Perception method and related equipment

Abstract

The embodiment of the invention provides a sensing method. The sensing method comprises the steps that first sensing measurement configuration from network equipment is received, the first sensing measurement configuration is used for indicating a sensing measurement period, and N times of sensing tasks are executed in the sensing measurement period. And executing N times of sensing tasks in the sensing measurement period, and obtaining N pieces of sensing information corresponding to the N times of sensing tasks. And if the N pieces of perception information meet the first condition, first indication information is sent to the network equipment, and the first indication information is used for the network equipment to send the second perception measurement configuration. And receiving a second sensing measurement configuration, and executing P times of sensing tasks in the sensing measurement period according to the second sensing measurement configuration.

Description

Technical Field

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

[0002] Communication-sensing integration is a key technology in next-generation wireless communication systems. It aims to integrate wireless communication and sensing functions into a single system, utilizing the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification. This allows for the acquisition of information about the surrounding physical environment, improving communication performance and enhancing user experience. In communication-sensing integration technology, network devices transmit sensing signals and receive echo signals to obtain information such as the position and speed of targets in the environment.

[0003] Among the various sensing modes discussed in the current 3rd Generation Partnership Project - Service and System Aspects Working Group 1 (3GPP SA1), there are two main modes: a base station transmit / UE receive mode where the sensing signal is sent by the base station, reflected by targets in the environment, and then received by the UE; and a UE transmit / base station receive mode where the sensing signal is sent by the UE, reflected by targets in the environment, and then received by the base station. In both modes, once the sensing resources are configured by the base station, both parties perform the transmission and reception of sensing signals according to the configured resources.

[0004] However, in reality, the need for perception is constantly changing, and relying on fixed resources for perception can easily lead to unnecessary resource consumption. Summary of the Invention

[0005] This application provides a sensing method and related equipment to avoid unnecessary resource consumption in sensing measurements.

[0006] The first aspect of this application provides a sensing method:

[0007] The system receives a first sensing measurement configuration from a network device. This configuration indicates a sensing measurement period and the execution of N sensing tasks within that period, where N is greater than or equal to 1. During the sensing measurement period, N sensing tasks are executed, acquiring N sensing information items corresponding to each task. These sensing information items include sensing measurement data or target information obtained from the sensing tasks. If the N sensing information items satisfy a first condition, a first indication is sent to the network device. This indication is used by the network device to send a second sensing measurement configuration, indicating that P additional sensing tasks, where P is greater than or equal to 1, will be executed within the sensing measurement period. The system then receives the second sensing measurement configuration and, based on this configuration, executes P additional sensing tasks within the sensing measurement period.

[0008] In this application, the minimum number of N sensing tasks are executed within a sensing measurement cycle to ensure the most basic sensing needs. If the sensing information from the N sensing tasks meets the first condition, it means that the N sensing tasks have benefits. Therefore, it is predicted that continuing to execute sensing tasks within the sensing measurement cycle will also have benefits, thereby triggering the continued execution of sensing tasks to ensure that the actual sensing needs are met. Otherwise, it is not necessary to trigger the continued execution of sensing tasks, thereby achieving energy saving.

[0009] In one possible implementation, the first condition is that among the N perceptual information pieces, M include perceptual information pieces that satisfy the second condition, where M is less than or equal to N and greater than or equal to 1. Alternatively, the first condition is that among the last L perceptual information pieces of the N perceptual information pieces, M include perceptual information pieces that satisfy the second condition, where L is greater than or equal to 1 and greater than or equal to M.

[0010] In this application, the second condition can be set as the situation where there is a benefit in the perception information. If the N perception information includes M perception information that meets the second condition, or if the last L perception information includes M perception information that meets the second condition, it means that the N perception information has a benefit. Therefore, it is predicted that continuing to execute the perception task within the perception measurement period will also have a benefit, thus ensuring the accuracy of triggering the perception task.

[0011] In one possible implementation, if the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value; if the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

[0012] In this application, if the change in the perceived measurement data compared to the previous one is greater than a preset value, or if the target information indicates the existence of a perceived target or a perceived target that meets specific characteristics, it indicates that the perceived information is beneficial, thereby ensuring the accuracy of triggering the perception task.

[0013] In one possible implementation, the method also includes:

[0014] Obtain P sensing information corresponding to P sensing tasks. If the P sensing information satisfies a third condition, send a second indication to the network device. The second indication is used by the network device to send a third sensing measurement configuration. The third sensing measurement configuration is used to indicate that Q more sensing tasks will be executed within the sensing measurement period, where Q is greater than or equal to 1. The third condition is that among the P sensing information, S sensing information satisfies the second condition, where S is less than or equal to P and greater than or equal to 1. Alternatively, the third condition is that among the last D sensing information of the P sensing information, S sensing information satisfies the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

[0015] In this application, if the sensing information of P sensing tasks meets the third condition, it means that the P sensing tasks have benefits. Therefore, it is predicted that continuing to execute the sensing tasks within the sensing measurement cycle will also have benefits, thereby triggering the continued execution of the sensing tasks to ensure that the actual sensing needs are met. Otherwise, the continued execution of the sensing tasks cannot be triggered, thereby achieving energy saving.

[0016] A second aspect of this application provides a sensing method:

[0017] Receive a perception measurement configuration from the network device. The perception measurement configuration indicates the perception measurement period and the number of perception tasks to be performed within the perception measurement period, where N is greater than or equal to 1. Perform N perception tasks within the perception measurement period to acquire N perception information corresponding to the N perception tasks. The perception information includes perception measurement data or target information obtained based on the perception measurement. If the N perception information satisfies a first condition, then perform P more perception tasks within the perception measurement period, where P is greater than or equal to 1.

[0018] The beneficial effects of the second aspect are described in the preceding section on the first aspect, and will not be repeated here. In the second aspect, the UE can trigger perception tasks on its own, reducing signaling overhead.

[0019] In one possible implementation, the first condition is that among the N perceptual information pieces, M perceptual information pieces satisfy the second condition, where M is less than or equal to N and greater than or equal to 1; or the first condition is that among the last L perceptual information pieces among the N perceptual information pieces, M perceptual information pieces satisfy the second condition, where L is greater than or equal to 1 and L is greater than or equal to M.

[0020] In one possible implementation, if the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value; if the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

[0021] In one possible implementation, the method also includes:

[0022] Obtain the perception information corresponding to P perception tasks. If the perception information corresponding to P perception tasks satisfies the third condition, then Q more perception tasks will be executed within the perception measurement period, where Q is greater than or equal to 1. The third condition is that among the P perception information, S of the perception information satisfies the second condition, where S is less than or equal to P and greater than or equal to 1; or the third condition is that among the last D perception information of the P perception information, S of the perception information satisfies the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

[0023] In one possible implementation, the method also includes:

[0024] Send instruction information to network devices, which instruct the network devices to send sensing signals.

[0025] A third aspect of this application provides a sensing method:

[0026] A first perception measurement configuration is sent to the UE, indicating the perception measurement period and the number of perception tasks to be performed within the perception measurement period, where N is greater than or equal to 1. N perception information items corresponding to the N perception tasks are determined, including perception measurement data or target information obtained from the perception measurements. If the N perception information items satisfy a first condition, a second perception measurement configuration is sent to the UE, indicating that the UE will perform P more perception measurements within the perception measurement period, where P is greater than or equal to 1.

[0027] The beneficial effects of the third aspect are described in the preceding section on the first aspect, and will not be repeated here. In the third aspect, the base station determines whether the N pieces of sensing information satisfy the first condition, thereby reducing the overhead of the UE.

[0028] In one possible implementation, the first condition is that among the N perceptual information pieces, M perceptual information pieces satisfy the second condition, where M is less than or equal to N and greater than or equal to 1; or the first condition is that among the last L perceptual information pieces among the N perceptual information pieces, M perceptual information pieces satisfy the second condition, where L is greater than or equal to 1 and L is greater than or equal to M.

