perception accuracy requirement in the first perception requirement (corresponding to case a below). For example, the SF can modify or update the second perception requirement to obtain perception requirement #a, which may include a perception accuracy of 4.8m and a refresh rate of 10 times / second. The SF can also modify or update the first perception requirement to obtain perception requirement #b, which may include a perception accuracy of 5m and a refresh rate of 15 times / second. In this way, UE#1 and RAN#1 can provide corresponding perception data based on their own capabilities.

[0428] Alternatively, SF can modify the perception accuracy requirements in the second perception requirement (e.g., obtain perception requirement #a), and determine that UE #1 does not need to perform perception service #1 (corresponding to case b below).

[0429] S812, SF sends message #5 to UE#1 according to message #3.

[0430] The following example illustrates message #5 in detail.

[0431] Scenario a: Message #5 may include: the identifier and indication information #5 of the sensing service #1. This indication information #5 can be used to indicate that UE #1 does not need to perform the sensing service #1 (i.e., SF determines that UE #1 does not need to perform the sensing service #1).

[0432] Scenario b: Message #5 may include: the identifier of sensing service #1, indication information #5, and sensing requirement #6. The indication information #6 can be used to instruct UE #1 to execute sensing service #1 (i.e., SF triggers UE #1 to execute sensing service #1 through indication information #6).

[0433] S813, SF sends message #6 to RAN#1 based on message #3.

[0434] When the SF determines that RAN#1 needs to perform Sensing Service #1, the SF can send message #6 to RAN#1 through the AMF. Message #6 may include the identifier of Sensing Service #1, indication information #7, and Sensing Requirement #a. The indication information #7 can be used to instruct RAN#1 to perform Sensing Service #1.

[0435] S814, UE#1 does not execute the awareness service#1.

[0436] Based on the above situation a, UE#1 can determine that it does not need to execute the sensing service #1 according to the identifier and indication information #5 of the sensing service #1 in message #5.

[0437] S815, UE#1 executes Sensing Service #1.

[0438] Based on the above situation b, UE#1 can perform perception according to the perception requirements #b of perception service #1 in message #5 and the indication information #6 to obtain perception data #4.

[0439] S816, UE#1 sends message #7 to RAN#1.

[0440] Among them, message #7 may include the identifiers of sensing data #4 and sensing service #1.

[0441] S817, RAN#1 executes Sensing Service #1.

[0442] RAN#1 can perform sensing based on the sensing requirement #a and indication information #7 in message #6 to obtain sensing data #5.

[0443] S818, RAN#1 enhances the sensing data #4.

[0444] Based on the above situation b, RAN#1 can perform data fusion on sensing data #4 and sensing data #5 according to the instruction information #4 in message #4 to obtain sensing data #6 (corresponding to the above situation 7).

[0445] It is understandable that the process of RAN#1 performing data fusion on sensing data #4 and sensing data #5 can be referred to the relevant description in step S405 above, and will not be repeated here.

[0446] S819, RAN#1 sends message #8 to SF.

[0447] Among them, message #6 may include the identifiers of sensing data #6 and sensing service #1.

[0448] S820, SF sends message #9 to AF.

[0449] Among them, message #9 may include the identifiers of sensing data #6 and sensing service #1.

[0450] It is understandable that the implementation principle of steps S816-S820 above can be similar to that of steps S713-S717 above, and will not be elaborated further. It is understandable that, based on the situation in step S814 above, RAN#1 can directly report the sensing data #5 to SF and AF, and will not be elaborated further.

[0451] It should be noted that the interaction between the aforementioned SF and RAN#1, as well as UE#1, may also be possible without the forwarding of other network functions (such as the aforementioned AMF), and this application embodiment does not limit this.

