Communication method and related device

Abstract

A communication method and a related device, in the method, after a first communication device sends first information for requesting position information of a target object, the first communication device may receive second information, and determine the position information of the target object based on the second information. In this way, different communication devices can determine the position of the target object in a mutual cooperation mode so as to realize perception of the target object. In some implementations, a first communication device does not have an angle measurement capability or the angle measurement capability of the first communication device satisfies a first condition such that the first communication device is able to implement object perception through cooperation of other communication devices in the event that there is a lack of some or all of the angle measurement capabilities. The flexibility and robustness when the communication equipment executes the sensing task can be enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, and in particular, to a communication method and related apparatus. BACKGROUND

[0002] Wireless communication can be transmission communication between two or more communication nodes without propagation through a conductor or cable. Generally, the communication nodes can include one or more network devices and / or one or more terminal devices.

[0003] Currently, in a communication system, a communication device can calculate and determine a transmission resource of a signal, and perform transmission and reception of the signal on the transmission resource. For example, the transmission resource can include a time domain resource, a frequency domain resource, and the like used to carry the signal. In this way, different communication devices can transmit service data related to a communication service through the communication system to obtain a communication service.

[0004] With the development of communication technology, in addition to providing a communication service, a future communication system can also provide a perception service. However, for a communication device, how to implement object perception is a technical problem to be solved. SUMMARY

[0005] The present application provides a communication method and related apparatus for implementing object perception through cooperation between different communication devices.

[0006] The first aspect of the present application provides a communication method, which applies a first communication device. For example, the first communication device can be a communication device (such as a terminal device or a network device), or the first communication device can be a part of a communication device (such as a processor or a circuit or a chip responsible for communication functions (such as a Modem chip, also known as a baseband chip, or a system on chip (SoC) chip containing a modem core, or a system in package (SIP) chip), or the first communication device can also be a logic module or software capable of implementing all or part of the functions of the communication device. The following takes the first communication device as an example for description. In the method, the first communication device sends first information, the first information being used to request position information of a target object; the first communication device receives second information, the second information being used to determine the position information of the target object; and the second information is determined based on the first information.

[0007] Based on the above scheme, after the first communication device transmits the first information used for requesting the position information of the target object, the first communication device can receive the second information and determine the position information of the target object based on the second information. In this way, different communication devices can determine the position of the target object in a cooperative manner to realize the perception of the target object.

[0008] Optionally, the second information can come from other communication devices (for example, the second communication device) different from the first communication device, that is, the first communication device and the second communication device can realize the perception of the target object in a cooperative manner, and this process can not require the target object to process signals, so that the above scheme can be applied to the perception scene of a passive object (that is, the above target object can be a passive object).

[0009] In a possible implementation of the first aspect, the first communication device (or the communication device where the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, so that the first communication device can realize object perception through cooperation of other communication devices in the case of partial or total lack of angle measurement capability, and the flexibility and robustness of the first communication device (or the communication device where the first communication device is located) in performing the perception task can be enhanced.

[0010] For example, the first condition indicates one or more of the following:

[0011] The angle measurement capability of the first communication device is worse than the preconfigured capability (for example, the measurement accuracy (for example, accuracy, precision, or sensitivity) of the measurement result obtained by the first communication device based on angle measurement is lower than a threshold, and the threshold is a measurement accuracy threshold indicated by the preconfigured capability; for another example, the deviation (or error) of the measurement result obtained by the first communication device based on angle measurement is higher than or equal to a threshold, and the threshold is a deviation (or error) threshold indicated by the preconfigured capability.

[0012] The angle measurement capability information of the first communication device is lower than a threshold, wherein the higher or lower the value of the capability information is, the better or worse the capability is (that is, the higher the value of the capability information is, the better the capability is; on the contrary, the lower the value of the capability information is, the worse the capability is); or the angle measurement capability information of the first communication device is higher than or equal to a threshold, wherein the higher or lower the value of the capability information is, the better or worse the capability is (that is, the higher the value of the capability information is, the worse the capability is; on the contrary, the lower the value of the capability information is, the better the capability is).

[0013] Optionally, the angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. In this way, in the case that the first communication device lacks one or more of the measurement capabilities, the first communication device can achieve object perception through cooperation of other communication devices, and the flexibility and robustness of the first communication device (or the communication device in which the first communication device is located) in performing the perception task can be enhanced.

[0014] In a possible implementation of the first aspect, the second information comprises angle information between the second communication device and the target object; and wherein the angle information, position information of the second communication device, distance information between the first communication device and the target object, and position information of the first communication device are used to determine the position information of the target object.

[0015] Based on the above scheme, the second information received by the first communication device can be from the second communication device, and the second information comprises angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information contained in the second information and the other information.

[0016] In addition, in the above scheme, the second information sent by the second communication device to the first communication device contains angle information between the second communication device and the target object, so that the second communication device provides the angle measurement result (i.e. angle information) in the way that the determination of the position information of the target object can be achieved, which can simplify the implementation complexity of the second communication device and reduce the processing delay.

[0017] In a possible implementation of the first aspect, the second information comprises N distance information between N second communication devices and the target object, N being an integer greater than 1; and wherein the N distance information, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device are used to determine the position information of the target object.

[0018] Based on the above scheme, the second information received by the first communication device can be from the N second communication devices, and the N distance information contained in the second information respectively indicates the distance between the N second communication devices and the target object, so that the first communication device can determine the position information of the target object based on the N distance information contained in the second information and the other information.

[0019] In addition, in the above scheme, the second information sent by the second communication device to the first communication device comprises distance information between each second communication device and the target object, so that the second communication device provides the distance measurement result (i.e., the distance information), and the determination of the position information of the target object can be implemented in the manner, which can simplify the implementation complexity of the second communication device and reduce the processing delay.

[0020] In a possible implementation of the first aspect, the second information comprises angle information between the second communication device and the target object, distance information between the second communication device and the target object, and position information of the second communication device, and N is an integer greater than 1; wherein the angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

[0021] Based on the above scheme, the second information received by the first communication device can be from the second communication device, and the second information comprises angle information and distance information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information and the distance information comprised in the second information and the other information.

[0022] In a possible implementation of the first aspect, the second information comprises the position information of the target object.

[0023] Based on the above scheme, the second information received by the first communication device can comprise the position information of the target object, so that the first communication device can obtain the position information of the target object through the received second information, and the processing complexity of the first communication device can be reduced and the processing delay can be reduced.

[0024] Optionally, the position information of the target object is determined based on any one of the following:

[0025] angle information between the second communication device and the target object, position information of the second communication device, distance information between the first communication device and the target object, and position information of the first communication device; or,

[0026] N pieces of distance information between N second communication devices and the target object, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device, N being an integer greater than 1; or,

[0027] angle information between the second communication device and the target object, distance information between the second communication device and the target object, and position information of the second communication device.

[0028] In a possible implementation of the first aspect, the method further includes that the first communication device sends at least one of the following:

[0029] first indication information indicating that the first communication device (or a communication device in which the first communication device is located) does not have an angle measurement capability or that the angle measurement capability of the first communication device meets the first condition;

[0030] second indication information indicating distance information between the first communication device (or the communication device in which the first communication device is located) and the target object; or

[0031] third indication information indicating position information of the first communication device (or the communication device in which the first communication device is located).

[0032] Based on the above scheme, the first communication device can further send the at least one, so that a receiver (for example, the second communication device) of the at least one can determine the second information based on the information, to simplify the complexity of determining the second information by the receiver and reduce the processing delay.

[0033] For example, in the case where the first communication device sends the first indication information, the receiver can determine that the first communication device has partial or complete angle measurement capability based on the first indication information, and assist the first communication device to implement object perception in a cooperative manner, which can enhance the flexibility and robustness of the first communication device (or the communication device in which the first communication device is located) in performing a perception task.

[0034] For another example, in the case where the first communication device sends the second indication information and / or the third indication information, the receiver can measure the target object in a specified range based on the second indication information and / or the third indication information, to improve the processing efficiency of obtaining the second information by the receiver and reduce the processing delay.

[0035] Optionally, the different information in the first indication information, the second indication information, the third indication information, and the first information can be carried in different messages / signaling / information, or at least two information can be carried in the same message / signaling / information, which is not limited here.

[0036] In a possible implementation of the first aspect, the method further includes that the first communication device receives third information, the third information indicating a perception assistance capability of the second communication device.

[0037] Based on the above scheme, the first communication device can receive the third information and determine the perception assistance capability of the second communication device based on the third information, so that the first communication device can request a cooperation request matched with the perception assistance capability from the second communication device based on the perception assistance capability, to improve the success rate of perception.

[0038] Optionally, the perception assistance capability comprises an angle measurement capability and / or a distance measurement capability.

[0039] In a possible implementation manner of the first aspect, the first communication apparatus sending the first information comprises: the first communication apparatus sending the first information when a second condition is met; the second condition comprises:

[0040] a measurement accuracy of a measurement result obtained by the first communication apparatus based on the angle measurement is lower than a threshold value;

[0041] a communication performance of the first communication apparatus based on the measurement result is lower than a threshold value;

[0042] the first information is periodic transmission information and a transmission period of the first information expires;

[0043] receiving fourth information, the fourth information indicating the first communication apparatus to obtain position information of the target object.

[0044] Based on the above scheme, in the case where the second condition is met, the first communication apparatus can determine that the cooperation of other communication apparatuses is needed to complete the perception of the target object, and for this purpose, the first communication apparatus can request the cooperation of other communication apparatuses through the first information, so that the positions of the target objects can be determined by different communication apparatuses through mutual cooperation, so as to realize the perception of the target objects.

[0045] It should be noted that the threshold value (for example, the threshold value corresponding to the measurement accuracy, the threshold value corresponding to the communication performance, the threshold value corresponding to the measurement capability, etc.) involved in the present application can be determined in various ways, for example, the communication apparatus can determine the threshold value in a preconfigured manner, or the threshold value can be determined in a manner configured by a network device, a server or other equipment. Optionally, different threshold values can be equal or unequal, which is not limited here.

[0046] The second aspect of the present application provides a communication method, which is applied to a second communication device, for example, the second communication device can be a communication device (such as a terminal device or a network device), or the second communication device can be a part of the communication device (for example, a processor or a circuit or a chip responsible for communication function (such as a Modem chip, also known as a baseband chip, or a SoC chip or a SIP chip containing a modem core, etc.), or the second communication device can also be a logic module or software capable of realizing all or part of the communication device function. As an example of a first communication device, in the method, the second communication device receives first information from the first communication device, the first information is used to request the position information of a target object; the second communication device sends second information, the second information is used to determine the position information of the target object; wherein the second information is determined based on the first information.