[0029] In one possible implementation, if the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value; if the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

[0030] In one possible implementation, the method also includes:

[0031] Determine the sensing information corresponding to P sensing tasks. If the sensing information corresponding to P sensing tasks meets the third condition, send the third sensing measurement configuration to the UE. The third sensing measurement configuration is used to indicate that Q sensing tasks will be performed within the sensing measurement period, where Q is greater than or equal to 1. The third condition is that among the P sensing information, S sensing information meets the second condition, where S is less than or equal to P and greater than or equal to 1; or the third condition is that among the last D sensing information in the P sensing information, S sensing information meets the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

[0032] In one possible implementation, determining the N sensing information corresponding to N sensing tasks specifically involves receiving N sensing information from the UE. Determining the sensing information corresponding to P sensing tasks specifically involves receiving the sensing information corresponding to P sensing tasks from the UE.

[0033] A fourth aspect of this application provides a terminal device including a processor and a memory, wherein the processor is configured to execute instructions stored in the memory to cause the terminal device to perform the methods described in the first or second aspect above.

[0034] The fifth aspect of this application provides a network device including a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the network device to perform the method described in the third aspect above.

[0035] The sixth aspect of this application also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the methods described in the foregoing aspects.

[0036] The seventh aspect of this application also provides a computer-readable storage medium including computer program instructions, which, when executed by a computer, cause the computer to perform the methods described in the foregoing aspects. Attached Figure Description

[0037] Figure 1 A schematic diagram of the perception mode;

[0038] Figure 2 A schematic diagram of a sensing and measurement process;

[0039] Figure 3 This is a schematic diagram illustrating an application scenario of this application;

[0040] Figure 4 This is a schematic diagram of a synesthetic network architecture;

[0041] Figure 5 This is another schematic diagram of a synesthetic network architecture;

[0042] Figure 6 This is another schematic diagram of a synesthetic network architecture;

[0043] Figure 7 This is another schematic diagram illustrating the application scenario of this application;

[0044] Figure 8 This is a schematic diagram of the base station-side protocol stack;

[0045] Figure 9 This is another schematic diagram illustrating the application scenario of this application;

[0046] Figure 10 This is a schematic diagram of the O-RAN device protocol stack.

[0047] Figures 11 to 19 This is a schematic diagram of the sensing method of this application;

[0048] Figure 20 This is a schematic diagram of the structure of the device in this application;

[0049] Figure 21 This is another structural schematic diagram of the device in this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The terms "first," "second," and corresponding terminology in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchanged where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or device that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to these processes, methods, products, or devices. The methods and apparatus provided in the embodiments of this application are based on the same or similar technical concepts. Since the principles by which the methods and apparatus solve problems are similar, the implementations of the apparatus and methods can refer to each other, and repeated details will not be repeated.

[0051] The technical solutions provided in the embodiments of this application can be applied to integrated sensing and communication (ISAC) systems. An integrated sensing and communication system refers to a system that integrates communication and sensing, also known as a harmonized communication and sensing (HCS) system. The core idea of ​​integrated sensing and communication is to add sensing capabilities to the communication network, building capabilities such as target detection, tracking, and imaging, thereby integrating communication and sensing capabilities into a single network.

[0052] The method provided in this application can be applied to various mobile communication systems, such as the Internet of Things (IoT), narrowband Internet of Things (NB-IoT), fourth-generation (4G) communication systems (e.g., long term evolution (LTE)), fifth-generation (5G) communication systems (e.g., 5G new radio (NR)), LTE and NR hybrid architectures, or new communication systems that will emerge in the future development of communication.

[0053] Before introducing the technical solutions provided in the embodiments of this application, the technical terms, applicable network architectures, and scenarios involved in the embodiments of this application will be introduced first.

[0054] (1) Perception can also be replaced by: sensing process, sensing operation, sensing detection, detection processing, and sensing task.

[0055] Perception can be understood as a technology capable of acquiring information about the characteristics of the environment and / or objects within it. This information includes, but is not limited to, shape, size, orientation, speed, position, distance between objects, or relative motion. The working principle of perception is as follows: the transmitting end sends a perception signal, and the receiving end receives the signal reflected from the perception target (also called the echo signal). The perception result, such as speed, distance, shape, and size, is obtained based on the echo signal. The perception target can also be called a target, the object being detected, the object being sensed, or the object being sensed, etc., without limitation. The perception target can be any tangible object in the environment capable of reflecting electromagnetic waves. For example, the perception target can be a stationary object such as a building. Alternatively, the perception target can be a mobile object such as a vehicle, drone, or terminal device.

[0056] (2) Sensing measurement data. Sensing measurement data may include echo signals or channel response information of echo signals; or sensing measurement data may also include sensing results.

[0057] The echo signal refers to the signal reflected back to the receiver after the sensing signal is transmitted from the transmitter to the target object. The sensing signal is used to sense (or detect) the signal of the sensed target (or target object). Sensing signals are also called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be pulse signals or any signal possible in a wireless communication system, such as orthogonal frequency division multiplexing (OFDM) signals.

[0058] The channel response information of the echo signal may include at least one of the following: amplitude data, phase data, in-phase (I) data, and quadrature (Q) data determined based on the echo signal.

[0059] Sensing measurement data refers to the data obtained after processing echo signals. Echo signal processing involves multiple stages, and the data obtained from each stage can be called sensing measurement data. For example, sensing measurement data can include one or more of the following: time delay, Doppler amplitude, angle, and intensity of sampling points; it can also represent one or more of the following: position, velocity, and intensity of sampling points. Examples of sensing measurement data include, but are not limited to, one or more of the following: in-phase quadrature (IQ) data, range / doppler (RD) spectrum, range / doppler / angle (RDA) spectrum, distance / velocity (DV) spectrum, distance / velocity / angle (DVA) spectrum, range / velocity (RV) spectrum, range / velocity / angle (RVA) spectrum, set of coordinate points, point cloud, centroid of the real target, etc.

[0060] Target information refers to results related to business functions and performance obtained through calculations and analysis of perceived measurement data. For example, perception results include the presence of a target to be perceived and information about that target (e.g., speed, distance, angle, orientation, acceleration, position, movement trajectory, imaging results, facial expression, breathing / heart rate, etc.). The perception results vary depending on the target. For instance, if the target is air, the results include air quality and the composition of gases in the air; similarly, if the target is vehicles, the results include the number of vehicles, their positions, and their movement trajectories.

[0061] For example, see Figure 1 This is a schematic diagram illustrating various sensing modes provided in the embodiments of this application. Figure 1 The system uses the perceived target to indicate the vehicle and provides six perception modes. These six perception modes are: such as... Figure 1 The mode shown in (1) is the self-transmitting and self-receiving mode of access network device A, that is, the mode in which access network device A sends sensing signals and receives echo signals; such as Figure 1 The self-transmitting and self-receiving mode of terminal device A shown in (2) refers to the mode in which terminal device A sends sensing signals and receives echo signals; for example... Figure 1 The mode shown in (3) illustrates the transmission of sensing signals by access network device A and the reception of echo signals by access network device B; as shown in (3). Figure 1 The mode shown in (4) illustrates the transmission of sensing signals by terminal device A and the reception of echo signals by terminal device B; as shown in (4). Figure 1 The mode of access network device A transmitting sensing signals and terminal device A receiving echo signals is shown in (5) above; Figure 1 The mode shown in (6) is the mode in which terminal device A sends sensing signals and access network device A receives echo signals. Figure 1 The example is a smartphone.

[0062] Sensing signaling interaction can be categorized into four modes based on the participating network elements: signaling interaction between the sensing function (SF) and the 5G base station (next generation node B, gNB); signaling interaction between the SF and terminal equipment; signaling interaction between the gNB and terminal equipment; and signaling interaction between terminal equipment. The demand relationships between different sensing modes and the interaction between the three network elements (SF, gNB, and terminal equipment) are summarized in Table 1.

[0063] Table 1

[0064]

[0065] In the two sensing modes, gNB self-transmitting and gNB A-transmitting and gNB B-receiving are both achieved through network-side sensing, requiring only interaction between the SF and gNB. The gNB-transmitting to terminal device and terminal device-transmitting to gNB modes require collaborative sensing between the network and terminal devices, involving interaction between the SF and gNB, the SF and terminal devices, and the gNB and terminal devices. For the terminal device self-transmitting and terminal device A-transmitting to B-receiving modes, although the sensing process does not require base station involvement, considering that all sensing resources belong to air interface resources and should be managed and allocated by the base station, and that the terminal device needs to report its sensing capabilities, all four interaction methods exist in these two sensing modes. It should be noted that in sensing modes involving terminal devices, the SF and terminal devices can also interact through non-access stratum signaling. This interaction process is transparent to the base station, thus avoiding the complexity brought about by the interaction of three levels of nodes: SF, gNB, and terminal device.

