Perception method, first device and second device

Abstract

The invention discloses a sensing method, first equipment and second equipment, and belongs to the field of communication, and the sensing method comprises the steps that the first equipment receives first indication information from the second equipment, and the first indication information indicates a sensing mode of the first equipment; the first equipment performs sensing operation based on the sensing mode of the first equipment; wherein the sensing mode of the first equipment comprises at least one of the following modes: a first sensing mode, a second sensing mode, a third sensing mode and a fourth sensing mode.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a sensing method, a first device, and a second device. Background Technology

[0002] Communication-sensing integration is an emerging technological field that integrates communication and sensing functions into a single system to achieve more efficient and intelligent tasks. In this scenario, the role of sensing devices is to collect information from the environment, such as temperature, humidity, light intensity, and object location, and then transmit this information to other devices (such as base stations) for processing and analysis.

[0003] Normally, a node can perform its own perception. However, in scenarios with occlusions, a node A may not be able to determine the position of a target object behind an occlusion. Therefore, another node B may be needed to assist in the perception process.

[0004] However, node B can typically only obtain the position of the target object relative to itself through sensing. In this case, if node B directly sends the sensing results to node A, and node A is unsure of node B's position, node A cannot determine the position of the target object relative to itself based solely on the sensing results. In other words, for node A, the reliability of the sensing results transmitted by node B is too low and may not meet node A's accuracy requirements for the sensing results. Therefore, there is an urgent need in this field for a method to improve the reliability of sensing results. Summary of the Invention

[0005] This application provides a sensing method, a first device, and a second device, which not only improves the flexibility of sensing operations but also ensures the reliability of sensing results.

[0006] In a first aspect, a sensing method is provided, executed by a first device, the method comprising:

[0007] The first device receives first indication information from the second device, the first indication information indicating the sensing mode of the first device;

[0008] The first device performs sensing operations based on its sensing mode.

[0009] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0010] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0011] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0012] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0013] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0014] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0015] Secondly, a sensing method is provided, executed by a second device, the method comprising:

[0016] The second device sends a first instruction message to the first device, the first instruction message indicating the sensing mode of the first device;

[0017] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0018] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0019] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0020] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0021] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0022] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0023] Thirdly, a sensing device is provided, comprising:

[0024] The receiving module is configured to receive first indication information from the second device, wherein the first indication information indicates the sensing mode of the first device;

[0025] The processing module is used to perform sensing operations based on the sensing mode of the first device;

[0026] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0027] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0028] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0029] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0030] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0031] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0032] Fourthly, a sensing device is provided, comprising:

[0033] The sending module is used to send first indication information to the first device, wherein the first indication information indicates the sensing mode of the first device;

[0034] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0035] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0036] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0037] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0038] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0039] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0040] Fifthly, a sensing device is provided, the device being configured to perform the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.

[0041] In a sixth aspect, a first device is provided, the first device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect.

[0042] In a seventh aspect, a first device is provided, including a processor and a communication interface, wherein the communication interface is used to receive first indication information from a second device, the first indication information indicating a perception mode of the first device, and the processor is used to perform a perception operation based on the perception mode of the first device.

[0043] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0044] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0045] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0046] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0047] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0048] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0049] In an eighth aspect, a second device is provided, the second device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the second aspect.

[0050] In a ninth aspect, a second device is provided, including a processor and a communication interface, wherein the communication interface is used to send first indication information to a first device, the first indication information indicating a sensing mode of the first device;

[0051] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0052] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0053] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0054] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0055] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0056] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0057] In a tenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0058] Eleventhly, a wireless communication system is provided, comprising: a first device and a second device, wherein the first device is configured to perform the steps of the method as described in the first aspect, and the second device is configured to perform the steps of the method as described in the second aspect.

[0059] In a twelfth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0060] In a thirteenth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the sensing method as described in the first aspect, or to implement the steps of the sensing method as described in the second aspect.