[0047] Based on the above scheme, after the second communication device receives the first information for requesting the position information of the target object, the second communication device can send the second information to the first communication device, so that the first communication device determines the position information of the target object based on the second information. In this way, different communication devices can determine the position of the target object in a cooperative manner to realize the perception of the target object.

[0048] Optionally, the first information can come from other communication devices (for example, the first communication device) different from the second communication device, that is, the first communication device and the second communication device can realize the perception of the target object in a cooperative manner, and this process can not require the target object to process signals, so that the above scheme can be applied to the perception scene of passive objects (that is, the above target object can be a passive object).

[0049] In a possible implementation manner of the first aspect, the first communication device (or the communication device where the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, so that the first communication device can realize object perception through the cooperation of other communication devices in the case of partial or total lack of angle measurement capability, which can enhance the flexibility and robustness of the first communication device (or the communication device where the first communication device is located) when performing the perception task.

[0050] For example, the first condition indicates one or more of the following:

[0051] The angle measurement capability of the first communication device is worse than the preconfigured capability (for example, the measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than a threshold value, and the threshold value is a measurement accuracy threshold value indicated by the preconfigured capability; for another example, the measurement time of the measurement result obtained by the first communication device based on the angle measurement is higher than or equal to a threshold value, and the threshold value is a measurement time threshold value indicated by the preconfigured capability).

[0052] The angle measurement capability information of the first communication device is lower than or equal to a threshold value, wherein the higher or lower the value of the capability information is, the better or worse the capability is (that is, the higher the value of the capability information is, the better the capability is; on the contrary, the lower the value of the capability information is, the worse the capability is); or the angle measurement capability information of the first communication device is higher than or equal to a threshold value, wherein the higher or lower the value of the capability information is, the worse or better the capability is (that is, the higher the value of the capability information is, the worse the capability is; on the contrary, the lower the value of the capability information is, the better the capability is).

[0053] Optionally, the above-mentioned angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. In the case that the first communication device lacks one or more of the measurement capabilities, the first communication device can achieve object perception through cooperation of other communication devices, and can enhance the flexibility and robustness of the first communication device (or the communication device in which the first communication device is located) in performing the perception task.

[0054] In a possible implementation manner of the second aspect, the second information includes angle information between the second communication device and the target object; and the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0055] Based on the above scheme, the second information sent by the second communication device to the first communication device can include angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information included in the second information and the other information.

[0056] In addition, in the above scheme, the second information sent by the second communication device to the first communication device includes the angle information between the second communication device and the target object, so that the second communication device provides the angle measurement result (that is, the angle information) in a manner that can achieve the determination of the position information of the target object, can simplify the implementation complexity of the second communication device and reduce the processing time delay.

[0057] In a possible implementation of the second aspect, the second information comprises one of N distance information between the N second communication apparatuses and the target object, N being an integer greater than 1; and wherein the N distance information, the position information of the N second communication apparatuses, the distance information between the first communication apparatus and the target object, and the position information of the first communication apparatus are used to determine the position information of the target object.

[0058] According to the above scheme, the second information received by the first communication apparatus can be from the N second communication apparatuses, and the N distance information contained in the second information respectively indicates the distance between the N second communication apparatuses and the target object, so that the first communication apparatus can determine the position information of the target object based on the N distance information contained in the second information and the other information.

[0059] In addition, in the above scheme, the second information sent by the second communication apparatus to the first communication apparatus contains the distance information between the second communication apparatus and the target object, so that the second communication apparatus provides the distance measurement result (i.e. the distance information) in a manner that can simplify the implementation complexity and reduce the processing delay of the second communication apparatus.

[0060] In a possible implementation of the second aspect, the second information comprises angle information between the second communication apparatus and the target object and distance information between the second communication apparatus and the target object, N being an integer greater than 1; and wherein the angle information, the distance information, and the position information of the second communication apparatus are used to determine the position information of the target object.

[0061] According to the above scheme, the second information sent by the second communication apparatus to the first communication apparatus can contain the angle information and the distance information between the second communication apparatus and the target object, so that the first communication apparatus can determine the position information of the target object based on the angle information and the distance information contained in the second information and the other information.

[0062] In a possible implementation of the second aspect, the second information comprises the position information of the target object.

[0063] According to the above scheme, the second information received by the first communication apparatus can comprise the position information of the target object, so that the first communication apparatus can obtain the position information of the target object through the received second information, and the processing complexity and the processing delay of the first communication apparatus can be reduced.

[0064] Optionally, the position information of the target object is determined based on any one of the following:

[0065] the angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; or

[0066] N pieces of distance information between N second communication devices and the target object, the position information of the N second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device, N being an integer greater than 1; or

[0067] the angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device.

[0068] In a possible implementation of the second aspect, the method further includes that the second communication device receives at least one of the following:

[0069] first indication information indicating that the first communication device (or a communication device in which the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition;

[0070] second indication information indicating the distance information between the first communication device (or a communication device in which the first communication device is located) and the target object; or

[0071] third indication information indicating the position information of the first communication device (or a communication device in which the first communication device is located).

[0072] Based on the above scheme, the first communication device can further send the at least one, so that a receiver (for example, the second communication device) of the at least one can determine the second information based on the information, to simplify the complexity of determining the second information by the receiver and reduce the processing delay.

[0073] For example, in the case that the first communication device sends the first indication information, the receiver can determine that the first communication device has partial or complete angle measurement capability based on the first indication information, and assist the first communication device to implement object perception in a cooperative manner, which can enhance the flexibility and robustness of the first communication device (or a communication device in which the first communication device is located) in performing the perception task.

[0074] For another example, in the case that the first communication device sends the second indication information and / or the third indication information, the receiver can measure the target object within a specified range based on the second indication information and / or the third indication information, to improve the processing efficiency of obtaining the second information by the receiver and reduce the processing delay.

[0075] Optionally, different information in the first indication information, the second indication information, the third indication information and the first information can be carried in different messages / signaling / information, or at least two information can be carried in the same message / signaling / information, which is not limited here.

[0076] In a possible implementation of the second aspect, the method further includes: the second communication device sending third information, the third information indicating a sensing assistance capability of the second communication device.

[0077] Based on the above scheme, the second communication device can send third information to the first communication device, so that the first communication device determines the sensing assistance capability of the second communication device based on the third information, and requests a cooperation request matched with the sensing assistance capability from the second communication device based on the sensing assistance capability, so as to improve the sensing success rate.

[0078] Optionally, the sensing assistance capability includes an angle measurement capability and / or a distance measurement capability.

[0079] In a possible implementation of the second aspect, the second communication device receiving the first information includes: the second communication device receiving the first information when a second condition is met; and the second condition includes:

[0080] The measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than a threshold value;

[0081] The communication performance of the first communication device based on the measurement result is lower than a threshold value;

[0082] The first information is periodically transmitted information and a transmission period of the first information expires;

[0083] The second communication device sends fourth information, the fourth information indicating the first communication device to obtain the position information of the target object.

[0084] Based on the above scheme, in the case where the second condition is met, the first communication device can determine that the cooperation of other communication devices is needed to complete the sensing of the target object, and for this purpose, the first communication device can request the cooperation of other communication devices through the first information, so that the positions of the target objects can be determined by different communication devices through mutual cooperation, so as to realize the sensing of the target objects.

[0085] The third aspect of the present application provides a communication device, which is a first communication device, comprising a transceiver unit and a processing unit; the processing unit is configured to determine first information; the transceiver unit is configured to send the first information, the first information being used to request position information of a target object; the transceiver unit is further configured to receive second information, the second information being used to determine the position information of the target object; wherein the second information is determined based on the first information.

[0086] In the third aspect of the present application, the constituent modules of the communication device can also be configured to perform the steps performed in the various possible implementation manners of the first aspect and achieve the corresponding technical effects, which can be known in detail with reference to the first aspect and will not be described here.

[0087] The fourth aspect of the present application provides a communication device, which is a second communication device, comprising a transceiver unit and a processing unit; the transceiver unit is configured to receive first information from a first communication device, the first information being used to request position information of a target object; the processing unit is configured to determine second information; the transceiver unit is further configured to send the second information, the second information being used to determine the position information of the target object; wherein the second information is determined based on the first information.

[0088] In the fourth aspect of the present application, the constituent modules of the communication device can also be configured to perform the steps performed in the various possible implementation manners of the second aspect and achieve the corresponding technical effects, which can be known in detail with reference to the second aspect and will not be described here.

[0089] The fifth aspect of the present application provides a communication device, comprising at least one processor, the at least one processor being configured to execute computer programs or instructions to enable the communication device to implement the method described in any one of the possible implementation manners of the first aspect or the second aspect.

[0090] Optionally, the communication device can comprise the memory, and / or the at least one processor is coupled with the memory; wherein the memory is configured to store programs or instructions.

[0091] The sixth aspect of the present application provides a communication device, comprising at least one logic circuit; the logic circuit is configured to execute the method described in any one of the possible implementation manners of the first aspect to the second aspect.

[0092] The seventh aspect of the present application provides a communication system, comprising the first communication device and the second communication device.

[0093] The eighth aspect of the present application provides a computer readable storage medium, which is used to store one or more computer execution instructions, when the computer execution instructions are executed by a processor, the processor executes the method in any possible implementation manner of any one of the first aspect to the second aspect.

[0094] The ninth aspect of the present application provides a computer program product (or computer program), when the computer program in the computer program product is executed by the processor, the processor executes the method in any possible implementation manner of any one of the first aspect to the second aspect.

[0095] The tenth aspect of the present application provides a chip system, which comprises at least one processor, and is used to support a communication device to implement the method in any possible implementation manner of any one of the first aspect to the second aspect.

[0096] In a possible design, the chip system can further comprise a memory, which is used to store necessary program instructions and data of the communication device. The chip system can be composed of a chip, or can comprise the chip and other discrete devices. Optionally, the chip system further comprises an interface circuit, which provides program instructions and / or data for the at least one processor.