[0066] Please see Figure 2 The sensing process mainly includes three stages: sensing capability reporting, sensing measurement configuration distribution, and sensing measurement reporting. First, the terminal device (UE) initiates "sensing capability reporting," sending its sensing capability information to the network plane (gNB). This step allows the network plane to understand the terminal device's sensing capabilities for subsequent communication configuration and optimization. Next, after receiving the terminal device's sensing capability report, the network plane (gNB) performs "sensing measurement configuration." This configures appropriate sensing measurement parameters based on the terminal device's sensing capabilities to ensure the validity and accuracy of subsequent sensing data. After configuration, the terminal device performs sensing measurements according to the configured parameters and sends the measured data to the network plane (gNB) via "sensing measurement reporting." This sensing data contains the terminal device's perception information of the current wireless communication environment, which is crucial for the network plane's decision-making and optimization. Finally, after receiving the sensing measurement reports, the network plane (gNB) forwards this data to the bearer network (SF). The bearer network further optimizes and schedules the network based on this data to ensure the performance and efficiency of the entire wireless communication system.

[0067] Please see Figure 3 This is a schematic diagram of the network architecture of a communication system applicable to the embodiments of this application. Figure 3 The network architecture shown can integrate sensing functions to achieve unified communication and sensing, representing a typical application scenario for sensing. Figure 2 Taking an environment that includes one access network device and multiple terminal devices as an example, and using smartphones as terminal devices, and drones, pedestrians and vehicles as sensing targets as examples. Figure 3 For example, solid lines represent communication and dashed lines represent sensing.

[0068] Currently, sensing function (SF) network elements can be added to the core network, and the core network can control / manage the sensing process to realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing or result output, etc.

[0069] For example, see Figure 4 This is a schematic diagram of the core network architecture provided in the embodiments of this application. Figure 4 The network architecture shown can be viewed as a potential perceptual network architecture. Figure 4 Based on the 5G core network (5G core, 5GC), an SF network element has been added to the core network side, along with interfaces between the SF network element and one or more 5GC network elements. For example, in Figure 3 In this context, the SF (Sensitive Detection Function) can interact with various 5GC (Network Capability) elements, including the Location Management Function (LMF), Access and Mobility Management Function (AMF), Network Exposure Function (NEF), Unified Data Management (UDM), Network Data Analytics Function (NWDAF), and Policy Control Function (PCF). The SF can also interact with the RAN (Radio Range) or UE (User Equipment) through 5GC elements to exchange sensing signaling. Sensing measurement data acquired by the RAN or UE can be transmitted to the SF via the control plane or user plane. When sensing measurement data is transmitted to the SF via the user plane, it can be forwarded to the SF through the UPF (User Plane Function) or transmitted directly to the SF. The interface definitions between the SF and the 5GC elements (AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF) are as follows.

[0070] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0071] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0072] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0073] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete AI processing related to perception services.

[0074] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0075] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0076] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0077] The above interfaces are merely illustrative examples, and the embodiments of this application do not limit the names of the interfaces between SF network elements and other network elements.

[0078] In this application, a new module can be introduced on the access network equipment side, for example, this module can be called a sensing unit (SU). The SU can be a function or entity independent of the access network equipment, or it can be a function or entity within the access network equipment. The SU can be responsible for performing sensing-related functions. For example, the SU can be connected to the SF (directly or indirectly) and interact with the SF to meet sensing requirements; for another example, the SF can be connected to core network elements such as AMF or UPF to transmit sensing-related information or data. The SU can also be used to perform sensing control functions and data preprocessing functions.

[0079] Please see Figure 5 The diagram illustrates two typical architectures for introducing a SU on the RAN side. Figure 5 Taking a base station as an example, which is an access network device.

[0080] like Figure 5As shown in (a), the SU can be an entity independent of the RAN equipment and can connect to the base station through an interface similar to the Xn interface. For ease of distinction, the interface between the SU and the base station can be called the Xn-S interface. If the base station is a CU-DU structure, the SU can communicate with the CU through the Xn-S interface. When the SU is an entity independent of the RAN equipment, it can also be regarded as a communication node independent of the RAN equipment (e.g., called a sensing control (SC) node).

[0081] like Figure 5 As shown in (b), the SU can be a functional unit in the access network equipment, and can communicate with the CU through an interface similar to F1. For ease of distinction, the interface between the SU and the CU can be called the F1-SC interface.

[0082] Figure 5 The RAN side introduces a SU, which has the function of managing UEs for sensing. Therefore, the base station can communicate with both ordinary UEs and sensing UEs.

[0083] Please see Figure 6 This shows the potential communication interfaces for SU. Figure 6 The dashed lines indicate potential interfaces for the Substrate (SU). Figure 6 As shown, the SU can communicate directly with the DU or the UE. The SU can be directly connected to one or more core network elements; for example, the SU may be directly connected to the SF, AMF, or UPF. The SU can also be indirectly connected to one or more core network elements; for example, the SU can connect to the SF via the AMF, or to the SF via the UPF. Alternatively, the SU can connect to the AMF via the CU, and then connect to the SF via the AMF.

[0084] In this embodiment, the SU is deployed on the RAN side and can interact directly with the CU, interacting with the core network through the CU. During the sensing and measurement process, the SU / CU can configure sensing and measurement settings for the UE, and the transmission path of this configuration can be: DU→CU / SU→UE. Similarly, the DU obtains sensing and measurement data and can send the data to the SU. The transmission path of the sensing and measurement data can be DU→SU, or DU→CU→SU.

[0085] Figure 7 This is a schematic diagram of a network architecture for another communication system to which this application is applicable. This application can be applied to, for example... Figure 7The communication system 1000 shown includes a radio access network (RAN) 100 and a core network (CN) 200. RAN 100 includes at least one RAN node (e.g., 110a and 110b, collectively referred to as 110) and at least one terminal device (e.g., 120a-120j, collectively referred to as 120). The RAN may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices. Terminal device 120 is wirelessly connected to RAN node 110. RAN node 110 is wirelessly or wired connected to core network 200. The core network devices in core network 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions. RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as a 4G or 5G mobile communication system, an NTN (non-terrestrial network) system, or a future-oriented evolution system (e.g., a 6G mobile communication system). RAN 100 can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system, or a communication system integrating two or more of the above systems. In this application, RAN 100 can be an NTN (non-terrestrial network) system, and RAN 100 can be in transparent transmission mode or regenerative mode, an earth-fixed cell or an earth-moving cell.

[0086] Terminal device 120 can also be referred to as user equipment, mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the device form of the terminal device.

[0087] RAN node 110, sometimes referred to as access network equipment, RAN entity, or access node, constitutes part of the communication system and assists terminal equipment in achieving wireless access. Multiple RAN nodes 110 in communication system 1000 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal equipment 120 are relative. For example, network element 120i can be a helicopter or drone, configured as a mobile base station. For terminal equipment 120j accessing RAN 100 via network element 120i, network element 120i is a base station; however, for base station 110a, network element 120i is a terminal equipment. RAN node 110 and terminal equipment 120 are sometimes both referred to as communication devices. For example, network elements 110a and 110b can be understood as communication devices with base station functions, while network elements 120a-120j can be understood as communication devices with terminal equipment functions.

[0088] Communication between access network devices and terminal devices follows a specific protocol layer structure. This protocol layer may include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer may include at least one of the following: radio resource control (RRC) layer, packet data convergence protocol (PDCP) layer, radio link control (RLC) layer, media access control (MAC) layer, or physical (PHY) layer, etc. The user plane protocol layer may include at least one of the following: service data adaptation protocol (SDAP) layer, PDCP layer, RLC layer, MAC layer, or physical layer, etc.

[0089] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a 6th-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc. A RAN node can also be a macro base station (such as...) Figure 1 110a), micro base stations or indoor stations (such as Figure 1 In CRAN scenarios, RAN nodes can be 110b), relay nodes or donor nodes, or wireless controllers. Optionally, RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in vehicle-to-everything (V2X) technology, the access network equipment can be a roadside unit (RSU).