[0061] In this embodiment of the application, by introducing first indication information to indicate the perception mode of the first device, the perception mode of the first device includes at least one of the following: a first perception mode, a second perception mode, a third perception mode, and a fourth perception mode. This enables the second device to indicate to the first device a perception mode that is adapted to the capabilities of the first device or the perception scenario. This not only improves the flexibility of the perception operation, but also helps to improve the accuracy of the perception results, thereby ensuring the reliability of the perception results. Attached Figure Description

[0062] Figure 1 This is an example of a communication system provided in the embodiments of this application.

[0063] Figures 2 to 8 This is a schematic flowchart of a sensing method provided in an embodiment of this application.

[0064] Figure 9 This is a schematic block diagram of a sensing device provided in an embodiment of this application.

[0065] Figure 10 This is a schematic block diagram of another sensing device provided in the embodiments of this application.

[0066] Figure 11 This is a schematic block diagram of a communication device provided in an embodiment of this application.

[0067] Figure 12 This is a schematic diagram of the hardware structure of a first device provided in an embodiment of this application.

[0068] Figure 13 This is a schematic diagram of the hardware structure of a second device provided in an embodiment of this application. Detailed Implementation

[0069] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0070] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0071] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent. An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0072] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0073] To facilitate a better understanding of the embodiments of this application, the related technologies are described.

[0074] (1) Perception.

[0075] In addition to communication capabilities, future Beyond 5G (B5G) and 6G communication systems will also possess sensing capabilities. Sensing capabilities refer to one or more devices that can sense the location, distance, and speed of target objects through the transmission and reception of wireless signals, or perform detection, tracking, identification, and imaging of target objects, events, or environments. With the deployment of small base stations with high-frequency, high-bandwidth capabilities such as millimeter waves and terahertz waves in 6G networks, the resolution of sensing will be significantly improved compared to centimeter waves, enabling 6G networks to provide more refined sensing services.

[0076] The purposes of sensing can be broadly categorized into two types. The first type aims to assist or enhance communication, such as base stations tracking the movement of devices to provide more accurate beamforming alignment. The second type involves sensing that is not directly related to communication, such as base stations monitoring weather conditions via wireless signals, or mobile phones recognizing user gestures via millimeter-wave wireless sensing.

[0077] Perception methods can be categorized as follows:

[0078] Active sensing: The device uses the reflected signal of its own transmitted signal, such as the echo, to sense the surrounding environment. The transceiver is located in the same place and can use different antennas to sense the surrounding environment.

[0079] Passive sensing: The transceivers are located in different locations, and the receiver uses the wireless signals emitted by the transmitter to sense the environment. For example, base station A senses the environmental information between base station A and base station B by receiving wireless signals from base station B.

[0080] Radar technology is a typical sensing technology. Radar systems have been deployed globally and applied in various fields such as weather forecasting, early warning and surveillance, and aviation navigation. However, with the further development of wireless communication technology, more and more radar frequency bands will be subject to interference. For example, below 10 GHz, the L-band (1–2 GHz), S-band (2–4 GHz), and C-band (4–8 GHz) are mainly occupied by a large number of military or civilian radar systems, while these bands may accommodate more Long Term Evolution (LTE), 5G New Radio (NR) systems, and Wi-Fi systems in the future. Furthermore, at higher frequency bands, the 5G millimeter-wave communication frequency band is very close to the operating frequency band of vehicle-mounted millimeter-wave radar. In addition, historically, radar and communication systems have evolved towards miniaturization and higher frequency bands. In the millimeter-wave band, the hardware architecture, channel characteristics, and signal processing methods of radar and communication systems are already very similar. From a civilian perspective, a significant number of emerging 5G / B5G applications require joint design of sensing and communication, such as IoT applications like smart cities and smart homes, and intelligent transportation applications like vehicle-to-everything (V2X) and autonomous driving. From a military perspective, the development of wireless radio frequency systems such as radar, communication, and electronic warfare has long been fragmented and independent, consuming substantial spectrum and hardware resources and reducing the effectiveness of combat platforms. To efficiently utilize spectrum resources and serve various emerging civilian and military applications, spectrum sharing between radar and communication has recently attracted considerable attention from academia and industry.

[0081] (2) Integrated Sensing and Communication (ISAC).