[0097] The technical effects brought by any one of the third aspect to the tenth aspect can be referred to the technical effects brought by different design manners of the first aspect to the second aspect, and details are not described herein. BRIEF DESCRIPTION OF DRAWINGS

[0098] Figures 1a-1b Some schematic diagrams of a communication system provided by the present application are shown;

[0099] Figure 2 A schematic diagram of a communication system provided by the present application is shown;

[0100] Figures 3a-3e Some schematic diagrams of a communication system provided by the present application are shown;

[0101] Figure 4 A schematic diagram of a communication method provided by the present application is shown;

[0102] Figure 5a A schematic diagram of an application scenario of a communication method provided by the present application is shown;

[0103] Figure 5b Another schematic diagram of a communication method provided by the present application is shown;

[0104] Figures 6a-6c Some schematic diagrams of an application of a communication method provided by the present application are shown;

[0105] Figures 7-11 Some schematic diagrams of the communication apparatus provided in the present application. DETAILED DESCRIPTION

[0106] First, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0107] (1) Terminal device: can be a wireless terminal device capable of receiving network device scheduling and indication information, the wireless terminal device can be a device that provides voice and / or data connectivity to a user, or a handheld device with wireless connection function, or other processing devices connected to a wireless modem.

[0108] A terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN), and the terminal device can be a mobile terminal device, such as a mobile phone (or called "cellular" phone, mobile phone), a computer, and a data card, for example, which can be a portable, pocket, hand-held, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. For example, a personal communication service (PCS) phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a Pad, a computer with wireless transceiver function, and the like. The wireless terminal device can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station (MS), a remote station, an access point (AP), a remote terminal, an access terminal, a user terminal, a user agent, a subscriber station (SS), a customer premises equipment (CPE), a terminal, a user equipment (UE), a mobile terminal (MT), a drone, and the like. The terminal device can also be a wearable device and a next-generation communication system, such as a terminal device in a 5G communication system or a terminal device in a future evolved public land mobile network (PLMN), and the like.

[0109] (2) Network device (or network element): can be a device in a wireless network, for example, the network device can be a RAN node (or device) for accessing a terminal device to a wireless network, which can also be referred to as a base station. At present, some examples of RAN devices are: base station (base station), evolved NodeB (eNodeB), base station gNB (gNodeB) in 5G communication system, transmission reception point (transmission reception point, TRP), evolved Node B (eNB), radio network controller (radio network controller, RNC), Node B (Node B, NB), home base station (for example, home evolved Node B, or home Node B, HNB), baseband unit (baseband unit, BBU), or wireless fidelity (wireless fidelity, Wi-Fi) access point AP, etc. In addition, in a network structure, the network device can include a centralized unit (centralized unit, CU) node, or a distributed unit (distributed unit, DU) node, or a RAN device including a CU node and a DU node.

[0110] Optionally, the RAN node can also be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a cloud radio access network (cloud radio access network, CRAN) scenario. The RAN node can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in the V2X technology can be a road side unit (road side unit, RSU).

[0111] In another possible scenario, a terminal is assisted by multiple RAN nodes to implement wireless access, and different RAN nodes respectively implement part of functions of a base station. For example, a RAN node can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0112] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in an open RAN (O-RAN or ORAN) system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0113] The communication between the access network device and the terminal device follows a certain protocol layer structure. The protocol layer can include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer can include at least one of a radio resource control (RRC) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, a media access control (MAC) layer, or a physical (PHY) layer, etc. The user plane protocol layer can include at least one of a service data adaptation protocol (SDAP) layer, a PDCP layer, an RLC layer, a MAC layer, or a physical layer, etc.

[0114] For the network element in the ORAN system and the corresponding relationship of the protocol layer functions that can be implemented by the network element, refer to Table 1 below.

[0115] Table 1

[0116] ORAN network elements Protocol layer functions of 3GPP O-CU-CP RRC+PDCP - Control Plane (PDCP-C) O-CU-UP SDAP+PDCP - User Plane (PDCP-U) O-DU RLC+MAC+PHY-high O-RU PHY-low

[0117] The network device can be other devices that provide wireless communication functions for terminal devices. Embodiments of the present application do not limit the specific technology and specific device form adopted by the network device. For the convenience of description, the embodiments of the present application do not limit.

[0118] The network device can also include a core network device, which can include, for example, a mobility management entity (MME) in a fourth generation (4G) network, a home subscriber server (HSS), a serving gateway (S-GW), a policy and charging rules function (PCRF), a public data network gateway (P-GW), an AMF, a user plane function (UPF), or a session management function (SMF) in a 5G network, and other network elements. In addition, the core network device can also include other core network devices in the 5G network and the next generation network of the 5G network.

[0119] In the embodiments of the present application, the device for implementing the function of the network device can be the network device, or a device capable of supporting the network device to implement the function, such as a chip system, which can be installed in the network device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the network device is taken as an example to describe the technical solutions provided in the embodiments of the present application.

[0120] (3) Configuration and pre-configuration: in the present application, configuration and pre-configuration will be used simultaneously. Configuration refers to that the network device sends some parameter configuration information or parameter values to the terminal device through a message or signaling, so that the terminal device determines the communication parameters or the resource in the transmission according to the values or information. The pre-configuration is similar to the configuration, which can be the parameter information or parameter values agreed by the network device and the terminal device in advance, or the parameter information or parameter values adopted by the network device or the terminal device according to the standard protocol, or the parameter information or parameter values pre-stored in the network device or the terminal device. The present application does not make any limitation on this.

[0121] Further, the values and parameters can be changed or updated.

[0122] (4) The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "At least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, "at least one of A, B and C" includes A, B, C, AB, AC, BC or ABC. In addition, unless otherwise specified, the ordinal numbers "first", "second", etc. mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority or importance of the multiple objects.

[0123] (5) In the embodiments of the present application, "sending" and "receiving" represent the direction of signal transmission. For example, "sending information to XX" can be understood as that the destination of the information is XX, which can include direct sending through the air interface, or indirect sending through the air interface by other units or modules. "Receiving information from YY" can be understood as that the source of the information is YY, which can include direct receiving from YY through the air interface, or indirect receiving from YY through the air interface from other units or modules. "Sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface.

[0124] In other words, the sending and receiving can be between devices, such as between a network device and a terminal device, or can be within a device, such as between components, modules, chips, software modules or hardware modules within a device via a bus, wire or interface.

[0125] It can be understood that the information can be processed, such as encoding and modulation, between the source and the destination of the information sending, and the destination can understand the effective information from the source. Similar expressions in this application can be understood similarly, and will not be repeated here.

[0126] (6) In the embodiments of the present application, the "indication" can include direct indication and indirect indication, and can also include explicit indication and implicit indication. The information indicated by a certain information (indication information described below) is referred to as to-be-indicated information. In the implementation process, there are many ways to indicate the to-be-indicated information, for example, but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or an index of the to-be-indicated information. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be indicated only by a part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can be achieved by means of the arrangement order of each information agreed in advance (for example, predefined by a protocol), thereby reducing the indication overhead to a certain extent. The specific manner of indication is not limited in the present application. It can be understood that the indication information can be used to indicate the to-be-indicated information for the sender of the indication information, and the indication information can be used to determine the to-be-indicated information for the receiver of the indication information.

[0127] In the present application, the same or similar parts between various embodiments can be mutually referred to, unless otherwise specified. In the various embodiments of the present application, and the various implementation manners / implementation methods / implementation approaches in each embodiment, the terms and / or descriptions between different embodiments, and between various implementation manners / implementation methods / implementation approaches in each embodiment are consistent and can be mutually referred to, unless otherwise specified and logically conflicted. The technical features in different embodiments, and in various implementation manners / implementation methods / implementation approaches in each embodiment can be combined to form new embodiments, implementation manners, implementation methods or implementation approaches according to their inherent logical relationship. The implementation manners of the present application described below do not constitute a limitation on the protection scope of the present application.

[0128] To facilitate understanding of the method provided by the embodiments of the present application, the system architecture of the method provided by the embodiments of the present application will be described below. It can be understood that the system architecture described in the embodiments of the present application is used to more clearly illustrate the scheme of the embodiments of the present application, and does not constitute a limitation on the scheme provided by the embodiments of the present application.

[0129] Please refer to Figure 1a , the architecture schematic diagram of the communication system 1000 applied to the embodiments of the present application. As shown in the figure, Figure 1a , the communication system includes a RAN 100 and a core network 200, and optionally, the communication system 1000 can also include an Internet 300. Among them, the RAN 100 includes at least one RAN node (such as 110a and 110b in Figure 1a , collectively referred to as 110), and can also include at least one terminal (such as 120a-120j in Figure 1a , collectively referred to as 120). The RAN 100 can also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1a ). The terminal 120 is connected to the RAN node 110 in a wireless manner, and the RAN node 110 is connected to the core network 200 in a wireless or wired manner. The core network device in the core network 200 and the RAN node 110 in the RAN 100 can be an independent and different physical device, or can be the same physical device integrated with the logical function of the core network device and the logical function of the RAN node. The terminals and the terminals can be connected to each other through wired or wireless means, and the RAN nodes and the RAN nodes can be connected to each other through wired or wireless means.

[0130] The core network device that the present application can involve includes:

[0131] The access and mobility management function (AMF) device / network element / entity, which can be a kind of deployed in wireless core network, for terminal device's access and mobility management function, registration, connection, reachability, mobility management. Among them, the AMF can also provide session management message transmission channel for terminal device and session management function (SMF) network element, provide authentication and authorization function when user access, terminal and wireless core network control plane access point.

[0132] A user plane function (UPF) device / network element / entity refers to a user plane, carries data traffic, is responsible for forwarding traffic between a radio access network and the Internet, reporting traffic usage, quality of service (QoS) policy implementation, etc.

[0133] Figure 1b An example diagram of an O-RAN system is shown, which can include other components in addition to those shown in the figure. As shown, an access network device (RAN, which can be an eNB or gNB or next generation access network device) communicates with a core network (CN) through a backhaul link and communicates with a UE through an air interface.

[0134] In a possible implementation manner, the present application can be applied to a long term evolution (LTE) wireless communication system, an NR wireless communication system and a future evolved new radio (NR) wireless communication system. For example, the present application can be applied to an orthogonal frequency division multiplexing (OFDM) system in LTE, an OFDM system in NR and a future OFDM system and an OFDM-like system, etc.