[0090] In another possible scenario, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, with different RAN nodes implementing some of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as the baseband unit (BBU). The CU and DU nodes separate the gNB's protocol layers; some protocol layer functions are centrally controlled by the CU, while the remaining partial or complete protocol layer functions are distributed in the DU, which is centrally controlled by the CU. As one implementation, the CU deploys the Radio Resource Control (RRC) layer, PDCP layer, and Service Data Adaptation Protocol (SDAP) layer in the protocol stack; the DU deploys the Radio Link Control (RLC) layer, Media Access Control (MAC) layer, and Physical Layer (PHY) in the protocol stack. Thus, the CU has the processing capabilities of RRC, PDCP, and SDAP. The DU has the processing capabilities of RLC, MAC, and PHY. It is understood that the above functional division is merely an example and does not constitute a limitation on the CU and DU. The RU can be included in radio frequency equipment or radio frequency units, such as in a remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH).

[0091] The core network includes entities such as the Access and Mobility Management Function (AMF), Session Management Function (SMF), and User Plane Function (UPF), which are not listed here. The AMF entity is responsible for access management and mobility management of terminal devices; the SMF entity is responsible for session management, such as user session establishment; and the UPF entity is a user plane functional entity, primarily responsible for connecting to external networks. It should be noted that in this application, entities can also be referred to as network elements or functional entities. For example, an AMF entity can also be called an AMF network element or an AMF functional entity, and similarly, an SMF entity can also be called an SMF network element or an SMF functional entity. The AMF is mainly responsible for mobility management in the mobile network, such as user location updates, user network registration, and user handover. The SMF is mainly responsible for session management in the mobile network, such as session establishment, modification, and release. Specific functions include allocating IP addresses to users and selecting UPFs that provide packet forwarding functions. The PCF is responsible for providing policies to the AMF and SMF, such as QoS policies and slice selection policies. UDM is used to store user data, such as subscription information and authentication / authorization information. AF (Application Function) is responsible for providing services to the 3GPP network, such as influencing service routing and interacting with PCF for policy control. NEF (Network Exposure Function) exposes the capabilities of each NF and is responsible for converting internal and external information. UPF is mainly responsible for processing user packets, such as forwarding and billing.

[0092] Please see Figure 8 , Figure 8 This is a schematic diagram of the NR protocol stack and network element modules on the base station side.

[0093] For the network elements in the ORAN system, the correspondence between them and the protocol layer functions they can implement can be found in Table 2:

[0094] Table 2

[0095] O-RAN network elements 3GPP protocol layer functions O-CU-CP RRC+PDCP-C O-CU-UP SDAP+PDCP-U O-DU RLC+MAC+PHY-high O-RU PHY-low

[0096] Please see Figure 9 , Figure 9 This is a schematic diagram of an O-RAN system, which may include... Figure 9Other components besides those shown. As illustrated, the access network equipment (RAN, such as an eNB, gNB, or next-generation access network equipment) communicates with the core network (CN) via a backhaul link and with the terminal equipment (UE) via an air interface. Specifically, the baseband unit (BBU) in the access network equipment communicates with the CN via a backhaul link, and the radio unit (RU) in the access network equipment communicates with at least one terminal equipment via an air interface. The BBU communicates with at least one RU via a fronthaul link; the BBU and RU may or may not be co-located. The BBU includes at least one control unit (CU) and at least one distributed unit (DU), which can communicate via at least one midhaul link. See also... Figure 10 , Figure 10 This diagram illustrates the network element functional partitioning and protocol layer structure of an O-RAN device. In some examples, the CU (Core Unit) is a logical node carrying the radio resource control (RRC) layer, service data adaptation protocol (SDAP) layer, packet data convergence protocol (PDCP) layer, and other control functions of the access network equipment. The CU connects to network nodes such as the core network through interfaces, which can be interfaces such as E2 interfaces. Optionally, the CU may have some core network functions. The CU (e.g., the PDCP layer and higher layers) connects to the DU (e.g., the RLC layer and lower layers) through interfaces, which can be interfaces such as F1 interfaces. In some examples, these interfaces (e.g., the F1 interface) can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, terminal device context management, RRC message transmission, etc.). F1AP is the application protocol of the F1 interface, and in some examples, the signaling procedures of F1 are defined. The F1 interface supports the control plane F1-C and the user plane F1-U.

[0097] In some examples, the CU can be split into CU-CP (control unit-control plane) and CU-UP (control unit-user plane). CU-CP is a logical node carrying the RRC layer and PDCP-C (control plane part of PDCP) layer, used to implement the CU's control plane functions. CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements in the core network can be access and mobility function (AMF) network elements, such as the access and mobility management function (AMF) in a 5G system. The AMF network element is responsible for mobility management in the mobile network, such as terminal device location updates, terminal device registration with the network, and terminal device handover. CU-UP is a logical node carrying the SDAP layer and PDCP-U (user plane part of PDCP) layer, used to implement the CU's user plane functions. CU-UP can interact with network elements in the core network used to implement user plane functions. These network elements in the core network, such as the UPF (user plane function) in a 5G system, are responsible for data forwarding and receiving in the terminal device. The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0098] In some examples, a DU is a logical node that carries the radio link control (RLC) layer, medium access control (MAC) layer, higher physical layer (PHY) layer, and other functions. In some examples, a DU can control at least one RU. The DU connects to the RU through interfaces, which can be fronthaul interfaces.

[0099] In some examples, the CU may not have a PDCP layer, i.e., it only includes the RRC layer. CU-CP does not have PDCP-C. CU-UP may not have PDCP-U, or may not have CU-UP at all. In some examples, the DU may not have an RLC layer, only a MAC and a higher PHY layer. Furthermore, in some examples, it may not have a CU and may only include the DU.

[0100] In some examples, the Higher PHY layer includes the PHY layer processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation. In some examples, the RU is a logical node carrying both lower physical layer (lower PHY) and radio frequency (RF) processing. In some examples, the RU can be a 3GPP transmission reception point (TRP), a remote radio head (RRH), or other similar entities. In some examples, the Low-PHY includes the PHY processing, such as fast fourier transform (FFT), inverse fast fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more terminal devices via a wireless link.

[0101] The DU and RU can be co-located or separate. The DU and RU exchange control plane and user plane information via a fronthaul link through a Lower-Layer Split CUS-Plane (LLS-CUS) interface. LLS-CUS may include LLS-C and LLS-U interfaces providing the control plane (C-Plane) and user plane (U-Plane), respectively. In some examples, the control plane (C-Plane) refers to real-time control between the DU and RU. The DU and RU exchange management information via an LLS-M interface on the fronthaul link; the management plane (M-Plane) refers to non-real-time management operations between the DU and RU. The DU and RU can cooperate to implement PHY layer functions. A DU can be connected to one or more RUs. The functions of the DU and RU can be configured in various ways depending on the design. For example, the DU may be configured to implement baseband functions, and the RU may be configured to implement mid-RF functions. For example, DU is configured to implement higher-level functions in the PHY layer, and RU is configured to implement lower-level functions in the PHY layer, or to implement both lower-level functions and RF functions. Higher-level functions in the physical layer may include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer may include another portion of the physical layer's functions that are closer to the mid-RF side.

[0102] The O-RAN system may also include the following functions / nodes:

[0103] Non-real-time RAN intelligent controller (nRT RIC): Sometimes also called non-RTRIC or NRTRIC, it is used to implement non-real-time intelligent management of RAN functions. It can implement AI / ML workflows including model training and model updates, and guide applications / functions in the nRT RIC based on policies.

[0104] Near Real-Time RIC: Sometimes also called near-RT RIC or nRT RIC, it is used to achieve near real-time intelligent management of the RAN. Through data collection and related operations on the E2 interface, it enables near real-time control and optimization of O-RAN modules and resources.

[0105] This application can be applied to scenarios where a base station transmits sensing signals and a terminal device (UE) receives echo signals. Please refer to [link / reference]. Figure 11 The following is a flowchart of the perception method of this application:

[0106] A01 and SF send sensing service requests to the base station;

[0107] SF sends a sensing service request to the base station. A sensing service request is a specific service request initiated for the sensing function in the network. SF can also be replaced by SU.

[0108] It should be noted that step A01 can also be omitted.