[0082] The feasibility of integrated sensor design can be seen from the following four aspects:

[0083] 1. Both communication systems and sensing systems are based on electromagnetic wave theory, using the transmission and reception of electromagnetic waves to acquire and transmit information;

[0084] 2. Both communication systems and sensing systems have structures such as antennas, transmitters, receivers, and signal processors, resulting in significant overlap in hardware resources;

[0085] 3. With the development of technology, there is increasing overlap between the two in their operating frequency bands;

[0086] 4. They share similarities in key technologies such as signal modulation and reception detection.

[0087] The air interface design of B5G or 6G systems will simultaneously support wireless communication signals and wireless sensing signals. Through integrated communication and sensing methods such as signal joint design and / or hardware sharing, the integrated design of communication and sensing functions will be realized, enabling the system to have sensing capabilities or provide sensing services while transmitting information.

[0088] The benefits of sensor integration include the following aspects:

[0089] 1. Cost savings;

[0090] 2. Reduce equipment size;

[0091] 3. Reduce device power consumption;

[0092] 4. Improve spectrum efficiency;

[0093] 5. Improve system performance.

[0094] Figure 1 This is an example of the communication system 100 provided in the embodiments of this application.

[0095] like Figure 1 As shown, the wireless communication system 100 includes base station A, base station B, terminal A, and terminal B.

[0096] Base station A or base station B can also be referred to as Radio Access Network (RAN) equipment, RAN function, or RAN unit. Access network equipment can include base stations, Wireless Local Area Network (WLAN) access points (AS), or Wireless Fidelity (WiFi) nodes, etc. The base station may be referred to as Node B (NB), Evolved Node B (eNB), Next Generation Node B (gNB), New Radio Node B (NR Node B), Access Point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home Evolved Node B, Transmission Reception Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that the embodiments of this application only use the base station in the NR system as an example for introduction, and do not limit the specific type of base station.

[0097] Terminal A or Terminal B can be a mobile phone, tablet computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), shipboard equipment, pedestrian user equipment (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart earphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among these, in-vehicle devices can also be referred to as in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, or in-vehicle units, etc. It should be noted that the embodiments in this application do not limit the specific type of terminal A or terminal B.

[0098] like Figure 1 As shown, based on the different transmitting and receiving nodes of the sensing signal, it can be divided into 6 basic sensing methods, specifically including:

[0099] (1) Base station self-transmitting and self-receiving sensing: In this sensing method, base station A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0100] (2) Inter-base station air interface sensing: Base station B receives the sensing signal sent by base station A and performs sensing measurements.

[0101] (3) Uplink air interface sensing: Base station A receives the sensing signal sent by terminal A and performs sensing measurement.

[0102] (4) Downlink air interface sensing: Terminal B receives sensing signals sent by base station B and performs sensing measurements.

[0103] (5) Terminal self-transmission and self-reception sensing: Terminal A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0104] (6) Side link sensing between terminals: Terminal B receives the sensing signal sent by Terminal A and performs sensing measurement.

[0105] It is worth noting that each sensing method in the diagram uses one sensing signal transmitting node and one sensing signal receiving node as examples. In actual systems, one or more different sensing methods can be selected according to different sensing use cases and sensing requirements, and each sensing method can have one or more transmitting and receiving nodes. The sensing targets in the diagram are people and vehicles as examples, and it is assumed that neither people nor vehicles carry or install signal transceiver devices. The sensing targets in real-world scenarios will be much more diverse.

[0106] Furthermore, while base stations or terminals can perform sensing operations independently in integrated communication and sensing systems, communication networks may be hampered by obstructions, preventing them from obtaining information about the environment or scene behind these obstructions. Therefore, another node or device may be needed to assist in the sensing process.

[0107] The perception method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0108] Figure 2 This is a schematic flowchart of a sensing method 200 according to an embodiment of this application.

[0109] The method 200 can be executed interactively by a first device and a second device, wherein the first device is a device that performs a sensing operation and the second device is a device that instructs the first device to perform a sensing operation.

[0110] For example, the first device or the second device may be a node or a device.