[0135] In a wireless communication system (for example Figure 1a Or Figure 1b In the system shown, wireless communication and sensing fusion is one of the key technologies currently studied in communication networks, which can be widely used in typical application scenarios such as intelligent transportation, intelligent low altitude, intelligent network, etc. Communication and sensing fusion realizes unified design of communication and sensing functions through signal joint design and hardware sharing. Sensing in communication and sensing fusion can be understood as wireless sensing technology based on a communication system. For example, a terminal device or a network device transmits a wireless signal to a target area or object and receives a reflected echo signal from the object, and obtains corresponding sensing measurement quantities such as the number, position, moving speed and identity of the target object by analyzing the received signal.

[0136] In other words, with the development of communication technology, future communication systems may provide sensing services in addition to communication services. Such a network can be understood as an integrated sensing and communication (ISAC) network. However, for communication devices, how to realize object sensing is a technical problem that needs to be solved.

[0137] As an example, taking the access network device and / or the terminal device as a sensing device, the sensing signal can be transmitted between the access network device and the terminal device, between the terminal device and the terminal device, between the access network device and the access network device, which will be described below in combination with the processes shown in the following figures, taking a vehicle as an example of the target object. Figure 2

[0138] As shown in Figure 2 , the sensing signal can have the following six modes:

[0139] (a) The access network device transmits the sensing signal, and the access network device receives the sensing signal.

[0140] (b) The terminal device transmits the sensing signal, and the terminal device receives the sensing signal.

[0141] (c) One access network device transmits the sensing signal, and the other access network device receives the sensing signal.

[0142] (d) One terminal device transmits the sensing signal, and the other terminal device receives the sensing signal.

[0143] (e) The access network device transmits the sensing signal, and the terminal device receives the sensing signal.

[0144] (f) The terminal device transmits the sensing signal, and the access network device receives the sensing signal.

[0145] Optionally, in the process shown in Figure 2 , the target object can be an active object or a passive object, which is not limited here.

[0146] In addition, in order to enable the communication network to have a sensing function (SF), the network device can need to deploy a sensing function enabled network element. Some possible deployment methods of the sensing function enabled network element will be introduced below.

[0147] As shown in Figure 3a , the sensing function enabled device / network element / entity can be deployed in the core network, i.e., the SF shown in Figure 3a . Among them, the SF can be a network element in the core network that provides sensing related functions, and its functions include at least one of the following: management of sensing nodes, coordination of sensing resources, processing of sensing measurement quantities, opening of sensing results, etc., i.e., sensing related functions.

[0148] In Figure 3a , the access network device can realize communication with the UPF network element through the NG-U interface; the access network device can realize communication with the AMF network element through the NG-C interface; the access network devices can realize communication through the Xn interface; the terminal device can realize communication with the access network device through the Uu interface.​

[0149] Optionally, access network devices can connect to the SF via the AMF or UPF. In a special case, the SF and the location management function (LMF) are combined, or the LMF is extended to implement the functions of the SF.

[0150] For example, it can also be as follows Figure 3a As shown, SF is divided into SF control plane (SF-C) network elements and SF user plane (SF-U) network elements. In this case, access network devices communicate with SF-U network elements through UPF network elements and with SF-C network elements through AMF network elements.

[0151] For example, access network devices can also connect directly to the SF, meaning they do not need to communicate with the SF through the UPF and AMF. In this case, the SF can also be divided into SF-C and SF-U.

[0152] It should be understood that the sensing functions deployed in the core network can have other names besides SF, such as sensing function network element, sensing requirement network element, sensing management network element, etc., and there is no limitation here.

[0153] like Figure 3b and Figure 3c As shown, devices / network elements / entities with sensing capabilities can be deployed in the core network, i.e. Figure 3b The image shows a sensing control (SC) device / network element / entity. Figure 3b In this context, SC can refer to a device / network element / entity that is independently configured within the access network equipment. Figure 3c In this context, SC can refer to a device / network element / entity integrated into the access network equipment. Figure 3b and Figure 3c In this context, the SF (Special Function) is an optional network element. This means that the SC (Super Grid Controller) can exist independently, or both the SC and SF can be deployed simultaneously. When deployed simultaneously, the functions of the SC and SF are not restricted.

[0154] Here, SC represents a sensing-related network element set up on the RAN side. This network element can be a base station, a network element deployed on a base station, or a network element deployed independently of the base station. This network element may have at least one of the following capabilities:

[0155] It receives sensing requests from SF, manages sensing nodes, coordinates sensing resources within the region, processes sensing measurement results, and directly receives sensing requests (possessing all the functions of SF).

[0156] Optionally, the sensing function deployed in the access network can be other names besides SC, such as sensing control network element, control network element, sensing control node, edge sensing function, edge control network element, edge control node, etc., which are not limited here.

[0157] As shown in Figure 3d , Figure 3e , the core network and the access network are both deployed with the scenario example of the device / network element / entity with sensing function.

[0158] For example, in Figure 3d , the device / network element / entity with sensing function deployed in the access network can include SC network element #1, SC network element #2 independent of the access network device. Optionally, the access network element and the SC network element can be a one-to-one relationship as shown in Figure 3d , or a one-to-many or many-to-one relationship, which is not limited here.

[0159] For another example, in Figure 3e , the device / network element / entity with sensing function deployed in the access network can include SC network element #1, SC network element #2 integrated in the access network device.

[0160] For another example, in Figure 3d and Figure 3e , the device / network element / entity with sensing function deployed in the core network can include SF network element.

[0161] It should be noted that the above Figures 3a-3e introduces a variety of potential implementation ways of network devices with sensing function. In order to improve the sensing performance, it is possible to deploy a hardware module and / or a software module of sensing function in the terminal device, so that the terminal device can have sensing function.

[0162] In one possible implementation, if only independent single-station sensing is performed by each sensing node (for example, (a) and (b) in Figure 2 ), the performance in many aspects will be greatly limited, such as small sensing range, limited incident angle, limited accuracy, etc. In order to solve this problem, multi-node, multi-mode, multi-frequency point cooperative sensing and sensing data fusion (for example, (c) and (d) in Figure 2 ) can be used to enhance the sensing ability of the integrated network and improve the sensing performance by fusing the sensing data of multiple stations and different modes. However, there is no specific solution to the cooperative sensing between different communication devices in the current published literature. In other words, for a certain communication device, when performing a sensing task, it is a problem to be solved to obtain which information from other nodes to assist the sensing task performed by itself.

[0163] For example, in actual measurement, the lack of perception information may be caused by the limited angle measurement capability of some nodes. For example, the lack of angle information of some nodes. Factors affecting the angle estimation capability of nodes include the signal to noise ratio (SNR) of the received path, the size of the antenna, the array size, the beam width, the noise coefficient, and the like, which directly determine the accuracy of the angle estimation of the next measurement. For example, if the angle measurement capability of a node (for example, node A) is poor or even fails to estimate the angle, the uncertainty of the angle measurement value is extremely large, and such angle information will have a bad impact on the perception accuracy. At this time, the angle information of the current node can be considered to be missing. In this case, node A needs to obtain information from other nodes to assist node A in perceiving the target object, and there is currently no solution.

[0164] To solve the above problems, the present application provides a communication method and related devices, which will be described in detail below with reference to the accompanying drawings.

[0165] Please refer to Figure 4 An implementation example of the communication method provided by the present application is shown in the figure, which includes the following steps.

[0166] It should be understood that in the following, Figure 4 The first communication device and the second communication device are taken as an example to illustrate the execution subject of the interaction in the figure, but the present application does not limit the execution subject of the interaction. For example, the communication device can be a communication equipment, or a chip, a baseband chip, a modem chip, a system on chip (SoC) chip containing a modem core, a system in package (SIP) chip, a communication module, a chip system, a processor, a logic module or software in the communication equipment, and the like. Optionally, the communication equipment can be a terminal equipment or a network equipment (for example, the network equipment can be an access network equipment, an access network element, and the like).

[0167] S401. The first communication device sends first information, and correspondingly, the second communication device receives the first information. The first information is used to request the position information of the target object.

[0168] S402. The second communication device sends second information, and correspondingly, the first communication device receives the second information. The second information is used to determine the position information of the target object; and the second information is determined based on the first information.

[0169] As an implementation example, both the first communication device and the second communication device can be network devices. For example, the first communication device and the second communication device can be... Figure 2 The two access network devices in scenario (c) shown.

[0170] As an example of implementation, both the first communication device and the second communication device can be terminal devices. For example, the first communication device and the second communication device can be... Figure 2 The two terminal devices in scenario (d) shown.

[0171] As an example of implementation, the first communication device can be a network device, and the second communication device can be a terminal device. For example, the first communication device can be... Figure 2 In the access network equipment shown in scenario (e), the second communication device can be Figure 2 The network devices in scenario (e) shown.

[0172] As an example of implementation, the first communication device can be a terminal device, and the second communication device can be an access network device. For example, the first communication device can be... Figure 2 In the scenario shown (f), the terminal device and the second communication device can be... Figure 2 The access network equipment in scenario (f) shown.

[0173] It should be understood that the target object can be an object sensed by the communication device, including but not limited to active objects (such as communication devices with signal transmission and reception capabilities) and passive objects (such as communication devices without signal transmission and reception capabilities). Accordingly, the target object can be replaced with other descriptions, such as sensing object, scatterer, target, object, or obstacle.

[0174] based on Figure 4 In the illustrated scheme, after the first communication device sends first information requesting the location information of the target object in step S401, the first communication device can receive second information in step S402 and determine the location information of the target object based on the second information. In this way, different communication devices can cooperate to determine the location of the target object, thereby achieving the perception of the target object.

[0175] Optionally, the second information may come from other communication devices (such as the second communication device) that are different from the first communication device. That is, the first communication device and the second communication device can cooperate to perceive the target object. This process can be performed without the target object performing signal processing, so that the above scheme can be applied to the perception scenario of passive objects (that is, the target object can be a passive object).

[0176] Optionally, after the first communication device determines the location information of the target object through the second information in step S402, the first communication device can perform a sensing task based on the location information of the target object. For example, the first communication device can generate / acquire / obtain the task result of the sensing task based on the location information of the target object. Alternatively, the first communication device can send the location information of the target object to other communication devices, enabling those other communication devices to obtain the task result of the sensing task through the cooperation of the first communication device.