[0452] Scene 3: Figure 9 Flowchart of the communication method provided in the embodiments of this application Figure 4This communication method mainly involves the interaction between UE#1 (the aforementioned first device), RAN#1 (the aforementioned second device), SF (the aforementioned sensing function), AF (the aforementioned application function), AMF, and NEF. Scenario 3 is illustrated using RAN#1 enhancing sensing data as an example. It can be understood that UE#1 can also enhance sensing data; the implementation principle is similar and can be referenced for understanding, so it will not be elaborated further.

[0453] like Figure 9 As shown, the flow of this communication method is as follows:

[0454] S901, RAN#1 sends N2 message to AMF.

[0455] S902, UE#1 sends an N1 message to AMF.

[0456] S903, AMF sends NS1 message to SF.

[0457] S904, AF sends Sensing Service Request #1 to SF.

[0458] It is understood that the specific implementation of the above steps S901-S904 can be referred to the relevant introduction in the above steps S701-S704, and will not be repeated here.

[0459] S905, SF determines UE#1 based on the perception service request #1.

[0460] For example, the SF can determine whether to call UE#1 to execute the sensing service #1 based on the sensing requirements and sensing capability information #2 corresponding to sensing service #1. For instance, suppose the sensing requirements for sensing service #1 may include: a sensing (distance) accuracy of 5m and a sensing area of ​​square A; sensing capability information #2 may include: the sensing area is area 1 within square A. In this case, the SF can determine whether to call UE#1 to execute the sensing service #1 (corresponding to situation 2 above).

[0461] SF can also determine the perception requirements that UE#1 needs to provide, or in other words, the degree of processing of perception data that UE#1 needs, based on perception capability information #2 and the perception requirements corresponding to perception service #1. For example, SF can determine that UE#1 needs to provide the first perception requirement (even if it is uncertain whether UE#1 can meet it). It can be understood that SF can also directly determine the perception requirements corresponding to perception service #1 as the perception requirements that UE#1 needs to provide, without limitation.

[0462] Optionally, SF can also determine the identifier of Sensing Service #1.

[0463] It is understood that the specific implementation of step S705 can be referred to in case 2 of step S402 and the relevant introduction in step S403 above, and will not be repeated here.

[0464] S906, SF sends NS1 response message to AMF.

[0465] The NS1 response message may include: the identifier of Sensing Service #1 and the first sensing requirement.

[0466] AMF can forward the identifier of sensing service #1 and the first sensing requirement to UE #1, as described in step S907 below.

[0467] S907, AMF sends message #1 to UE#1.

[0468] Message #1 may include the identifier of sensing service #1 and the first sensing requirement.

[0469] It is understandable that the SF can also directly send the identifier of the sensing service #1 and the first sensing requirement to the UE#1 without going through the AMF, without any restrictions. The specific implementation of steps S906-S907 can be referred to the relevant introduction in step S403 above, and will not be repeated here.

[0470] S908, SF sends indication information #e to UE#1.

[0471] When the SF determines that UE#1 needs to perform the sensing service #1, the SF can send indication information #e to UE#1 through the AMF. The indication information #e can be used to instruct UE#1 to perform the sensing service #1. The indication information #e can include the identifier of the sensing service #1.

[0472] It should be noted that step S908 is an optional step. UE#1 can directly execute the sensing service #1 after receiving the first sensing request. SF does not need to trigger UE#1 to execute the sensing service #1 through the indication information #e.

[0473] For ease of understanding, the following explanation will take SF executing step S908 as an example.

[0474] S909, UE#1 executes Sensing Service #1.

[0475] UE#1 can perform sensing based on the identifier of sensing service #1 in the indication information #e and the first sensing requirement, and obtain sensing data #1 (such as the first sensing data mentioned above).

[0476] S910, UE#1 sends message #2 to SF.

[0477] Message #2 may include the identifiers of Sensing Data #1 and Sensing Service #1.

[0478] For example, UE#1 can send message #2 to SF via RAN#1.

[0479] It is understood that the specific implementation of step S910 can be referred to the relevant descriptions in steps S501 and S502 above, and will not be repeated here.

[0480] S911, SF determines RAN#1 based on message #2.