[0111] Nodes can be one or more of the following devices: base stations, reconfigurable intelligence surfaces, intelligent reflection surfaces, repeaters, satellites, and transmission reception points (TRPs). Devices can be terminals, such as smartphones, smartwatches, helmets, customer premises equipment (CPE), tagged objects, and reduced capability (RedCap) devices.

[0112] For example, the first device is a device (e.g., a terminal) and the second device is a node (e.g., a base station).

[0113] For example, in integrated communication and sensing, base stations or terminals can perform sensing on their own. However, in communication networks, due to obstructions, base stations or terminals may be unable to obtain environmental or scene information behind obstructions. Therefore, another node or device may be needed to assist in the sensing operation. In this case, the first device acquires the sensing results and sends them to the second device; that is, the second device acquires the sensing results through the first device, or the first device assists the second device in acquiring the sensing results.

[0114] like Figure 2 As shown, the sensing method 200 may include at least some of the following:

[0115] S201, the first device receives first indication information from the second device, the first indication information indicating the perception mode of the first device.

[0116] In other words, the second device sends the first indication information to the first device so that the first device can perform a sensing operation based on the sensing mode indicated by the first indication information.

[0117] The first device's sensing mode includes at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode; the first sensing mode is a sensing mode that performs sensing operations under a first condition, wherein the first condition is that the first device receives sensing indication information and the first device does not transmit sensing-related information; the second sensing mode is a sensing mode that performs sensing operations under a second condition, wherein the first device receives sensing indication information and the first device transmits sensing-related information; the third sensing mode is a sensing mode that performs sensing operations under a third condition, wherein the first device receives sensing indication information and the first device performs a positioning operation; the fourth sensing mode is a sensing mode that performs sensing operations under a fourth condition, wherein the first device receives sensing indication information and the first device reports tag information; the sensing indication information is used to instruct the first device to perform sensing operations.

[0118] For example, this application does not limit the order of transmission of the perception indication information and the perception related information.

[0119] For example, the perception-related information is information related to the perception operation or perception signal of the first device.

[0120] For example, in the second sensing mode, "the first device does not transmit sensing-related information" means that the first device neither receives nor sends sensing-related information.

[0121] For example, the second sensing mode can be divided into a first sub-mode and a second sub-mode. The first sub-mode is a sensing mode in which the first device performs a sensing operation after receiving sensing instruction information, and receives sensing-related information before performing the sensing operation. The second sub-mode is a sensing mode in which the first device performs a sensing operation after receiving sensing instruction information, and sends sensing-related information before performing the sensing operation.

[0122] For example, in the third sensing mode, the time interval between the first device receiving the sensing indication information and the first device performing the positioning operation can be less than or equal to a first time interval, or the time interval between the first device performing the sensing operation and the first device performing the positioning operation can be less than or equal to the first time interval. Optionally, the first device can perform the sensing operation and the positioning operation after receiving the sensing indication information. Optionally, the first device can perform the positioning operation after performing the sensing operation, or the first device can perform the sensing operation after performing the positioning operation, or the first device can perform the positioning operation and the sensing operation simultaneously. Optionally, the first time interval can be a time interval determined by the first device, a time interval configured by the second device or other devices, or a time interval agreed upon by a protocol. Of course, in other alternative embodiments, the first device can also perform the positioning operation before receiving the sensing indication information, and this application does not specifically limit this.

[0123] For example, in the fourth sensing mode, the time interval between the first device receiving the sensing indication information and the first device reporting the tag information can be less than or equal to the second time interval, or the time interval between the first device performing the sensing operation and the first device reporting the tag information can be less than or equal to the second time interval. Optionally, the first device can perform the sensing operation and report the tag information after receiving the sensing indication information. Optionally, the first device can report the tag information after performing the sensing operation, or the first device can perform the sensing operation after reporting the tag information, or the first device can perform the sensing operation while reporting the tag information, or the first device can report the sensing result and the tag information together. Optionally, the first time interval can be a time interval determined by the first device, a time interval configured by the second device or other devices, or a time interval agreed upon by the protocol. Of course, in other alternative embodiments, the first device can also report the tag information before receiving the sensing indication information, and this application does not specifically limit this.