[0177] exist Figure 4 In one possible implementation of the method shown, if the first communication device (or the communication equipment in which the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, resulting in the first communication device having partial or complete lack of angle measurement capability, the first communication device can achieve object perception through the cooperation of other communication devices, thereby enhancing the flexibility and robustness of the first communication device (or the communication equipment in which the first communication device is located) when performing perception tasks.

[0178] For example, the first condition indicates the following conditions A and / or conditions B.

[0179] Condition A. The angle measurement capability of the first communication device is inferior to the pre-configured capability. For example, the measurement accuracy (e.g., accuracy, precision, or sensitivity) of the measurement result obtained by the first communication device based on the angle measurement is lower than a certain threshold, which is the measurement accuracy threshold indicated by the pre-configured capability; or the deviation (or error) of the measurement result obtained by the first communication device based on the angle measurement is higher than or equal to a threshold, which is the deviation (or error) threshold indicated by the pre-configured capability; or the measurement time taken by the first communication device to perform the angle measurement is higher than or equal to a threshold, which is the measurement time threshold indicated by the pre-configured capability (i.e., the first communication device fails to complete the angle measurement within the specified measurement time).

[0180] It should be noted that the thresholds involved in this application (e.g., thresholds corresponding to measurement accuracy, communication performance, and measurement capability) can be determined in various ways. For example, the communication device can determine the thresholds through pre-configuration, or through configuration by network devices, servers, or other devices. Optionally, different thresholds can be equal or unequal; this is not limited here.

[0181] Condition B. The angle measurement capability information of the first communication device is lower than the threshold, wherein the value of the capability information is positively correlated with the quality of the capability (i.e., the higher the value of the capability information, the better the capability; conversely, the lower the value of the capability information, the worse the capability); or, the angle measurement capability information of the first communication device is higher than or equal to the threshold, wherein the value of the capability information is negatively correlated with the quality of the capability (i.e., the higher the value of the capability information, the worse the capability; conversely, the lower the value of the capability information, the better the capability).

[0182] Optionally, the aforementioned angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. This allows the first communication device to achieve object perception through the cooperation of other communication devices, even when one or more of these measurement capabilities are lacking. This enhances the flexibility and robustness of the first communication device (or the communication equipment containing the first communication device) when performing perception tasks.

[0183] The following will be through Figure 5a The scenario shown uses the first communication device as an example to illustrate the perception process of the target object by the first communication device.

[0184] like Figure 5a As shown, in a sensor-integrated network, the first communication device simultaneously undertakes sensing tasks while performing communication tasks. A basic sensing mode is called monostatic sensing, where the first communication device can receive echoes generated by surrounding target objects, analyze the echo signals to extract the direction and distance of the target objects, and ultimately complete the sensing of the target's spatial location.

[0185] For example, in distance measurement, the first communication device can calculate the distance to the target object using the time delay information of the echo signal, satisfying:

[0186]

[0187] Where r is the distance, τ is the time delay, and c is the speed of light.

[0188] For example, for angle measurement, the beamwidth of the transmitted beam of the first communication device satisfies:

[0189]

[0190] Where Δθ is the beamwidth (Δθ can be understood as the measurement result of the first communication device on the angle measurement), λ is the wavelength, d is the antenna array spacing, and N is the number of antenna array elements.

[0191] Generally, the beam width is an angular range describing the radiation or receiving range of a radiation or receiving device such as an antenna in a specific direction. For example, the beam width (Δθ) of a beam can be represented by an angle value corresponding to the beam. The larger the angle value, the lower the resolution of the antenna that transmits the beam, and coarse-grained beam scanning can be achieved. Conversely, the smaller the angle value, the higher the resolution of the antenna that transmits the beam, and fine-grained beam scanning can be achieved.

[0192] In addition, if the resolution of the antenna is too low, the error of the angle measurement information will be extremely large, and the deviation of the perception result of the target position will be very large. In special cases, angle estimation failure or angle information loss may even occur. In this case, the first communication device can determine that the first condition is satisfied.

[0193] The following will take the first condition containing condition A as an example to introduce an implementation example of the first communication device determining that the first condition is satisfied. For example, the first communication device estimates the deviation (or error) of the perception measurement of the target object by the first communication device in the following manner:

[0194] Δr≈rΔθ(3)

[0195] wherein Δr represents the deviation (for example, precision deviation, accuracy deviation, etc.), and r and Δθ are determined by (1) and (2) above.

[0196] It should be understood that the estimation method of the perception deviation is not unique, and formula (3) is given as an example.

[0197] In addition, the first communication device can determine the sensing accuracy threshold (Sensing_accuracy_threshold) through network device configuration or pre-configuration (for example, set Sensing_accuracy_threshold = 1 m, 2 m or 0.5 m, etc., m represents meter), and compare the sensing accuracy Δr with the threshold. If the measurement accuracy is less than the threshold, it is considered that condition A is not satisfied, that is, the current angle measurement information is valid; if the measurement accuracy is greater than or equal to the threshold, it is considered that condition A is satisfied, that is, the angle measurement information is missing.

[0198] In one possible implementation, in step S401, the process of the first communication device sending the first information includes: when the second condition is satisfied, the first communication device sends the first information; the second condition includes at least one of conditions C to F.

[0199] Condition C. The measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than a threshold. For example, the first communication device can determine whether condition C is satisfied through the process of formula (3) above.

[0200] Condition D. The communication performance of the first communication device based on the measurement result is lower than a threshold. For example, the first communication device can determine the communication parameters (such as precoding information, power control parameters, etc.) based on the measurement result obtained from the angle measurement, and then obtain the corresponding communication performance (such as one or more of the following: reference signal received power (RSRP), reference signal received power quality (RSRQ), or signal and interference plus noise ratio (SINR)) during the communication process based on the communication parameters. If the communication performance is lower than the threshold, the first communication device can determine that the above measurement result may not be accurate enough, that is, determine that condition D is satisfied.

[0201] Condition E. The first information is periodically transmitted and the transmission period of the first information has expired. For example, the first communication device can request the location information of a target object from other communication devices (such as the second communication device) by periodically transmitting the first information.

[0202] Condition F. Receive fourth information, which instructs the first communication device to acquire the location information of the target object. For example, condition F can be applied to a scenario where the sender of the fourth information perceives the target object through the cooperation of one or more communication devices (including the first communication device).

[0203] Therefore, when the second condition is met, the first communication device can determine that it needs the cooperation of other communication devices to complete the perception of the target object. To this end, the first communication device can request the cooperation of other communication devices through the first information, so that different communication devices can determine the position of the target object through mutual cooperation, thereby realizing the perception of the target object.

[0204] In one possible implementation, such as Figure 5b As shown, Figure 4 The method further includes: the first communication device sending at least one of the following:

[0205] Step A. First indication information, indicating that the first communication device (or the communication equipment where the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition;

[0206] Step B. second indication information indicating distance information between the first communication device (or the communication device where the first communication device is located) and the target object; or

[0207] Step C. third indication information indicating position information of the first communication device (or the communication device where the first communication device is located).

[0208] Therefore, the first communication device can also send the above at least one, so that the receiver (e.g. the second communication device) of the above at least one can determine the second information based on these information, to simplify the complexity of the receiver determining the second information and reduce the processing delay.

[0209] For example, in the case that the first communication device sends the first indication information, the receiver can determine that the first communication device lacks part or all of the angle measurement capability based on the first indication information, and assist the first communication device to realize object perception in a cooperative manner, which can enhance the flexibility and robustness of the first communication device (or the communication device where the first communication device is located) in performing the perception task.

[0210] For another example, in the case that the first communication device sends the second indication information and / or the third indication information, the receiver can measure the target object within the specified range based on the second indication information and / or the third indication information, to improve the processing efficiency of the receiver obtaining the second information and reduce the processing delay.

[0211] Optionally, the different information in the above first indication information, second indication information, third indication information and first information can be carried in different messages / signaling / information, or at least two information can be carried in the same message / signaling / information, which is not limited here.

[0212] In a possible implementation manner, as shown in Figure 5b the method further includes: Figure 4

[0213] Step D. the second communication device sends third information, and correspondingly, the first communication device receives the third information. The third information indicates the perception assistance capability of the second communication device. In other words, the first communication device can receive the third information and determine the perception assistance capability of the second communication device based on the third information, so that the first communication device can request the second communication device for a cooperation request matched with the perception assistance capability based on the perception assistance capability, to improve the success rate of perception.

[0214] Optionally, the perception assistance capability includes an angle measurement capability and / or a distance measurement capability.

[0215] ​As an implementation example, one node can mobilize other nodes with sensing capability nearby to assist the current node in passive sensing of the target object. The node that initiates the cooperation request (e.g., the first communication device) is referred to as the "primary sensing node"; the node that is mobilized to assist (e.g., the second communication device) is referred to as the "secondary sensing node". Optionally, both the "primary sensing node" and the "secondary sensing node" can be any one of an access network device (e.g., a base station (BS)), an SMF, a UE, an RSU, etc.

[0216] For example, the first communication device as the primary sensing node can broadcast a "cooperation request message" (which is an implementation example of the first information described above) to the surroundings. The message can include "primary sensing node information Primary_Node_Info", the data format of which is shown in Table 2.

[0217] Table 2

[0218] Primary_Node_Info: NodeA_ID, NodeA_Position, Angular_Missing

[0219] In Table 2, NodeA_ID represents the primary sensing node number, NodeA_Position represents the primary sensing node position (which is an implementation example of the third indication information in step C), and Angular_Missing represents the primary sensing node angular missing flag (which is an implementation example of the first indication information in step A).

[0220] Optionally, NodeA_Position is the three-dimensional coordinates (x, y, z) of the primary sensing node.

[0221] Optionally, the value of Angular_Missing is 1 or 0, where 1 represents that the angular information is missing, and 0 represents that the angular information is not missing (or, 0 represents that the angular information is missing, and 1 represents that the angular information is not missing). Alternatively, the cooperation request message includes an Angular_Missing field to indicate that the angular information is missing; and the cooperation request message does not include the Angular_Missing field to indicate that the angular information is not missing.

[0222] In addition, after the secondary sensing node (e.g., the second communication device) around the primary sensing node receives the "cooperation request message", it evaluates whether it has the ability to assist the primary node in sensing. If it has the ability to assist, it responds to the primary sensing node. The response message (which is an implementation example of the third information in step D described above) can include information of the secondary node, referred to as "secondary sensing node information Secondary_Node_Info", the data format of which is shown in Table 3.