[0481] Based on the identifier of the sensing service #1 in message #2, the SF can confirm that the sensing data #1 corresponds to the sensing service #1. The SF can also determine whether the RAN #1 needs to be invoked to execute the sensing service #1 based on the sensing requirements corresponding to the sensing service #1, the sensing data #1, and the sensing capability information #1. For example, if the SF determines that the sensing data #1 cannot meet the sensing requirements corresponding to the sensing service #1, the SF can combine the sensing capability information #1 to determine whether to invoke the RAN #1 and UE #1 to jointly execute the sensing service #1 (corresponding to situation 2 above).

[0482] SF can also determine the sensing requirements that RAN#1 needs to provide based on the sensing capability information #1 and the sensing requirements corresponding to sensing service #1. For example, SF can determine that RAN#1 needs to provide a second sensing requirement. It can be understood that SF can also directly determine the sensing requirements of sensing service #1 as the sensing requirements that RAN#1 needs to provide, without limitation.

[0483] It is understandable that the specific implementation of step S911 can be referred to the relevant introduction in step S403 above, and will not be repeated here.

[0484] S912, SF sends message #3 to RAN#1.

[0485] Message #3 may include: the identifier of sensing service #1, the second sensing requirement, and instruction information #1 (i.e., the aforementioned first instruction information). Instruction information #1 can be used to instruct RAN #1 to enhance the sensing data reported by UE #1.

[0486] For example, SF can send message #3 to RAN#1 via AMF.

[0487] S913, SF sends indication information #f to RAN#1

[0488] When the SF determines that RAN#1 needs to perform sensing service #1, the SF can send indication information #f to RAN#1 through AMF. The indication information #f can be used to instruct RAN#1 to perform sensing service #1, and the indication information #f can include the identifier of sensing service #1.

[0489] It should be noted that step S913 is an optional step. RAN#1 can directly execute sensing service #1 after receiving the second sensing request. SF does not need to trigger RAN#1 to execute sensing service #1 through indication information #f.

[0490] For ease of understanding, the following explanation will take SF performing step S913 as an example.

[0491] S914, RAN#1 executes Sensing Service #1.

[0492] RAN#1 can perform sensing based on the identifier of sensing service #1 and the second sensing requirement in the instruction information #f, and obtain sensing data #2 (such as the second sensing data mentioned above).

[0493] S915, RAN#1 enhances the sensing data #1.

[0494] RAN#1 can perform data fusion on sensing data #1 (the indication information #f includes sensing data #1, or the data reported by UE#1 to RAN#1) and sensing data #2 according to the identifier of indication information #1 and sensing service #1, so as to obtain sensing data #3 (such as the third sensing data mentioned above).

[0495] It is understandable that the specific implementation of step S915 can be referred to the relevant introduction in step S405 above, and will not be repeated here.

[0496] S916, RAN#1 sends message #4 to SF.

[0497] Among them, message #4 may include the identifiers of sensing data #3 and sensing service #1.

[0498] S917, SF sends message #5 to AF.

[0499] Among them, message #5 may include the identifiers of sensing data #3 and sensing service #1.

[0500] The SF can identify that sensing data #3 is the sensing data corresponding to sensing service #1 by using the identifier of sensing service #1, and send sensing data #3 to the AF via message #5. The AF can also identify that sensing data #3 is the sensing data corresponding to sensing service #1 by using the identifier of sensing service #1, and use it for subsequent operations without limitation. In this way, the SF can provide the AF with sensing data that meets the sensing requirements of sensing service #1.

[0501] It should be noted that the interaction between the aforementioned SF and RAN#1, as well as UE#1, may also be possible without the forwarding of other network functions (such as the aforementioned AMF), and this application embodiment does not limit this.

[0502] Scene 4: Figure 10 Flowchart of the communication method provided in the embodiments of this application Figure 7 This communication method mainly involves the interaction between UE#1 (the aforementioned first device), RAN#1 (the aforementioned second device), SF (the aforementioned sensing function), and AMF and NEF.