[0109] A02. The base station sends the first sensing measurement configuration to the terminal device;

[0110] After receiving a sensing service request, the base station sends a first sensing measurement configuration to the terminal device. This first sensing measurement configuration includes a sensing measurement period and the number of sensing tasks, N, to be performed in each sensing measurement period, where N is greater than or equal to 1. Alternatively, the first sensing measurement period may only include the sensing measurement period itself, and the terminal device can determine N based on this period. In this application, in a scenario where the base station sends a sensing signal and the terminal device receives an echo signal, for the base station, performing a sensing task means sending the sensing signal, and for the terminal device, performing a sensing task means receiving the echo signal corresponding to the sensing signal. Conversely, in a scenario where the base station receives an echo signal and the terminal device sends a sensing signal, for the terminal device, performing a sensing task means sending the sensing signal, and for the base station, performing a sensing task means receiving the echo signal corresponding to the sensing signal.

[0111] A03. The terminal device performs N sensing tasks during the sensing and measurement cycle;

[0112] After the initial sensing measurement configuration is issued, the terminal device performs N sensing tasks within the first sensing measurement cycle. In each sensing task, the base station sends a sensing signal to the terminal device, and the terminal device receives the corresponding echo signal.

[0113] A04. The terminal device acquires N sensing information corresponding to N sensing tasks. The sensing information includes sensing measurement data or target information obtained based on the sensing tasks.

[0114] Sensing tasks are target-oriented; sensing measurements are only meaningful when a target exists. Otherwise, continuously performing sensing tasks becomes inefficient and brings no real benefit to the system. When terminal devices and base stations continuously execute sensing tasks, they constantly consume resources (such as processor time, memory, and storage space) and energy. These resources and energy could have been used for other more meaningful tasks or operations, but are wasted due to ineffective sensing tasks. To avoid this waste, the terminal device determines the sensing information corresponding to each of the N sensing tasks based on the echo signal from each of those tasks. This sensing information can be sensing measurement data or target information further determined from the sensing measurement data.

[0115] A05. If N pieces of sensing information satisfy the first condition, the terminal device sends the first indication information to the base station.

[0116] The terminal device determines whether each of the aforementioned sensing information pieces satisfies the second condition. This second condition can be set to a situation where the sensing task yields a benefit. If the sensing information is sensing measurement data, the second condition is that the change in the sensing information compared to the sensing information corresponding to the previous sensing task is greater than a first value. For RVA spectrum, the change in sensing measurement data can be a change in distance, velocity, or angle; for point cloud data, the change in sensing measurement data can be an increase or decrease in points, or a change in the corresponding attribute of each point, such as the point's velocity or position. Alternatively, if the sensing information is target information, the second condition can also be that the sensing information indicates the existence of a sensing target or the existence of a sensing target that meets specific characteristics, such as a velocity greater than a preset value. Then, the terminal device determines whether N sensing information pieces satisfy the first condition. The first condition can be set to a situation where continuing the sensing task will still yield a benefit. For example, the first condition is that M of the N sensing information pieces satisfy the second condition, where M is less than or equal to N and greater than or equal to 1. Alternatively, the first condition can also be that the last L of the N sensing information pieces include M sensing information pieces that satisfy the second condition, where L is greater than or equal to 1 and greater than or equal to M. For example, N is 3, L is 1, and M is 1.

[0117] It should be noted that the aforementioned last L pieces of sensory information refer to the last L pieces of sensory information after sorting the N pieces of sensory information in the order of the N sensory tasks.

[0118] If N sensing information pieces satisfy the first condition, the terminal device sends a first indication message to the base station. This first indication message instructs the base station to send the first information, which in turn indicates that P sensing tasks will be performed within the sensing measurement period, where P is greater than or equal to 1. In one possible implementation, the first information is a second sensing measurement configuration, which instructs that P sensing tasks will be performed within the sensing measurement period, where P is greater than or equal to 1. The second sensing measurement configuration can directly indicate the need to perform P sensing tasks, or it can indicate the duration of the sensing tasks. Since the duration of each sensing task is similar, the number of sensing tasks can be indirectly indicated through this duration. The second sensing measurement configuration can be an RRC message, a MAC CE, or a DCI message.

[0119] Alternatively, the second sensing measurement configuration can be pre-configured on the terminal device, and the first information is an indication message indicating that the second sensing measurement configuration is effective.

[0120] If the conditions are not met, the terminal device will not send an instruction message, meaning it will not perform the sensing task during the current sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0121] A06. The terminal device receives the first information;

[0122] The terminal device receives the first information from the base station.

[0123] A07. The terminal device performs P sensing tasks within the sensing measurement cycle based on the first information.

[0124] After receiving the first information, the terminal device performs P sensing tasks within the sensing measurement period based on the first information. Similarly, the terminal device also acquires P sensing information corresponding to these P sensing tasks and determines whether the P sensing information satisfies a third condition. The third condition is that among the P sensing information, S sensing information satisfies the second condition, where S is less than or equal to P and greater than or equal to 1. Alternatively, the third condition can also be that among the last D sensing information in the P sensing information, S sensing information satisfies the second condition, where D is greater than or equal to 1 and D is greater than or equal to S. For example, P is 1, D is 1, and S is also 1. If the P sensing information satisfies the third condition, a second indication information is sent to the base station. The second indication information is used by the base station to send the second information, which indicates that Q sensing tasks will be performed within the sensing measurement period, where Q is greater than or equal to 1. Similarly, the second information can be a third sensing measurement configuration, which indicates that Q sensing tasks will be performed within the sensing measurement period. Alternatively, the third sensing measurement configuration can be pre-configured in the terminal device, and the second information is an indication that the third sensing measurement configuration is effective. If the conditions are not met, the terminal device will not send an instruction message, meaning it will not perform the sensing task during the current sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0125] After receiving the second information from the base station, the terminal device performs Q sensing tasks within the sensing measurement period based on the second information. In one possible implementation, P and Q can be the same. The terminal device can also acquire P sensing information corresponding to the P sensing tasks. If the P sensing information satisfies the third condition, it continues to send the second indication information to the base station, thereby receiving the second information from the base station indicating that P sensing tasks will be performed within the sensing measurement period. This process continues, meaning that each time the terminal device receives the second information, it performs P sensing tasks within the sensing measurement period based on the second information. If the P sensing information corresponding to the P sensing tasks satisfies the third condition, it continues to send the second indication information to the base station, thereby receiving the second information from the base station. This process is repeated to trigger the execution of new P sensing tasks within the sensing measurement period until the end of the sensing measurement period, or until the P sensing information no longer satisfies the third condition, until the next sensing measurement period repeats the operation within the sensing measurement period.

[0126] In this application, the minimum number of N sensing tasks are executed within a sensing measurement cycle. If the sensing information corresponding to the N sensing tasks meets the first condition, it means that continuing to execute the sensing tasks within the sensing measurement cycle is beneficial, thereby triggering the continued execution of the sensing tasks to ensure that the actual sensing needs are met. Otherwise, the execution of the sensing tasks is suspended within the sensing measurement cycle until the next sensing measurement cycle, thereby achieving energy saving.

[0127] Please see Figure 12 The following section will introduce another process of the perception method in this application:

[0128] B01 and SF send sensing service requests to the base station;

[0129] This step is similar to step A01 mentioned above, and will not be described in detail here.

[0130] B02. The base station sends the first sensing measurement configuration to the terminal device;

[0131] This step is similar to step A02 mentioned above, and will not be described in detail here.

[0132] B03. The terminal device performs N sensing tasks during the sensing and measurement cycle;

[0133] This step is similar to step A03 mentioned above, and will not be described in detail here.

[0134] B04. The terminal device acquires N sensing information corresponding to N sensing tasks. The sensing information includes sensing measurement data or target information obtained based on the sensing tasks.

[0135] This step is similar to step A04 mentioned above, and will not be repeated here.

[0136] B05. The terminal device sends N sensing information to the base station;

[0137] B06. If N sensing information pieces satisfy the first condition, then the base station sends the first information to the UE.

[0138] The base station determines whether N pieces of sensing information meet the first condition according to the method described above. If so, it sends the first information to the terminal device, which is similar to that described in the previous embodiment. If the condition is not met, the base station does not send the first information, that is, the terminal device does not perform the sensing task during the sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0139] B07. The terminal device performs P sensing tasks within the sensing measurement cycle based on the first information.