[0223] Table 3

[0224] Secondary_Node_Info: NodeB_ID, NodeB_Position, NodeB_Measurement_Capability

[0225] In Table 3, NodeB_ID represents the auxiliary node number, NodeB_Position represents the auxiliary node position, and NodeB_Measurement_Capability represents the auxiliary node measurement capability flag bit.

[0226] Optionally, NodeB_Position is the three-dimensional coordinates (x, y, z) of the auxiliary node, and NodeB_Measurement_Capability represents the measurement capability of the auxiliary node, the specific content of which can be implemented by Table 4 below.

[0227] Table 4

[0228] NodeB_Measurement_Capability 0 1 2 3 Angular measurement capability × √ × √ Distance measurement capability × × √ √

[0229] In Table 4, the third message sent by a certain auxiliary node (for example, the second communication device) can carry the "NodeB_Measurement_Capability" field, which takes the value of 0, indicating that the auxiliary node does not have angle measurement capability and does not have distance measurement capability; the field takes the value of 1, indicating that the auxiliary node has angle measurement capability and does not have distance measurement capability; the field takes the value of 2, indicating that the auxiliary node does not have angle measurement capability and has distance measurement capability; and the field takes the value of 3, indicating that the auxiliary node has angle measurement capability and has distance measurement capability.

[0230] Thereafter, if the auxiliary sensing node has the ability to assist the main sensing node, the auxiliary node can perform measurement based on the request of the first information in the foregoing step S401, and indicate the measurement result of the auxiliary node through the second information in step S402, so that the main sensing node (i.e., the first communication device) can determine the position information of the target object through the second information to realize multi-node cooperative sensing.

[0231] From the above process, it can be known that the second communication device (i.e., the auxiliary sensing node) can have a plurality of different capabilities, and therefore, the second communication device indicates the corresponding measurement result in the second information in step S402 based on its own capability, which will be described below in combination with more implementation examples.

[0232] Implementation Example I: The second communication device at least has angle measurement capability.

[0233] In an implementation example one, the second information sent by the second communication device at step S402 can comprise angle information between the second communication device and the target object; wherein the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0234] Specifically, the second information received by the first communication device can be from the second communication device, and the second information comprises angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information contained in the second information and the other information mentioned above.

[0235] In addition, in the above scheme, the second information sent by the second communication device to the first communication device contains angle information between the second communication device and the target object, so that the second communication device provides the angle measurement result (i.e. angle information) in the way that the determination of the position information of the target object can be realized, which can simplify the implementation complexity of the second communication device and reduce the processing delay.

[0236] As an implementation example, as shown in the scenario, Figure 6a the position of the first communication device is point A, the position of the second communication device is point B, and the position of the target object is point P. In the implementation example one, the second communication device (or the communication device where the second communication device is located) has angle measurement capability, and the second communication device can perform angle measurement based on the request of the first communication device to obtain angle information between the second communication device and the target object (the angle information can indicate ∠YBP in the figure, i.e. θ, for point B, the direction where point B is located is the reference direction (for example, the horizon direction, the direction perpendicular to the horizon direction, etc.)), and subsequently the first communication device can determine the position information of the target object based on the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device.

[0237] For example, the first communication device can determine the position information of the target object in the following way:

[0238]

[0239] In formula (4), denotes a set of vectors with point A as the origin and the modulus as r1; denotes vector and vector The angle between the two lines is θ. The position coordinates of the point P satisfy equation (4), i.e., a circle is determined with the point A as the coordinate origin (i.e., the position information of the first communication device) and a radius of r1 (i.e., the distance information between the first communication device and the target object), and the intersection between the angle θ indicated by the angle information obtained by the first communication device through the second information and the circle is the position coordinates of the point P (i.e., the position information of the target object).

[0240] It should be understood that the first communication device can obtain the position information of the second communication device through the third information in the foregoing step D or the second information or other manners (e.g., preconfigured manners). In addition, the first communication device can determine the distance information between the first communication device and the target object and the position information of the first communication device based on its own measurement or preconfigured information.

[0241] Optionally, in the implementation example one, the first communication device can further enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device through the implementation of the foregoing steps B and C, so that the second communication device can measure in a specified range based on at least one of the two information, so as to improve the processing efficiency of the receiver in obtaining the second information and reduce the processing time delay. Figure 6a In the scenario shown in the figure, the first communication device can also enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device through the implementation of the foregoing steps B and C, so that the second communication device can measure in a specified range based on at least one of the two information, so as to improve the processing efficiency of the receiver in obtaining the second information and reduce the processing time delay.

[0242] For example, the second communication device can determine the distance information between the second communication device and the target object based on the two information. Figure 6a In the circle with the point A as the coordinate origin (i.e., the position information of the first communication device) and a radius of r1 (i.e., the distance information between the first communication device and the target object), and the second communication device can perform angle measurement on the region where the circle is located to obtain the angle information between the second communication device and the target object. In this way, the second communication device can not need to perform angle measurement on other regions of the region where the circle is located, which can greatly improve the processing efficiency of the second communication device and reduce the processing time delay.

[0243] In the implementation example two, the second communication device at least has distance measurement capability.

[0244] In the implementation example two, the second information sent by the second communication device in step S402 includes N distance information between N second communication devices and the target object, N being an integer greater than 1; wherein the N distance information, the position information of the N second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0245] Specifically, the second information received by the first communication device can be from N second communication devices, and the N distance information contained in the second information respectively indicates the distance between the N second communication devices and the target object, so that the first communication device can determine the position information of the target object based on the N distance information contained in the second information and the other information.

[0246] In addition, in the above scheme, the second information sent by the second communication device to the first communication device contains distance information between each second communication device and the target object, so that the determination of the position information of the target object can be realized by the way that the second communication device provides distance measurement results (i.e. distance information), which can simplify the implementation complexity of the second communication device and reduce the processing delay.

[0247] As an implementation example, as shown in the scenario, Figure 6b the position of the first communication device is point A, the number of second communication devices is 2 (i.e. the value of N is 2), and the positions of the two second communication devices are points B and C respectively, and the position of the target object is point P. In the second implementation example, the second communication device (or the communication device where the second communication device is located) has distance measurement capability, and the second communication device can measure the distance between the second communication device and the target object based on the request of the first communication device to obtain distance information (the distance information can indicate r2 and r3 in the figure), and subsequently the first communication device can determine the position information of the target object based on the distance information (i.e. r2 and r3) measured by the two second communication devices respectively, the position information of the two second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device.

[0248] For example, the first communication device can determine the position information of the target object in the following way:

[0249]

[0250] In formula (5), represents the set of vectors with point A as the origin and the modulus as r1; represents the set of vectors with point B as the origin and the modulus as r2; Let P be the set of vectors with origin C and magnitude r3. The position coordinates of point P satisfy equation (5), that is, the first circle is determined with origin A (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object); the second circle is determined with origin B (i.e., the position information of a certain second communication device) and radius r2 (i.e., the distance information between a certain second communication device and the target object); the third circle is determined with origin C (i.e., the position information of a certain second communication device) and radius r3 (i.e., the distance information between a certain second communication device and the target object); thereafter, the first communication device can determine the position coordinates of point P (i.e., the position information of the target object) by the intersection of these three circles.

[0251] It should be understood that the first communication device can obtain the location information (i.e., the coordinates of points B and C) of the two second communication devices through the third or second information in step D above, or through other means (such as pre-configuration). Furthermore, the first communication device can determine the distance information between itself and the target object, as well as its location information, based on its own measurements or pre-configured information.

[0252] Optional, in Figure 6b In the scenario shown, the first communication device can also, through the implementation processes of steps B and C above, enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device. This allows the second communication device to perform measurements within a specified range based on at least one of these two pieces of information, thereby improving the processing efficiency of the receiver in obtaining the second information and reducing processing latency. For example, any second communication device can determine based on these two pieces of information... Figure 6a A circle with point A as the origin (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object) is drawn. Any second communication device can measure the angle within the area containing this circle to obtain the angle information between the second communication device and the target object. In this way, any second communication device can avoid measuring angles in other areas within the circle, significantly improving processing efficiency and reducing processing latency.

[0253] Example 3: The second communication device shall have at least angle measurement capability and distance measurement capability.

[0254] In Example 3, the second information sent by the second communication device in step S402 includes the angle information between the second communication device and the target object and the distance information between the second communication device and the target object, where N is an integer greater than 1; wherein the angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

[0255] Specifically, the second information received by the first communication device may come from the second communication device, and the second information includes angle information and distance information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information, distance information and other information included in the second information.

[0256] As an implementation example, such as Figure 6c The scenario shown is illustrated using point A (the location of the first communication device), point B (the location of the second communication device), and point P (the location of the target object). In Example 3, the second communication device (or the communication equipment containing the second communication device) has angle and distance measurement capabilities. Furthermore, the second communication device can perform angle and distance measurements based on a request from the first communication device to obtain angle and distance information between the second communication device and the target object (the angle information can be represented by ∠YBP, i.e., θ, and the distance information can be represented by r2). Subsequently, the first communication device can use this angle information, this distance information, and the position information of the second communication device to determine the position information of the target object.

[0257] For example, the first communication device can determine the location information of the target object in the following manner:

[0258]

[0259] In equation (6), Let A be the set of vectors with origin at point A and magnitude r1. Let B be the set of vectors with origin at point B and magnitude r2. Representing vectors with vector The angle between them is θ. The position coordinates of point P satisfy equation (6), that is, a circle is determined with point A as the origin (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object); another circle is determined with point B as the origin (i.e., the position information of the second communication device) and radius r2 (i.e., the distance information between the second communication device and the target object), and one of the intersection points of these two circles satisfies The intersection of these points is the position coordinate of point P (i.e., the position information of the target object).

[0260] It should be understood that the first communication device can obtain the location information of the second communication device through the third information in the foregoing step D, or the second information or other manners (e.g., pre-configuration).

[0261] Optionally, in the above-mentioned any one of the implementation example one to the implementation example three, the second information comprises the location information of the target object. In other words, the second information received by the first communication device can comprise the location information of the target object, so that the first communication device can obtain the location information of the target object through the received second information, and the processing complexity of the first communication device can be reduced and the processing time delay can be reduced. Figure 6c In the scenario shown in the figure, the first communication device can also enable the second communication device to determine the distance information between the first communication device and the target object and / or the location information of the first communication device through the implementation processes of the foregoing steps B and C, so that the second communication device can measure within a specified range based on at least one of the two information, so as to improve the processing efficiency of the receiver to obtain the second information and reduce the processing time delay.