[0503] like Figure 10 As shown, the flow of this communication method is as follows:

[0504] S1001, RAN#1 sends N2 message to AMF.

[0505] It is understood that the specific implementation of step S1001 can refer to the relevant content in step S701 above, and will not be repeated here.

[0506] S1002, AMF sends NS1 message #1 to SF.

[0507] NS1 message #1 may include sensing capability information #1 and RAN #1 identification information.

[0508] It is understandable that SF can also obtain perception information #1 from UDM, without limitation.

[0509] S1003, UE#1 is performing sensing service #2.

[0510] It is understandable that when UE#1 has a need for a sensing service (such as sensing service #2), UE#1 can trigger the execution of sensing service #2 (i.e., sensing triggered by UE#1) (as in case 6 above). UE#1 can execute sensing service #2 according to the sensing requirements corresponding to sensing service #2 to obtain sensing data #1 (such as the first sensing data mentioned above).

[0511] UE#1 can determine, based on the sensing requirements corresponding to sensing data #1 and sensing service #2, that other devices (such as RAN#1 below) need to jointly execute sensing service #2. For example, if UE#1 determines that sensing data #1 cannot meet the sensing requirements corresponding to sensing service #2, SF can determine to call other devices to jointly execute sensing service #2 with UE#1 (corresponding to situation 4 above).

[0512] UE#1 can also determine the perception requirements that need to be provided by other devices, or the degree of processing of the perception data that needs to be done by other devices, based on the perception requirements corresponding to perception data #1 and perception service #2. For example, UE#1 can determine that it needs other devices to provide perception requirement #c (such as the third perception requirement in case 6 above). This perception requirement #c can be the perception requirement that UE#1 expects other devices to provide, or it can be a perception requirement that UE#1 cannot meet (such as not being able to meet part of the perception requirements corresponding to perception service #2), or it can be the same perception requirement corresponding to perception service #2, etc., without limitation.

[0513] UE#1 can also determine the identifier of Sensing Service #2, which can be used to identify Sensing Service #1.

[0514] It is understood that the specific implementation of step S1003 can be referred to the relevant introduction in S501 above, and will not be repeated here.

[0515] S1004, UE#1 sends N1 message to AMF.

[0516] The N1 message may include: perception requirement #c, identification of perception service #2, and indication information #a1. Indication information #a1 (as described in the second indication information above) can be used to indicate that other devices need to jointly perform perception with UE #1.

[0517] Optionally, the N1 message may also include perception data #1.

[0518] Optionally, the N1 message may also include other parameters, as illustrated in the following example.

[0519] Case c: The N1 message may include: indication information #a2 (i.e. the third indication information mentioned above), which can be used to instruct other devices to enhance the perception data obtained by UE#1 from performing perception service #2 (corresponding to case 7 above).

[0520] Case d: The N1 message may include: indication information #a3 (i.e. the fourth indication information mentioned above), which can be used to indicate that UE#1 has the ability to process enhanced perception data (corresponding to case 8 above).

[0521] S1005, AMF sends NS1 message #2 to SF.

[0522] Among them, NS1 message #2 may include: sensing requirement #c, and identification and indication information #a1 of sensing service #2.

[0523] Optionally, the NS1 message #2 may also include sensing data #1.

[0524] Optionally, the NS1 message #2 may include:

[0525] Based on case c: Instruction information #a2; Based on case d: Instruction information #a3.

[0526] It is understood that UE#1 can also directly send the identification and indication information #a1 of sensing requirement #c and sensing service #2 to SF. Optionally, UE#1 can also directly send sensing data #1, indication information #a2, or indication information #a3 to SF without AMF forwarding, and there are no restrictions.

[0527] S1006, SF determines RAN#1.