[0140] After receiving the first information, the terminal device performs P sensing tasks within the sensing measurement period based on the first information. Similarly, the terminal device also acquires P sensing information corresponding to these P sensing tasks and sends the P sensing information to the base station. The base station determines whether the P sensing information satisfies a third condition. The third condition is that S of the P sensing information satisfy the second condition, where S is less than or equal to P and greater than or equal to 1. Alternatively, the third condition can also be that the last D sensing information among the P sensing information includes S sensing information satisfying the second condition, where D is greater than or equal to 1 and D is greater than or equal to S. For example, P is 1, D is 1, and S is also 1. If the P sensing information satisfies the third condition, the base station sends second information to the terminal device. The second information indicates that Q sensing tasks will be performed within the sensing measurement period, where Q is greater than or equal to 1. Similarly, the second information can be a third sensing measurement configuration, which indicates that Q sensing tasks will be performed within the sensing measurement period. Alternatively, the third sensing measurement configuration can be pre-configured on the terminal device, and the second information is an indication that the third sensing measurement configuration is effective. If the conditions are not met, the base station will not send the second information, meaning that it will not perform the sensing task during the current sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0141] After receiving the second information from the base station, the terminal device performs Q sensing tasks within the sensing measurement cycle based on the second information. In one possible implementation, P and Q can be the same. The terminal device can also acquire P sensing information corresponding to the P sensing tasks and send them to the base station. If the P sensing information satisfies the third condition, the base station continues to send the second information to the terminal device. This process continues, meaning that each time the terminal device receives the second information, it performs P sensing tasks within the sensing measurement cycle based on the second information and sends the corresponding P sensing information to the base station. If the P sensing information satisfies the third condition, the base station continues to send the second information to the terminal device. This process is repeated to trigger the execution of new P sensing tasks within the sensing measurement cycle until the end of the sensing measurement cycle or until the P sensing information no longer satisfies the third condition, and the operation within the sensing measurement cycle is repeated in the next sensing measurement cycle.

[0142] In this application, the base station determines whether a new sensing task needs to be triggered, thereby reducing the overhead of the terminal device.

[0143] Please see Figure 13 The following section will introduce another process of the perception method in this application:

[0144] C01 and SF send sensing service requests to the base station;

[0145] This step is similar to step A01 mentioned above, and will not be described in detail here.

[0146] C02. The base station sends the sensing and measurement configuration to the terminal device;

[0147] After receiving a sensing service request, the base station sends a sensing measurement configuration to the terminal device. The sensing measurement configuration includes the sensing measurement cycle and the number of sensing tasks N to be performed in each sensing measurement cycle, where N is greater than or equal to 1.

[0148] C03. The terminal device performs N sensing tasks within the sensing measurement cycle;

[0149] This step is similar to step A03 mentioned above, and will not be described in detail here.

[0150] C04. The terminal device acquires N sensing information corresponding to N sensing tasks. The sensing information includes sensing measurement data or target information obtained from sensing measurements.

[0151] This step is similar to step A04 mentioned above, and will not be repeated here.

[0152] C05. If N pieces of sensing information satisfy the first condition, then P sensing tasks will be performed within the sensing measurement cycle, where P is greater than or equal to 1.

[0153] The terminal device determines whether each of the aforementioned sensing information pieces satisfies a second condition, which is similar to that described in the previous embodiments. Then, the terminal device determines whether N sensing information pieces satisfy a first condition, which is similar to that described in the previous embodiments.

[0154] If N pieces of sensing information satisfy the first condition, the terminal device will perform P sensing tasks within the sensing measurement cycle, where P is greater than or equal to 1. Optionally, the terminal device may also send indication information to the base station, which instructs the base station to send sensing signals corresponding to these P sensing tasks. If the condition is not met, the terminal device will not perform sensing tasks within the current sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0155] The terminal device also acquires P sensing information corresponding to these P sensing tasks and determines whether the P sensing information satisfies a third condition, which is similar to that described in the previous embodiments. If the P sensing information satisfies the third condition, then Q sensing tasks are executed within the sensing measurement cycle. In one possible implementation, P and Q can be the same. The terminal device can also acquire P sensing information corresponding to the P sensing tasks. If the P sensing information satisfies the third condition, then P sensing tasks are executed again within the sensing measurement cycle. This process continues, meaning that after each P sensing task is executed, if the P sensing information corresponding to the P sensing tasks satisfies the third condition, then P sensing tasks are executed again within the sensing measurement cycle. This process is repeated to trigger new P sensing tasks within the sensing measurement cycle until the sensing measurement cycle ends, or the P sensing information no longer satisfies the third condition, until the next sensing measurement cycle repeats the operation within the sensing measurement cycle. Optionally, the terminal device can also send indication information to the base station, which instructs the base station to send sensing signals for the corresponding Q sensing tasks.

[0156] This application can also be applied to scenarios where terminal equipment sends sensing signals and base stations receive sensing signals. Please refer to [link / reference]. Figure 14 The following section will introduce another process of the perception method in this application:

[0157] D01 and SF send sensing service requests to the base station;

[0158] This step is similar to step A01 mentioned above, and will not be described in detail here.

[0159] D02. The base station sends the first sensing measurement configuration to the terminal device;

[0160] This step is similar to step A02 mentioned above, and will not be described in detail here.

[0161] D03. The terminal device performs N sensing tasks during the sensing and measurement cycle;

[0162] After the initial sensing measurement configuration is issued, the terminal device performs N sensing measurements within the first sensing measurement cycle. In each sensing measurement, the terminal device sends a sensing signal to the base station, and the base station receives the corresponding echo signal.

[0163] D04. The base station acquires N sensing information corresponding to N sensing tasks. The sensing information includes sensing measurement data or target information obtained based on the sensing tasks.

[0164] The way the base station acquires sensing information is similar to the way the terminal device acquires sensing information in step A04 above, and will not be described in detail here.

[0165] D05. If N sensing information pieces satisfy the first condition, then the base station sends the first information to the UE.

[0166] This step is similar to step B06 mentioned above, and will not be described in detail here.

[0167] D06. The terminal device performs P sensing tasks within the sensing measurement cycle based on the first information.

[0168] After receiving the first information, the terminal device performs P sensing tasks within the sensing measurement cycle based on the first information. Similarly, the base station also acquires P sensing information corresponding to these P sensing tasks and determines whether the P sensing information satisfies the third condition. If the P sensing information satisfies the third condition, the base station sends second information to the terminal device, which is similar to the previously described information. If the condition is not met, the base station does not send the second information, meaning the terminal device does not perform sensing tasks within the current sensing measurement cycle, until the above operation is repeated in the next sensing measurement cycle.

[0169] After receiving the second information from the base station, the terminal device performs Q sensing tasks within the sensing measurement cycle based on the second information. In one possible implementation, P and Q can be the same. The base station can also acquire P sensing information corresponding to the P sensing tasks. If the P sensing information satisfies the third condition, the base station continues to send the second information to the terminal device. This process continues, meaning that each time the terminal device receives the second information, it performs P sensing tasks within the sensing measurement cycle based on the second information. If the P sensing information corresponding to the P sensing tasks satisfies the third condition, the base station continues to send the second information to the terminal device. This process is repeated to trigger the execution of new P sensing tasks within the sensing measurement cycle until the end of the sensing measurement cycle, or until the P sensing information no longer satisfies the third condition, at which point the second information is no longer sent until the next sensing measurement cycle, repeating the operation within the sensing measurement cycle.

[0170] Please see Figure 15 The following section will introduce another process of the perception method in this application:

[0171] E01 and SF send sensing service requests to the base station;

[0172] E02, The base station sends the sensing measurement configuration to the terminal device;

[0173] After receiving a sensing service request, the base station sends a sensing measurement configuration to the terminal device, which includes a first sensing measurement cycle and a second sensing measurement cycle. The first sensing measurement cycle is the normal sensing measurement cycle, and the second sensing measurement cycle is a relaxed sensing measurement cycle, meaning the second sensing measurement cycle is longer than the first sensing measurement cycle, or the first sensing measurement cycle is the default sensing measurement cycle. It should be noted that the sensing measurement configuration can directly specify both the first and second sensing measurement cycles; or it can only specify the first sensing measurement cycle, indirectly indicating the second sensing measurement cycle through multiples, such as the second sensing measurement cycle being 4 times or 2 times the first sensing measurement cycle.