[0262] For example, the second communication device can determine the location information of the target object based on the two information. Figure 6c For example, the second communication device can determine the location information of the target object based on the two information.

[0263] Optionally, in the above-mentioned any one of the implementation example one to the implementation example three, the second information comprises the location information of the target object. In other words, the second information received by the first communication device can comprise the location information of the target object, so that the first communication device can obtain the location information of the target object through the received second information, and the processing complexity of the first communication device can be reduced and the processing time delay can be reduced.

[0264] For example, the above-mentioned location information of the target object is determined by the second communication device based on any one of the following:

[0265] the angle information between the second communication device and the target object, the location information of the second communication device, the distance information between the first communication device and the target object, and the location information of the first communication device (i.e., the implementation example one); or,

[0266] N distance information between N second communication devices and the target object, the location information of the N second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device, N is an integer greater than 1 (i.e., the implementation example two, a certain second communication device can receive / summarize / collect the information of other N-1 second communication devices and determine the location information of the target object); or,

[0267] The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device (i.e., implementation example three).

[0268] Please see Figure 7 This application provides a communication device 700, which can realize the functions of the first communication device (or second communication device, third communication device, or fourth communication device) in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments. In this application embodiment, the communication device 700 can be the first communication device (or second communication device, third communication device, or fourth communication device), or it can be an integrated circuit or component inside the first communication device (or second communication device, third communication device, or fourth communication device), such as a chip, baseband chip, modem chip, SoC chip (e.g., an SoC chip containing a modem core), SIP chip, communication module, chip system, processor, etc.

[0269] It should be noted that the transceiver unit 702 may include a transmitting unit and a receiving unit, which are used to perform transmitting and receiving respectively.

[0270] In one possible implementation, when the device 700 is used to perform the aforementioned Figure 4 When the method is executed by the first communication device in the embodiment shown in the method, the device 700 includes a processing unit 701 and a transceiver unit 702; the processing unit 701 is used to determine first information; the transceiver unit 702 is used to send the first information, which is used to request the location information of a target object; the transceiver unit 702 is also used to receive second information, which is used to determine the location information of the target object; wherein, the second information is determined based on the first information.

[0271] In one possible implementation, when the device 700 is used to perform the aforementioned Figure 4 When the method is executed by the second communication device in the embodiment shown in the method, the device 700 includes a processing unit 701 and a transceiver unit 702; the transceiver unit 702 is used to receive first information from the first communication device, the first information being used to request the location information of a target object; the processing unit 701 is used to determine second information; the transceiver unit 702 is also used to send the second information, the second information being used to determine the location information of the target object; wherein, the second information is determined based on the first information.

[0272] It should be noted that the information execution process of the unit of the above-mentioned communication device 700 can be specifically described in the method embodiment shown above in this application, and will not be repeated here.

[0273] Referring to Figure 8 , another schematic structural diagram of the communication apparatus 800 is provided in the present application, and the communication apparatus 800 includes a logic circuit 801 and an input / output interface 802. The communication apparatus 800 can be a chip or an integrated circuit.

[0274] The input / output interface 802 in the communication apparatus 800 can also be a communication interface, and the input / output interface 802 can include an input interface and an output interface. Alternatively, the input / output interface 802 can also be a transceiver circuit, and the transceiver circuit can include an input interface circuit and an output interface circuit. Figure 7 The transceiver unit 702 shown in the figure can be a communication interface, and similarly, Figure 8 The input / output interface 802 in the communication apparatus 800 can also be a communication interface, and the input / output interface 802 can include an input interface and an output interface. Alternatively, the input / output interface 802 can also be a transceiver circuit, and the transceiver circuit can include an input interface circuit and an output interface circuit.

[0275] Optionally, the logic circuit 801 is configured to determine first information; the input / output interface 802 is configured to send the first information, the first information being used to request position information of a target object; and the input / output interface 802 is further configured to receive second information, the second information being used to determine the position information of the target object, wherein the second information is determined based on the first information.

[0276] Optionally, the input / output interface 802 is configured to receive first information from a first communication apparatus, the first information being used to request position information of a target object; the logic circuit 801 is configured to determine second information; and the input / output interface 802 is further configured to send the second information, the second information being used to determine the position information of the target object, wherein the second information is determined based on the first information.

[0277] The logic circuit 801 and the input / output interface 802 can also perform other steps performed by the first communication apparatus or the second communication apparatus in any one of the embodiments and achieve corresponding beneficial effects, which will not be described herein.

[0278] In a possible implementation manner, Figure 7 The processing unit 701 shown in the figure can be Figure 8 The logic circuit 801 in the communication apparatus 800.

[0279] Optionally, the logic circuit 801 can be a processing apparatus, and the functions of the processing apparatus can be partially or entirely implemented through software. The functions of the processing apparatus can be partially or entirely implemented through software.

[0280] Optionally, the processing apparatus can include a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to read and execute the computer program stored in the memory to perform corresponding processing and / or steps in any one of the method embodiments.

[0281] Optionally, the processing device can only include a processor. The memory for storing the computer program is located outside the processing device, and the processor is connected with the memory through the circuit / wire to read and execute the computer program stored in the memory. Among them, the memory and the processor can be integrated together, or they can also be physically independent of each other.

[0282] Optionally, the processing device can be one or more chips, or one or more integrated circuits. For example, the processing device can be one or more field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), system on chips (SoC), central processing units (CPU), network processors (NP), digital signal processors (DSP), microcontroller units (MCU), programmable logic devices (PLD) or other integrated chips, or any combination of the above chips or processors, etc.

[0283] Please refer to Figure 9 The communication device 900 involved in the above embodiments provided for the embodiments of the present application, which can be specifically the communication device in the above embodiments as a terminal device, Figure 9 The communication device of the illustrated example is implemented by a terminal device (or a component in the terminal device).

[0284] Among them, a possible logical structure diagram of the communication device 900 can include but is not limited to at least one processor 901 and a communication port 902.

[0285] Among them, Figure 7 The transceiver unit 702 shown can be a communication interface, which can be Figure 9 The communication port 902 in the communication port 902 can include an input interface and an output interface. Alternatively, the communication port 902 can also be a transceiver circuit, which can include an input interface circuit and an output interface circuit.

[0286] Further optionally, the device can also include at least one of a memory 903, a bus 904, and in the embodiments of the present application, the at least one processor 901 is used to control and process the actions of the communication device 900.

[0287] Further, the processor 901 can be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array, or other programmable logic device, transistor logic, hardware components, or any combination thereof. It can implement or execute various example logical blocks, modules, and circuits described in connection with the disclosure. The processor can also be a combination of computing functionality, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so on. For the sake of brevity and conciseness, the specific working processes of the system, device, and unit described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0288] It should be noted that, Figure 9 The communication apparatus 900 shown can be specifically used to implement the steps implemented by the terminal device in the foregoing method embodiments, and achieve the corresponding technical effects of the terminal device, Figure 9 The specific implementation of the communication apparatus can be referred to the foregoing method embodiments, and will not be described here.

[0289] Please refer to Figure 10 The foregoing structure of the communication apparatus 1000 involved in the embodiments of the present application is shown in the structure diagram, and the communication apparatus 1000 can be specifically the communication apparatus as the network device in the foregoing embodiments, Figure 10 The communication apparatus in the example shown is implemented by a network device (or a component in the network device), and the structure of the communication apparatus can be referred to Figure 10 The structure shown.

[0290] The communication apparatus 1000 includes at least one processor 1011 and at least one network interface 1014. Further optionally, the communication apparatus further includes at least one memory 1012, at least one transceiver 1013, and one or more antennas 1015. The processor 1011, the memory 1012, the transceiver 1013, and the network interface 1014 are connected, for example, through a bus, and in the embodiments of the present application, the connection can include various interfaces, transmission lines, or buses, etc., which are not limited in the embodiments. The antenna 1015 is connected to the transceiver 1013. The network interface 1014 is used to enable the communication apparatus to communicate with other communication devices through a communication link. For example, the network interface 1014 can include a network interface between the communication apparatus and a core network device, such as an S1 interface, and the network interface can include a network interface between the communication apparatus and other communication apparatuses (such as other network devices or core network devices), such as an X2 or Xn interface.

[0291] Among them, Figure 7The transceiver unit 702 shown can be a communication interface, which can be a Figure 10 The network interface 1014 in the communication device 1000 can include an input interface and an output interface. Alternatively, the network interface 1014 can also be a transceiver circuit, which can include an input interface circuit and an output interface circuit.

[0292] The processor 1011 is mainly used for processing communication protocols and communication data, and controlling the entire communication device, executing software programs, processing data of the software programs, for example, for supporting the communication device to perform the actions described in the embodiments. The communication device can include a baseband processor and a central processor, the baseband processor is mainly used for processing communication protocols and communication data, and the central processor is mainly used for controlling the entire terminal device, executing software programs, and processing data of the software programs. Figure 10 The processor 1011 in the communication device 1000 can integrate the functions of the baseband processor and the central processor. Those skilled in the art can understand that the baseband processor and the central processor can also be independent processors interconnected by a bus or the like. Those skilled in the art can understand that the terminal device can include multiple baseband processors to adapt to different network standards, and the terminal device can include multiple central processors to enhance its processing capability, and various components of the terminal device can be connected by various buses. The baseband processor can also be referred to as a baseband processing circuit or a baseband processing chip. The central processor can also be referred to as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor, or stored in the memory in the form of a software program, and the processor executes the software program to realize the baseband processing function.

[0293] The memory is mainly used for storing software programs and data. The memory 1012 can exist independently and be connected to the processor 1011. Alternatively, the memory 1012 can be integrated with the processor 1011, for example, integrated in a chip. The memory 1012 can store program codes for executing the technical solutions of the embodiments of the present application, and the processor 1011 controls the execution. Various computer programs executed can also be regarded as a driver of the processor 1011.

[0294] Figure 10 Only one memory and one processor are shown. In actual terminal devices, multiple processors and multiple memories can exist. The memory can also be referred to as a storage medium or a storage device, etc. The memory can be a storage element on the same chip as the processor, i.e., an on-chip storage element, or an independent storage element, and the embodiments of the present application do not limit this.