[0528] Based on the identifier of the sensing service #2, the SF can determine the sensing requirement #c and indication information #a1 corresponding to the sensing service #2. Based on the indication information #a1, the SF can determine that other devices need to jointly execute the sensing service #2 with the UE #1. For example, based on the sensing capability information #1 and the sensing requirement #c, the SF can determine to call RAN #1 to jointly execute the sensing service #2 with the UE #1 (corresponding to case 6 above).

[0529] After the SF determines to invoke RAN#1, the SF can determine the sensing requirements that RAN#1 needs to provide, such as sensing requirement #d (as in case 6 above, the fourth sensing requirement). For example, the SF can determine the sensing requirement #d based on the sensing capability information #1 and the sensing requirement #c; or, the SF can directly determine the sensing requirement #c as the sensing requirement #d, etc., without limitation.

[0530] Optionally, based on the above situation c, the SF can determine, according to the indication information #a2, that the RAN#1 needs to enhance the sensing data obtained by the UE#1 from the sensing service #2.

[0531] Optionally, based on the above situation d, the SF can determine, according to the indication information #a3, that UE#1 has the capability to process enhanced sensing data. S1007, the SF sends message #1 to RAN#1.

[0532] Message #1 may include: sensing requirement #d, identification of sensing service #2, and indication information #a4. Indication information #a4 can be used to instruct RAN #1 to execute sensing service #1.

[0533] Optionally, the message #1 may also include perception data #1.

[0534] Optionally, based on the above case c, message #1 may also include indication information #a5 (such as indication information #c in case 7 above), which can be used to instruct RAN#1 to enhance the sensing data reported by UE#1.

[0535] Optionally, based on the above case d, message #1 may also include indication information #a6 (such as indication information #d in case 8 above), which can be used to instruct RAN#1 to send the sensing data obtained from performing sensing service #2 to UE#1.

[0536] For example, SF can send message #1 to RAN#1 via AMF.

[0537] S1008, RAN#1 executes Sensing Service #2.

[0538] RAN#1 can perform sensing based on the identifier of sensing service #2 and sensing requirement #d in message #1 to obtain sensing data #2 (such as the second sensing data mentioned above).

[0539] S1009, RAN#1 enhances the sensing data #1.

[0540] Based on the above situation c, RAN#1 can perform data enhancement on sensing data #1 (such as message #1 including sensing data #1, or UE#1 reporting sensing data #1 to RAN#1, etc.) according to the indication information #a5 and the identifier of sensing service #2. For example, RAN#1 can perform data fusion on sensing data #1 and sensing data #2 to obtain sensing data #3 (such as the third sensing data mentioned above).

[0541] It is understandable that the process of RAN#1 performing data fusion on the sensed data #1 can be referred to the relevant description in step S405 above, and will not be repeated here.

[0542] S1010, RAN#1 sends message #2 to UE#1.

[0543] Among them, message #2 may include the identifiers of sensing data #3 and sensing service #1.

[0544] S1011, RAN#1 sends message #3 to UE#1.

[0545] Based on the above situation d, RAN#1 can send message #3 to UE#1 according to the indication information #a6 and the identifier of sensing service #2. Message #3 may include sensing data #2 and the identifier of sensing service #2.

[0546] S1012, UE#1 enhances the perceived data #2.

[0547] UE#1 can perform data fusion of sensing data #1 and sensing data #2 based on the identifier of sensing service #2 to obtain sensing data #3.

[0548] It is understood that, based on the above S1010 or step S1012, UE#1 can perform subsequent operations based on the perceived data #3 without limitation.

[0549] It should be noted that the interaction between the aforementioned SF and RAN#1, as well as UE#1, may also be possible without the forwarding of other network functions (such as the aforementioned AMF), and this application embodiment does not limit this.

[0550] The above combination Figures 4-10 The communication method provided in the embodiments of this application is described in detail below. Figures 11-12 This document describes in detail the communication apparatus used to perform the communication method provided in the embodiments of this application.