[0174] E03. The terminal device receives the echo signal according to the first sensing measurement cycle;

[0175] In this embodiment, the base station and the terminal device perform sensing tasks at the beginning of the sensing measurement cycle. That is, the base station sends a sensing signal at the beginning of the sensing measurement cycle, and correspondingly, the terminal device receives the echo signal corresponding to the sensing signal at the beginning of the sensing measurement cycle. This continues until the current sensing measurement cycle ends, and then the sensing task continues at the beginning of the next sensing measurement cycle. Please refer to [link to relevant documentation]. Figure 16 After the perception measurement configuration is issued, since the first perception measurement cycle is the default perception measurement cycle, the first perception measurement cycle for both the terminal device and the base station is the first perception measurement cycle.

[0176] E04. The terminal device determines the sensing information based on the echo signal;

[0177] After receiving the echo signal, the terminal device processes the echo signal to generate sensing information, which can be sensing measurement data or target information.

[0178] E05. The terminal device determines that the perceived information meets the second condition.

[0179] Within each sensing measurement cycle, the terminal device determines whether the sensing information corresponding to the sensing task meets the second condition (the same as the second condition in the aforementioned embodiment). If it does not meet the condition, the next sensing measurement cycle is determined to be the second sensing measurement cycle; if it does meet the condition, the next sensing measurement cycle is determined to be the first sensing measurement cycle. Furthermore, if the next sensing measurement cycle is inconsistent with the current sensing measurement cycle, the terminal device sends an indication message to the base station, which instructs the base station to switch the sensing measurement cycle to the sensing measurement cycle determined by the terminal device. For example, in this step, the terminal device determines that the sensing measurement data does not meet the second condition, therefore the terminal device determines the next sensing measurement cycle to be the second sensing measurement cycle.

[0180] E06. The terminal device sends an instruction message to the base station;

[0181] The indication information is used to instruct the base station to switch to sending sensing signals according to the second sensing measurement cycle, and at the same time, the terminal device switches the sensing measurement cycle to the second sensing measurement cycle.

[0182] E07. The terminal device receives the echo signal corresponding to the sensing signal sent by the base station according to the second sensing measurement cycle.

[0183] Please see Figure 17 After the first sensing measurement cycle ends, since the sensing information does not meet the second condition, both the terminal device and the base station switch the next sensing measurement cycle to the second sensing measurement cycle. Of course, if the terminal device determines that the sensing information meets the second condition in the aforementioned step E05, step E06 will not be executed. Therefore, the sensing measurement cycles of the terminal device and the base station will not switch, and the next sensing measurement cycle of the terminal device and the base station will still be the first sensing measurement cycle after the first sensing measurement cycle ends.

[0184] In one possible implementation, the sensing measurement cycle of the base station can also remain unchanged, meaning that step E06 can be omitted.

[0185] In this application, the terminal device can flexibly switch the sensing measurement cycle based on the sensing measurement data, and can also instruct the base station to switch the sensing measurement cycle synchronously, thereby reducing power consumption and saving communication resources.

[0186] Please see Figure 18 The following section will introduce another process of the perception method in this application:

[0187] F01 and SF send sensing service requests to the base station;

[0188] This step is similar to the aforementioned step E01, and will not be repeated here.

[0189] F02. The base station sends the sensing and measurement configuration to the terminal device.

[0190] This step is similar to step E02 mentioned above, and will not be described in detail here.

[0191] F03. The terminal device receives the echo signal according to the first sensing measurement cycle;

[0192] This step is similar to step E03 mentioned above, and will not be described in detail here.

[0193] F04. The terminal equipment determines the sensing information based on the echo signal;

[0194] This step is similar to step E04 mentioned above, and will not be described in detail here.

[0195] F05. The terminal device sends sensing information to the base station;

[0196] After determining the sensing information in each sensing measurement cycle, the terminal device will send the sensing information to the base station.

[0197] F06. The base station determines that the sensing information meets the second condition.

[0198] The base station determines whether the current sensing information meets the second condition. After receiving sensing information from the terminal device in each sensing measurement cycle, the base station determines whether the sensing information meets the second condition. If it does not meet the condition, the next sensing measurement cycle is designated as the second sensing measurement cycle; if it does, the next sensing measurement cycle is designated as the first sensing measurement cycle. Furthermore, if the next sensing measurement cycle is inconsistent with the current sensing measurement cycle, the base station sends an indication message to the terminal device, instructing the terminal device to switch the sensing measurement cycle to the sensing measurement cycle determined by the base station. For example, in this step, the base station determines that the sensing information does not meet the second condition; therefore, the base station determines the next sensing measurement cycle as the second sensing measurement cycle.

[0199] F07. The base station sends an instruction message to the terminal device.

[0200] The indication information is used to instruct the terminal device to switch to receiving sensing signals according to the second sensing measurement cycle. At the same time, the base station switches the sensing measurement cycle to the second sensing measurement cycle.

[0201] F08. The terminal device receives the echo signal according to the second sensing measurement cycle.

[0202] This step is similar to step E07 mentioned above, and will not be described in detail here.

[0203] Please see Figure 19 The following section will introduce another process of the perception method in this application:

[0204] G01 and SF send sensing service requests to the base station;

[0205] This step is similar to the aforementioned step E01, and will not be repeated here.

[0206] G02, The base station sends the sensing measurement configuration to the terminal device;

[0207] The sensing and measurement configuration is similar to that in step E02 above, and will not be repeated here.

[0208] G03. The terminal device sends a sensing signal to the base station according to the first sensing measurement cycle.

[0209] G04. The base station determines the sensing information based on the echo signal;

[0210] G05, The base station determines that the sensing information does not meet the second condition;

[0211] This step is similar to step F06 mentioned above, and will not be repeated here.

[0212] G06. The base station sends instruction information to the terminal device;

[0213] This step is similar to step F07 mentioned above, and will not be repeated here.

[0214] G07. The terminal device sends a sensing signal to the base station according to the second sensing measurement cycle.

[0215] In this application, the indication information and sensing information sent by the terminal device to the base station can be transmitted via a DU (Distributed Unit) to the base station. Specifically, the aforementioned information can be contained in a MAC CE (Machine Interface CE) or DCI (Distributed Control Interface), RLC control PDU (Remote Control Unit), and can be carried on a PUCCH (Programmable Controller) or PUSCH (Programmable Controller), and can be transmitted as a UCI (User Code Interchange). After receiving the aforementioned information, the base station's DU performs the operations performed by the base station as described in the previous embodiments.

[0216] Alternatively, the terminal device can send indication information to the CU of the base station. This information is contained in the PDCP control PDU or RRC message, and can be carried in the SRB or DRB, or in the perception control signaling. After receiving the above information, the CU of the base station instructs the DU of the base station to perform the operations performed by the base station as described in the previous embodiments.

[0217] Alternatively, the terminal device can send sensing information to the CU of the base station. The CU of the base station performs corresponding judgments based on the sensing information and instructs the DU of the base station to perform the operations performed by the base station as described in the previous embodiment based on the judgment results.

[0218] Alternatively, the terminal device can send indication information to the SF or SU, which is carried in the sensing control signaling. After receiving the above information, the SF or SU of the base station instructs the DU of the base station to perform the operation performed by the base station as described in the previous embodiment.

[0219] Alternatively, the terminal device can send sensing information to the SF or SU of the base station. The SF or SU of the base station performs corresponding judgments based on the sensing information and instructs the DU of the base station to perform the operations performed by the base station as described in the previous embodiments based on the judgment results.

[0220] The method in this application has been described above; the device in this application is described below:

[0221] Please see Figure 20 The terminal device 2000 in this application includes an acquisition unit 2001, a processing unit 2002, and a sending unit 2003.

[0222] The acquisition unit 2001 is used to receive a first perception measurement configuration from the network device. The first perception measurement configuration is used to indicate the perception measurement period and to perform N perception tasks within the perception measurement period, where N is greater than or equal to 1.

[0223] The processing unit 2002 is used to perform N sensing tasks within a sensing measurement cycle.

[0224] The acquisition unit 2001 is also used to acquire N pieces of perception information corresponding to N perception tasks, including perception measurement data or target information obtained based on the perception tasks.