[0124] For example, the first sensing mode is a sensing mode in which the first device directly performs sensing operations after receiving sensing indication information; the second sensing mode is a sensing mode in which the first device receives or sends sensing-related information after receiving sensing indication information, and then performs sensing operations; the third sensing mode is a sensing mode in which the first device performs positioning operations after receiving sensing indication information, and then performs sensing operations; and the fourth sensing mode is a sensing mode in which the first device reports tag information after receiving sensing indication information, and then performs sensing operations.

[0125] It should be understood that the perception mode of the first device in this application can be any perception mode defined by information transmitted before or after the first device performs a perception operation to improve the accuracy of the perception result of the first device, and this application does not make any specific limitation in this regard.

[0126] S202, the first device performs a sensing operation based on the first device's sensing mode.

[0127] For example, when the first device performs a sensing operation based on its own sensing mode, it may adopt an active sensing method, that is, the first device uses the reflected signal of its own emitted signal, such as an echo, to sense the environmental information around the device. Alternatively, the first device may adopt a passive sensing method, for example, the first device senses the environmental information around the device by receiving wireless signals from other devices (such as a second device) based on its own sensing mode.

[0128] For example, such as Figure 3 As shown, after S202, method 200 further includes:

[0129] S203, the first device sends the sensing result to the second device.

[0130] Specifically, the first device performs a sensing operation based on its sensing mode, obtains a sensing result, and then sends the sensing result to the second device.

[0131] The following is combined Figures 4 to 7 The perception method provided in this application is described in relation to the perception mode indicated by the first indication information.

[0132] For example, such as Figure 4 As shown, when the first indication information indicates the first sensing mode, the first device's sensing mode is the first sensing mode. In this case, after receiving the first indication information, the first device directly performs a sensing operation to obtain a sensing result, and then sends the sensing result to the second device. Information such as time-frequency resources for the first device to perform the sensing operation can be indicated by the second device.

[0133] For example, such as Figure 5 As shown, when the first indication information indicates the second sensing mode, if the sensing mode of the first device is the second sensing mode, then before S202, the method 200 further includes:

[0134] S202a, the first device sends or receives sensing-related information from the second device.

[0135] Specifically, after receiving the first instruction information, the first device first sends or receives perception-related information from the second device, then performs a perception operation to obtain a perception result, and sends the perception result to the second device.

[0136] It is worth noting that when the first device receives the first indication information from the second device, it can simultaneously receive perception-related information, that is, the perception-related information and the first indication information can be carried by the same signaling. This application does not make specific limitations on this.

[0137] For example, such as Figure 6 As shown, when the first indication information indicates the third sensing mode, the sensing mode of the first device is the third sensing mode. In this case, before S202, the method 200 further includes:

[0138] S202b, the first device performs a positioning operation.

[0139] Specifically, after receiving the first instruction information, the first device first performs a positioning operation, then a sensing operation, obtains a sensing result, and sends the sensing result to the second device. Optionally, the order of the positioning operation and the sensing operation is not specifically limited in this application.

[0140] It is worth noting that the first device can send the sensing result and the positioning result of the positioning operation together to the second device, or they can be sent separately, or the sensing result may include the positioning result; this application does not specifically limit this. Furthermore, the positioning result can be sent to the second device or other devices; for example, whether it is sent to the second device can be configured by the second device, and this application does not specifically limit this. Optionally, the positioning result may include the measurement result of the first device's position or the measurement result of position change. For example, the position measurement result is the result obtained by the first device performing a positioning operation. For example, the measurement result of position change may include the position change between the time of receiving the sensing indication information and the time of the first device performing the sensing operation, or the measurement result of position change may include the position change between the time the first device performs the positioning operation and the time the first device performs the sensing operation, etc. Optionally, the positioning operation may also be performed by the second device. For example, the positioning operation can be performed by the second device by sending a dedicated signal through the first device. Optionally, the second device may include multiple nodes. Optionally, this application embodiment does not limit the order in which the positioning result of the positioning operation and the sensing result of the first device are reported separately.

[0141] For example, such as Figure 7As shown, when the first indication information indicates the fourth sensing mode, the sensing mode of the first device is the fourth sensing mode. In this case, before S202, the method 200 further includes:

[0142] S202c, the first device sends tag information to the second device.