[0551] Figure 11 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application. Figure 1 For example, such as Figure 11 As shown, the communication device 1100 includes a transceiver module 1101 and a processing module 1102. For ease of explanation, Figure 11 Only the main components of the communication device 1100 are shown.

[0552] The transceiver module 1101 is used to perform the above-mentioned tasks. Figures 5-10 The sending and receiving functions of the method shown are executed by the processing module 1102. Figures 5-10 The method shown includes functions other than sending and receiving.

[0553] Optionally, the transceiver module 1101 may include a transmitting module ( Figure 11 (not shown in the image) and receiving module ( Figure 11 (Not shown in the diagram). The transmitting module is used to implement the transmitting function of the communication device 1100, and the receiving module is used to implement the receiving function of the communication device 1100.

[0554] Optionally, the communication device 1100 may also include a storage module. Figure 11 (Not shown in the image), the storage module stores programs or instructions. When the processing module 1102 executes the program or instructions, the communication device 1100 can perform the above-described method. Figures 5-10 The method shown includes the functions of sensing, the first device, and the second device.

[0555] It is understood that the communication device 1100 can be a network device, or a chip (system) or other component or assembly that can be disposed in a network device, or a device that includes a network device; this application embodiment does not limit this. Alternatively, the communication device 1100 can be a terminal device, or a chip (system) or other component or assembly that can be disposed in a terminal device, or a device that includes a terminal device; this application embodiment does not limit this.

[0556] In addition, the technical effects of the communication device 1100 can be referenced. Figures 4-10 The technical effects of the communication method shown will not be elaborated here.

[0557] For example, Figure 12 Schematic diagram of the communication device provided in the embodiments of this application Figure 2 The communication device can be a terminal device or a network device, or it can be a chip (system) or other component or assembly of the terminal device or network device. For example... Figure 12 As shown, the communication device 1200 may include a processor 1201. Optionally, the communication device 1200 may also include a memory 1202 and / or a transceiver 1203. The processor 1201 is coupled to the memory 1202 and the transceiver 1203, for example, they may be connected via a communication bus.

[0558] The following is combined with Figure 12 A detailed description of each component of the communication device 1200 is provided below:

[0559] The processor 1201 is the control center of the communication device 1200. It can be a single processor or a collective term for multiple processing elements. For example, the processor 1201 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0560] Optionally, the processor 1201 can perform various functions of the communication device 1200, such as the functions described above, by running or executing software programs stored in the memory 1202 and calling data stored in the memory 1202. Figures 4-10 The communication method shown.

[0561] In a specific implementation, as one example, the processor 1201 may include one or more CPUs, for example... Figure 12 CPU0 and CPU1 are shown in the diagram.

[0562] In a specific implementation, as one example, the communication device 1200 may also include multiple processors, for example... Figure 12The processors 1201 and 1204 are shown. Each of these processors can be a single-core processor (CPU) or a multi-core processor (CPU). Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0563] The memory 1202 is used to store the software program that executes the solution of this application, and is controlled by the processor 1201 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0564] Optionally, the memory 1202 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1202 may be integrated with the processor 1201 or exist independently, and may be connected via the interface circuit of the communication device 1200. Figure 12 (Not shown in the image) is coupled to the processor 1201, and this embodiment does not specifically limit this.

[0565] Transceiver 1203 is used for communication with other communication devices. For example, if communication device 1200 is a terminal device, transceiver 1203 can be used to communicate with a network device or with another terminal device. As another example, if communication device 1200 is a network device, transceiver 1203 can be used to communicate with a terminal device or with another network device.

[0566] Optionally, transceiver 1203 may include a receiver and a transmitter. Figure 12 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0567] Optionally, the transceiver 1203 can be integrated with the processor 1201, or it can exist independently and be connected via the interface circuit of the communication device 1200. Figure 12 (Not shown in the image) is coupled to the processor 1201, and this embodiment does not specifically limit this.