[0225] The sending unit 2003 is used to send a first indication information to the network device if N sensing information satisfies a first condition. The first indication information is used by the network device to send a second sensing measurement configuration. The second sensing configuration is used to indicate that P sensing tasks will be performed again within the sensing measurement period, where P is greater than or equal to 1.

[0226] Acquisition unit 2001 is used to receive the second sensing measurement configuration.

[0227] The processing unit 2002 is also configured to perform P sensing tasks within the sensing measurement cycle according to the second sensing measurement configuration.

[0228] The terminal device in this application includes an acquisition unit and a processing unit.

[0229] The acquisition unit is used to receive the perception measurement configuration from the network device. The perception measurement configuration is used to indicate the perception measurement period and to perform N perception tasks within the perception measurement period, where N is greater than or equal to 1.

[0230] The processing unit is used to perform N sensing tasks within the sensing measurement cycle.

[0231] The acquisition unit is also used to acquire N pieces of perception information corresponding to N perception tasks, including perception measurement data or target information obtained from perception measurements.

[0232] The processing unit is also configured to perform P sensing tasks within the sensing measurement cycle if N sensing information satisfies the first condition, where P is greater than or equal to 1.

[0233] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computer, it causes the at least one computer to perform the methods described in the foregoing embodiments.

[0234] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct a computer to perform the methods described in the foregoing embodiments.

[0235] Figure 21 This is a schematic diagram of the structure of a device provided in an embodiment of this application. The device S00 can be a terminal device or a network device. The device S00 can include one or more central processing units (CPUs) S01 and a memory S05. The memory S05 stores one or more applications or data.

[0236] The memory S05 can be volatile or persistent storage. The program stored in the memory S05 can include one or more modules, each module including a series of instruction operations. Furthermore, the central processing unit S01 can be configured to communicate with the memory S05 and execute the series of instruction operations in the memory S05 on the device S00.

[0237] Device S00 may further include one or more power supplies S02, one or more wired or wireless network interfaces S03, one or more input / output interfaces S04, and / or one or more operating systems. The central processing unit S01 can execute the operations of the terminal devices or network devices in the foregoing embodiments, details of which will not be elaborated here.

[0238] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0239] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0240] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0241] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0242] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A sensing method, characterized in that, include: Receive a first sensing measurement configuration from a network device, the first sensing measurement configuration being used to indicate a sensing measurement period and to perform N sensing tasks within the sensing measurement period, the N being greater than or equal to 1; Perform N sensing tasks within the sensing measurement cycle; Obtain N pieces of perception information corresponding to the N perception tasks, wherein the perception information includes perception measurement data or target information obtained based on the perception tasks; If the N sensing information satisfies the first condition, then a first indication information is sent to the network device. The first indication information is used by the network device to send a second sensing measurement configuration. The second sensing configuration is used to indicate that P sensing tasks will be performed again within the sensing measurement period, where P is greater than or equal to 1. Receive the second sensing measurement configuration; According to the second sensing measurement configuration, the P sensing tasks are also performed within the sensing measurement cycle.

2. The method according to claim 1, characterized in that, The first condition is that among the N pieces of perceived information, M pieces of perceived information satisfy the second condition, where M is less than or equal to N and greater than or equal to 1; or The first condition is that among the last L of the N sensing information, M of the sensing information satisfy the second condition, where L is greater than or equal to 1 and greater than or equal to M.

3. The method according to claim 2, characterized in that, If the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value. If the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

4. The method according to claim 3, characterized in that, The method further includes: Obtain the P sensing information corresponding to the P sensing tasks; If the P sensing information pieces satisfy the third condition, then a second indication information is sent to the network device. This second indication information is used by the network device to send a third sensing measurement configuration. The third sensing measurement configuration indicates that Q sensing tasks will be performed within the sensing measurement period, where Q is greater than or equal to 1. The third condition is that the P sensing information pieces include S sensing information pieces that satisfy the second condition, where S is less than or equal to P and greater than or equal to 1; or The third condition is that among the last D of the P pieces of sensing information, S pieces of sensing information satisfy the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

5. A sensing method, characterized in that, include: Receive a sensing measurement configuration from a network device, the sensing measurement configuration being used to indicate a sensing measurement period and to perform N sensing tasks within the sensing measurement period, where N is greater than or equal to 1; Perform N sensing tasks within the sensing measurement cycle; Obtain N pieces of perception information corresponding to the N perception tasks, wherein the perception information includes perception measurement data or target information obtained based on the perception measurement; If the N sensing information satisfies the first condition, then P sensing tasks are performed within the sensing measurement cycle, where P is greater than or equal to 1.

6. The method according to claim 5, characterized in that, The first condition is that among the N pieces of perceived information, M pieces of perceived information satisfy the second condition, where M is less than or equal to N and greater than or equal to 1; or The first condition is that among the last L of the N sensing information, M of them satisfy the second condition, where L is greater than or equal to 1 and L is greater than or equal to M.

7. The method according to claim 6, characterized in that, If the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value. If the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

8. The method according to claim 7, characterized in that, The method further includes: Obtain the perception information corresponding to the P perception tasks; If the sensing information corresponding to the P sensing tasks satisfies the third condition, then Q more sensing tasks are executed within the sensing measurement cycle, where Q is greater than or equal to 1. The third condition is that among the P sensing information pieces, S of the sensing information pieces satisfy the second condition, where S is less than or equal to P and greater than or equal to 1; or The third condition is that among the last D of the P pieces of sensing information, S pieces of sensing information satisfy the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

9. The method according to any one of claims 5 to 8, characterized in that, The method further includes: Send indication information to the network device, the indication information being used to instruct the network device to send a sensing signal.

10. A sensing method, characterized in that, include: Send a first perception measurement configuration to the UE, the perception measurement configuration being used to indicate a perception measurement period and to perform N perception tasks within the perception measurement period, where N is greater than or equal to 1; Determine N pieces of perception information corresponding to the N perception tasks, wherein the perception information includes perception measurement data or target information obtained based on the perception measurement; If the N sensing information satisfies the first condition, a second sensing measurement configuration is sent to the UE. The second sensing configuration is used to instruct the UE to perform P more sensing measurements within the sensing measurement period, where P is greater than or equal to 1.

11. The method according to claim 10, characterized in that, The first condition is that among the N pieces of perceived information, M pieces of perceived information satisfy the second condition, where M is less than or equal to N and greater than or equal to 1; or The first condition is that among the last L of the N sensing information, M of them satisfy the second condition, where L is greater than or equal to 1 and L is greater than or equal to M.

12. The method according to claim 11, characterized in that, If the perceived information is perceived measurement data, then the second condition is that the degree of change of the perceived information compared to the perceived information corresponding to the previous perceived task is greater than the first value. If the perceived information is target information, then the second condition is that the perceived information indicates the existence of a perceived target or the existence of a perceived target that meets specific characteristics.

13. The method according to claim 12, characterized in that, The method further includes: Determine the sensing information corresponding to the P sensing tasks; If the sensing information corresponding to the P sensing tasks satisfies the third condition, a third sensing measurement configuration is sent to the UE. This third sensing measurement configuration indicates that Q more sensing tasks will be performed within the sensing measurement period, where Q is greater than or equal to 1. The third condition is that the P sensing information includes S sensing information that satisfies the second condition, where S is less than or equal to P and greater than or equal to 1; or The third condition is that among the last D of the P pieces of sensing information, S pieces of sensing information satisfy the second condition, where D is greater than or equal to 1 and D is greater than or equal to S.

14. The method according to claim 13, characterized in that, The determination of the N pieces of perception information corresponding to the N perception tasks includes: Receive the N sensing information from the UE; The determination of the sensing information corresponding to the P sensing tasks includes: Receive sensing information corresponding to the P sensing tasks from the UE.

15. A terminal device (UE), characterized in that, It includes a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the UE to perform the method as described in any one of claims 1 to 9.

16. A network device, characterized in that, It includes a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the UE to perform the method as described in any one of claims 10 to 14.

17. A computer program product comprising instructions that, when executed by a computer, cause the computer to perform the method as claimed in any one of claims 1 to 14.

18. A computer-readable storage medium comprising computer program instructions that, when executed by a computer, perform the method as claimed in any one of claims 1 to 14.

Images