[0143] Specifically, after receiving the first instruction information, the first device first sends the tag information of the first device to the second device, then performs a sensing operation to obtain a sensing result, and sends the sensing result to the second device.

[0144] It is worth noting that the first device can also send tag information to the second device in S202. The first device can send the sensing result and the tag information together to the second device, or they can be sent separately, or the sensing result may include the tag information. This application does not specifically limit this, nor does it specifically limit the order in which they are sent separately. Optionally, the second device can determine the location information of the first device by sensing the tag information of the first device.

[0145] For example, such as Figure 8 As shown, when the first indication information indicates the second sensing mode and the third sensing mode, the sensing mode of the first device is the second sensing mode and the third sensing mode. In this case, before S202, the method 200 further includes:

[0146] S202a, the first device sends or receives sensing-related information from the second device.

[0147] S202b, the first device performs a positioning operation.

[0148] Specifically, after receiving the first instruction information, the first device first sends or receives perception-related information from the second device, then performs a positioning operation, then performs a perception operation, obtains a perception result, and sends the perception result to the second device.

[0149] It is worth noting that when the first device receives the first indication information from the second device, it may simultaneously receive perception-related information. That is, the perception-related information and the first indication information may be carried by the same signaling or by different signaling. This application does not specifically limit this. The order in which the perception-related information and the first indication information are received is also not specifically limited. Furthermore, the first device may send the perception result and the positioning result of the positioning operation together to the second device, or they may send them separately, or the perception result may include the positioning result. This application does not specifically limit this.

[0150] also, Figure 8 This application takes the first device's sensing mode as an example, which includes the second sensing mode and the third sensing mode, but it is not limited to this. For example, the first device's sensing mode can be any combination of the first sensing mode, the second sensing mode, the third sensing mode, the fourth sensing mode, and other sensing modes. This application does not make any specific limitation on this.

[0151] also, Figure 8 This application takes the example of the first device executing S202a first and then S202b, but it is not limited to this. For example, the first device may execute S202b first and then S202a, or the first device may execute S202a and S202b simultaneously.

[0152] In this embodiment of the application, by introducing first indication information to indicate the perception mode of the first device, the perception mode of the first device includes at least one of the following: a first perception mode, a second perception mode, a third perception mode, and a fourth perception mode. This enables the second device to indicate to the first device a perception mode that is adapted to the capabilities of the first device or the perception scenario. This not only improves the flexibility of the perception operation, but also helps to improve the accuracy of the perception results, thereby ensuring the reliability of the perception results.

[0153] For example, taking the first and second sensing modes as examples, if the first device does not acquire sensing-related information related to the sensing operation or sensing signal, even if the first device can determine the sensing-related information based on the implementation, and then perform the sensing operation and acquire the sensing result based on the sensing-related information, the time-frequency resources of the sensing may interfere with the communication signal, reducing the accuracy of the sensing result. Therefore, when the second device uses the sensing result of the first device, the accuracy and reliability of the sensing result are low. In this embodiment, by distinguishing between the first and second sensing modes by whether the first device receives or sends sensing-related information before performing the sensing operation, the second device can indicate a sensing mode that adapts to the capabilities of the first device or the sensing scenario to the first device. This not only improves the flexibility of the sensing operation but also helps to improve the accuracy of the sensing result, thereby ensuring the reliability of the sensing result.

[0154] For example, taking the third sensing mode as an example, if the second device does not obtain the positioning result of the first device, even if the first device can obtain the sensing result, because the second device has not obtained the location information of the first device, it may not be able to effectively use the sensing result when using the first device's sensing result, thus reducing the accuracy and reliability of the sensing result. In this embodiment, defining the third sensing mode by having the first device perform a positioning operation before or after the sensing operation helps the second device obtain the sensing result while simultaneously obtaining the location information of the first device. This not only improves the flexibility of the sensing operation but also helps to improve the accuracy of the sensing result, thereby ensuring the reliability of the sensing result.