[0568] It should be noted that, Figure 12 The structure of the communication device 1200 shown does not constitute a limitation on the communication device. Actual communication devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0569] Furthermore, the technical effects of the communication device 1200 can be referred to the technical effects of the communication method described in the above method embodiments, and will not be repeated here.

[0570] This application provides a communication system. The communication system may include the terminal device and network device described in the above method embodiments.

[0571] It should be understood that the processor in the embodiments of this application can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0572] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0573] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0574] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0575] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0576] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0577] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0578] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0579] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0580] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0581] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0582] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0583] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method characterized by comprising: The method comprises: The perception function receives a perception service request; wherein the perception service request comprises a perception demand corresponding to a perception service; The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service; wherein the second device is used to enhance perception data obtained by the first device executing the perception service; The perception function triggers the first device and the second device to execute the perception service.

2. The method of claim 1, wherein, The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service, comprising: The perception function determines the first device and the second device according to the perception capability of the first device and / or the perception capability of the second device, and the perception demand corresponding to the perception service; wherein the perception capability of the first device comprises a perception demand that can be met by the first device, and the perception capability of the second device comprises a perception demand that can be met by the second device.

3. The method of claim 2, wherein, The method further comprises: The perception function sends a first perception demand or the perception demand corresponding to the perception service to the first device; wherein the first perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the first device; The perception function sends a second perception demand or the perception demand corresponding to the perception service to the second device; wherein the second perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the second device.

4. The method of claim 1, wherein, The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service, comprising: The perception function determines the first device according to the perception demand corresponding to the perception service; The perception function determines the second device according to first perception data and the perception demand corresponding to the perception service; wherein the first perception data is obtained by the first device executing the perception service.

5. The method of claim 4, wherein, After the perception function determines the first device according to the perception demand corresponding to the perception service, the method further comprises: The perception function sends a first perception demand or the perception demand corresponding to the perception service to the first device; wherein the first perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the first device; After the perception function determines the second device according to first perception data and the perception demand corresponding to the perception service, the method further comprises: The perception function sends a second perception demand or the perception demand corresponding to the perception service to the second device; wherein the second perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the second device.

6. The method according to any one of claims 1-5, characterized in that, The method further comprises: The perception function obtains the perception capability of the first device and the perception capability of the second device.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: The perception function sends first indication information to the second device; wherein the first indication information is used to instruct the second device to enhance perception data obtained by the first device performing the perception service.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: The perception function receives perception data obtained by the first device performing the perception service; The perception function receives perception data obtained by the second device performing the perception service; The perception function performs data fusion on the perception data obtained by the first device performing the perception service and the perception data obtained by the second device performing the perception service, to obtain fused perception data.

9. The method according to any one of claims 1-8, characterized in that, The perception requirement corresponding to the perception service comprises at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

10. A communication method characterized by comprising: Comprise: The first device determines second indication information according to a first condition; wherein the first condition comprises at least one of the following: perception capability of the first device, perception requirement corresponding to the perception service, first perception requirement, or first perception data; the first perception requirement is determined according to the perception requirement corresponding to the perception service, and the first perception data is obtained by the first device performing the perception service; the second indication information is used to instruct other devices to jointly perform the perception service with the first device, or the perception capability of the first device or the first perception data cannot meet the perception requirement corresponding to the perception service or the first perception requirement; The first device sends the second indication information to a perception function.

11. The method of claim 10, wherein, The method further comprises: The first device sends third indication information to the perception function; wherein the third indication information is used to instruct other devices to enhance perception data obtained by the first device performing the perception service; The first device receives third perception data from a second device; wherein the second device is a device determined by the perception function to jointly perform the perception service with the first device; the third perception data is obtained by the second device performing data fusion on first perception data and second perception data; the first perception data is obtained by the first device performing the perception service, and the second perception data is obtained by the second device performing the perception service.

12. The method of claim 11, wherein, Before the first device receives third perception data from a second device, the method further comprises: The first device sends the first perception data to the second device.