[0295] The transceiver 1013 can be configured to support the receiving or transmitting of radio frequency signals between the communication device and a terminal. The transceiver 1013 can be connected to the antenna 1015. The transceiver 1013 includes a transmitter Tx and a receiver Rx. Specifically, the one or more antennas 1015 can receive radio frequency signals, the receiver Rx of the transceiver 1013 is configured to receive the radio frequency signals from the antenna and convert the radio frequency signals into digital baseband signals or digital intermediate frequency signals, and provide the digital baseband signals or digital intermediate frequency signals to the processor 1011 for further processing, such as demodulation processing and decoding processing, by the processor 1011. In addition, the transmitter Tx in the transceiver 1013 is also configured to receive modulated digital baseband signals or digital intermediate frequency signals from the processor 1011, and convert the modulated digital baseband signals or digital intermediate frequency signals into radio frequency signals, and transmit the radio frequency signals through the one or more antennas 1015. Specifically, the receiver Rx can selectively perform one or more levels of down-mixing processing and analog-to-digital conversion processing to obtain digital baseband signals or digital intermediate frequency signals, and the order of the down-mixing processing and the analog-to-digital conversion processing can be adjustable. The transmitter Tx can selectively perform one or more levels of up-mixing processing and digital-to-analog conversion processing to obtain radio frequency signals, and the order of the up-mixing processing and the digital-to-analog conversion processing can be adjustable. The digital baseband signals and the digital intermediate frequency signals can be collectively referred to as digital signals.

[0296] The transceiver 1013 can also be referred to as a transceiving unit, a transceiver, a transceiving device, etc. Optionally, the devices in the transceiving unit for implementing the receiving function can be regarded as a receiving unit, and the devices in the transceiving unit for implementing the transmitting function can be regarded as a transmitting unit, that is, the transceiving unit includes the receiving unit and the transmitting unit. The receiving unit can also be referred to as a receiver, an input port, a receiving circuit, etc. The transmitting unit can be referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0297] It should be noted that, Figure 10 The communication device 1000 shown can be specifically configured to implement the steps implemented by the network device in the foregoing method embodiments, and achieve the corresponding technical effects of the network device, Figure 10 The specific implementation modes of the communication device 1000 shown can be referred to the descriptions in the foregoing method embodiments, which will not be described here one by one.

[0298] Please refer to Figure 11 The structure diagram of the communication device involved in the foregoing embodiments provided by the embodiments of the present application is shown.

[0299] It can be understood that the communication apparatus 110 comprises, for example, modules, units, elements, circuits, or interfaces, etc., which are properly configured together to perform the technical solutions provided in the present application. The communication apparatus 110 can be a terminal device or a network device described above, or can be a component (for example, a chip) of the devices, to implement the methods described in the following method embodiments. The communication apparatus 110 comprises one or more processors 111. The processor 111 can be a general purpose processor or a special purpose processor, etc. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication apparatus (such as a RAN node, a terminal, or a chip, etc.), execute software programs, and process data of the software programs.

[0300] Optionally, in one design, the processor 111 can include a program 113 (which can also be referred to as code or instructions at times) that can be run on the processor 111, so that the communication apparatus 110 performs the methods described in the following embodiments. In another possible design, the communication apparatus 110 includes a circuit (not shown) that can be used to implement the methods described in the following embodiments. Figure 11

[0301] Optionally, the communication apparatus 110 can include one or more memories 112, which have a program 114 (which can also be referred to as code or instructions at times) stored thereon. The program 114 can be run on the processor 111, so that the communication apparatus 110 performs the methods described in the above method embodiments.

[0302] Optionally, the processor 111 and / or the memory 112 can include an artificial intelligence (AI) module 117, 118, which is used to implement AI-related functions. The AI module can be implemented in a software, hardware, or software-hardware combined manner. For example, the AI module can include a radio intelligence control (RIC) module. For example, the AI module can be a near-real-time RIC or a non-real-time RIC.

[0303] Optionally, the processor 111 and / or the memory 112 can also store data. The processor and the memory can be separately arranged, or can be integrated together.

[0304] ​Optionally, the communication device 110 may further include a transceiver 115 and / or an antenna 116. The processor 111, sometimes referred to as a processing unit, controls the communication device (e.g., a RAN node or terminal). The transceiver 115, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to realize the transmission and reception functions of the communication device through the antenna 116.

[0305] in, Figure 7 The processing unit 701 shown may be a processor 111. Figure 7 The transceiver unit 702 shown can be a communication interface, which can be... Figure 11 The transceiver 115 may include an input interface and an output interface. Alternatively, the transceiver 115 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0306] This application also provides a computer-readable storage medium for storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor performs the method described in the possible implementations of the first or second communication device in the foregoing embodiments.

[0307] This application also provides a computer program product (or computer program) that, when executed by a processor, executes the method of the first, second, third, or fourth communication device as described above.

[0308] This application also provides a chip system including at least one processor for supporting a communication device in implementing the functions involved in the possible implementations of the communication device described above. Optionally, the chip system further includes an interface circuit that provides program instructions and / or data to the at least one processor. In one possible design, the chip system may further include a memory for storing the program instructions and data necessary for the communication device. The chip system may be composed of chips or may include chips and other discrete devices, wherein the communication device may specifically be the first, second, third, or fourth communication device in the aforementioned method embodiments.

[0309] This application also provides a communication system, which includes a first communication device and a second communication device from any of the above embodiments. Alternatively, the communication system includes a third communication device and / or a fourth communication device from any of the above embodiments.

[0310] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely illustrative. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0311] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0312] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of software function unit. When the integrated unit is implemented in the form of software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially, or the part contributing to the prior art, or all or a part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various other media that can store program codes.

Claims

1. A communication method, characterized in that, Applied to a first communication device, wherein the first communication device lacks angle measurement capability or the angle measurement capability of the first communication device satisfies a first condition, the method includes: Send a first message, which is used to request the location information of the target object; Receive second information, the second information being used to determine the location information of the target object; wherein the second information is determined based on the first information.

2. The method according to claim 1, characterized in that, The second information includes the angle information between the second communication device and the target object; The angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

3. The method according to claim 1, characterized in that, The second information includes N distance information between N second communication devices and the target object, where N is an integer greater than 1; The N distance information, the N location information of the second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device are used to determine the location information of the target object.

4. The method according to claim 1, characterized in that, The second information includes the angle information between the second communication device and the target object and the distance information between the second communication device and the target object, where N is an integer greater than 1; The angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

5. The method according to any one of claims 1 to 4, characterized in that, The second information includes the location information of the target object, which is determined based on any of the following: The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; or, N distance information between N second communication devices and the target object, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device, where N is an integer greater than 1; or, The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device.

6. The method according to any one of claims 1 to 5, characterized in that, The first condition indicates that the angle measurement capability of the first communication device is inferior to the pre-configured capability, and / or the first condition indicates that the angle measurement capability information of the first communication device is below a threshold.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Send at least one of the following: The first indication information indicates that the first communication device does not have the angle measurement capability or the angle measurement capability of the first communication device meets the first condition. The second indication information indicates the distance information between the first communication device and the target object; or The third indication information indicates the location information of the first communication device.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Receive third information, which indicates the sensing assistance capability of the second communication device.

9. The method according to claim 8, characterized in that, The perception-aiding capabilities include angle measurement capabilities and / or distance measurement capabilities.

10. The method according to any one of claims 1 to 9, characterized in that, The sending of the first information includes: The first information is sent when the second condition is met; the second condition includes: The measurement accuracy of the measurement result obtained by the first communication device based on angle measurement is lower than the threshold. The communication performance of the first communication device based on the measurement results is below a threshold. The first information is periodically transmitted information and the transmission period of the first information has expired; The fourth message is received, which instructs the first communication device to acquire the location information of the target object.

11. A communication method, characterized in that, include: Receive first information from a first communication device, the first information being used to request the location information of a target object; wherein the first communication device does not have angle measurement capability or the angle measurement capability of the first communication device meets a first condition; Send a second message, which is used to determine the location information of the target object; wherein the second message is determined based on the first message.

12. The method according to claim 11, characterized in that, The second information includes the angle information between the second communication device and the target object; The angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

13. The method according to claim 11, characterized in that, The second information includes one of N distance information between N second communication devices and the target object, where N is an integer greater than 1; The N distance information, the N location information of the second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device are used to determine the location information of the target object.

14. The method according to claim 11, characterized in that, The second information includes the angle information between the second communication device and the target object and the distance information between the second communication device and the target object, where N is an integer greater than 1; The angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

15. The method according to any one of claims 11 to 14, characterized in that, The second information includes the location information of the target object, which is determined based on any of the following: The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; or, N distance information between N second communication devices and the target object, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device, where N is an integer greater than 1; or, The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device.

16. The method according to any one of claims 11 to 15, characterized in that, The first condition indicates that the angle measurement capability of the first communication device is inferior to the pre-configured capability, and / or the first condition indicates that the angle measurement capability information of the first communication device is below a threshold.

17. The method according to any one of claims 11 to 16, characterized in that, The method further includes: Receive at least one of the following: The first indication information indicates that the first communication device does not have the angle measurement capability or the angle measurement capability of the first communication device meets the first condition. The second indication information indicates the distance information between the first communication device and the target object; or The third indication information indicates the location information of the first communication device.

18. The method according to any one of claims 11 to 17, characterized in that, The method further includes: Send a third message, which indicates the sensing assistance capability of the second communication device.

19. The method according to claim 18, characterized in that, The perception-aiding capabilities include angle measurement capabilities and / or distance measurement capabilities.

20. The method according to any one of claims 11 to 19, characterized in that, The receiving of the first information includes: Upon fulfillment of the second condition, the first information is received; the second condition includes: The measurement accuracy of the measurement result obtained by the first communication device based on angle measurement is lower than the threshold. The communication performance of the first communication device based on the measurement results is below a threshold. The first information is periodically transmitted information and the transmission period of the first information has expired; A fourth message is sent, which instructs the first communication device to acquire the location information of the target object.

21. A communication device, characterized in that, Includes a module for performing the method as described in any one of claims 1 to 20.

22. A communication device, characterized in that, It includes at least one processor, said at least one processor being used to perform the method as described in any one of claims 1 to 20.

23. The communication device according to claim 22, characterized in that, The communication device is a chip or chip system.

24. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed by a communication device, implement the method as described in any one of claims 1 to 20.

25. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a computer, implement the method as described in any one of claims 1 to 20.

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