13. The method of claim 10, wherein, The method further comprises: The first device sends fourth indication information to the perception function; wherein the fourth indication information is used to instruct that the first device has data processing capability; The first device receives second perception data from a second device; wherein the second device is a device determined by the perception function to jointly perform the perception service with the first device, and the second perception data is obtained by the second device performing the perception service; The first device performs data fusion on the second perception data and first perception data to obtain third perception data, wherein the first perception data is obtained by the first device performing the perception service.

14. The method according to any one of claims 10-13, characterized in that, The method further includes: The first device receives a first perception requirement or a perception requirement corresponding to the perception service from the perception function.

15. The method according to any one of claims 10-14, characterized in that, The method further includes: The first device determines a third perception requirement according to a second condition, wherein the second condition includes at least one of the following: a perception requirement corresponding to the perception service, the first perception data, or a perception capability of the first device; The first device sends the third perception requirement to the perception function.

16. A method of communication, comprising: It includes: The first device determines fifth indication information according to a third condition, wherein the third condition includes at least one of the following: a perception capability of the first device, a perception requirement corresponding to the perception service, a first perception requirement, or first perception data; the first perception requirement is determined according to a perception requirement corresponding to the perception service, and the first perception data is obtained by the first device performing the perception service; the fifth indication information is used to indicate that the second device needs to jointly perform the perception service with the first device, or the perception capability of the first device or the first perception data cannot meet the perception requirement corresponding to the perception service or the first perception requirement; The first device sends the fifth indication information to the second device.

17. The method of claim 16, wherein, The method further includes: The first device sends sixth indication information to the second device, wherein the sixth indication information is used to indicate that the second device needs to enhance the perception data obtained by the first device performing the perception service; The first device receives third perception data from the second device, wherein the third perception data is obtained by the second device performing data fusion on the first perception data and second perception data; the first perception data is obtained by the first device performing the perception service, and the second perception data is obtained by the second device performing the perception service.

18. The method of claim 17, wherein, Before the first device receives the third perception data from the second device, the method further includes: The first device sends the first perception data to the second device.

19. The method of claim 16, wherein, The method further includes: The first device sends seventh indication information to the second device, wherein the seventh indication information is used to indicate that the first device has data processing capability; The first device receives second perception data from the second device, wherein the second perception data is obtained by the second device performing the perception service; The first device performs data fusion on the second perception data and first perception data to obtain third perception data, wherein the first perception data is obtained by the first device performing the perception service.

20. A method of communication, comprising: It includes: The second device receives first indication information from the perception function, wherein the first indication information is used to indicate that the second device enhances the perception data obtained by the first device performing the perception service. The second device obtains third sensing data according to the first indication information; wherein the third sensing data is obtained by the second device after data fusion of the first sensing data and the second sensing data; the first sensing data is obtained by the first device performing the sensing service, and the second sensing data is obtained by the second device performing the sensing service.

21. A method of communication, comprising: Comprising: The second device receives fifth indication information from the first device; wherein the fifth indication information is used to indicate that the second device jointly performs a sensing service with the first device, or the sensing capability or the first sensing data of the first device cannot meet the sensing requirement or the first sensing requirement corresponding to the sensing service, the first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service; The second device performs the sensing service according to the fifth indication information.

22. A communications device, characterized by The apparatus comprises modules for performing the method of any one of claims 1-21.

23. A communications device, characterized by Comprising: The processor is used to execute the computer program to make the communication device perform the method of any one of claims 1-21.

24. A communication chip, comprising: The chip has computer programs or instructions stored therein, which, when the chip is running on a communication device, make the method of any one of claims 1-21 be realized.

25. A computer readable storage medium, characterized in that, The computer readable storage medium comprises computer programs or instructions, which, when running on a computer, make the computer perform the communication method of any one of claims 1-21.

26. A computer program product, characterised in that, The computer program product comprises computer programs or instructions, which, when running on a computer, make the computer perform the communication method of any one of claims 1-21.

Images