[0155] For example, taking the fourth sensing mode as an example, if the second device does not obtain the tag information (e.g., device characteristics, size, identity, etc.) of the first device, even if the first device can obtain the sensing result, it may be unable to effectively use the sensing result when using the first device because it has not obtained the tag information of the first device, thereby reducing the accuracy and reliability of the sensing result. In this embodiment, defining the fourth sensing mode by having the first device report the tag information of the first device before or after performing the sensing operation helps the second device obtain the tag information while obtaining the sensing result, and then determine the characteristics, size, identity, and other information of the first device based on the tag information. This not only improves the flexibility of the sensing operation, but also helps to improve the accuracy of the sensing result, thereby ensuring the reliability of the sensing result.

[0156] In some embodiments, the perception-related information includes at least one of the following:

[0157] Time information;

[0158] Power information;

[0159] Beam information;

[0160] Reference signal information;

[0161] Resource information.

[0162] For example, the sensing-related information includes at least one of the following used by the first device when receiving a sensing signal on a receiving resource (e.g., downlink resource or sidelink resource): time information, power information, beam information, reference signal information, and resource information. Alternatively, the sensing-related information includes at least one of the following used by the first device when transmitting a sensing signal on a transmitting resource (e.g., uplink resource or sidelink resource): time information, power information, beam information, reference signal information, and resource information. Or, the sensing-related information includes at least one of the following used by the first device for both the sensing signal received on the receiving resource (e.g., downlink resource or sidelink resource) and the sensing signal transmitted on the transmitting resource (e.g., uplink resource or sidelink resource): time information, power information, beam information, reference signal information, and resource information.

[0163] For example, the first device performs a sensing operation based on the time information. For instance, the time information is used to determine the time at which the first device sends or receives a sensing signal when performing the sensing operation. Alternatively, the time information is used to determine the timing of the first device's sensing operation. Optionally, the timing of the first device's sensing operation refers to the time used by the first device to determine whether to send or receive a sensing signal when performing the sensing operation.

[0164] For example, the sensing-related information may include at least one of the following used by the first device when performing sensing operations by self-transmitting and self-receiving sensing signals: time information, power information, beam information, reference signal information, and resource information.

[0165] For example, the time information includes at least one of the following: the timing of the first device performing the sensing operation, the timing of the first device suggesting the performing the sensing operation, the timing for determining the first device performing the sensing operation, time advance information, time advance offset information, pre-compensation or offset information of time advance, post-compensation or offset information of time advance, time advance change rate or offset information, time advance timer or offset, and valid information of time advance.

[0166] For example, the frequency information includes at least one of the following: frequency error information, frequency error offset information, pre-compensation of frequency error or its offset information, post-compensation of frequency error or its offset information, frequency error change rate or its offset information, Doppler or its offset information, etc.

[0167] For example, the power information includes at least one of the following: power transmission command information, power ramp-up information, target received power information, or offset information thereof.

[0168] For example, the beam information includes at least one of the following: beam direction used by the sensing signal, beam index, etc.

[0169] For example, the reference signal information includes at least one of the following: the type of reference signal associated with the sensed signal, the time-frequency resources of the reference signal associated with the sensed signal, the index of the reference signal associated with the sensed signal, etc.

[0170] For example, the resource information includes at least one of the following: time-domain resources (e.g., period and offset), frequency-domain resources, spatial-domain resources (e.g., sequence) for transmitting or receiving sensing signals or channels, and time-domain resources (e.g., period and offset), frequency-domain resources, spatial-domain resources (e.g., sequence) for transmitting sensing results. Optionally, the resource information may use independent configuration resources relative to other processes.

[0171] In this embodiment, the sensing-related information includes at least one of the following: time information, frequency information, power information, beam information, reference signal information, and resource information. Essentially, when the first device performs a sensing operation, it can reduce interference with communication signals by using at least one of the following, thereby improving the accuracy of the sensing results: time information, power information, beam information, reference signal information, and resource information, thus ensuring the reliability of the sensing results.

[0172] For example, taking the perception-related information including the time information as an example, if the first device does not obtain the time information of the perception operation, the first device can determine the timing of the perception operation application and obtain the perception result based on the timing. However, since the perception signal of the first device performing the perception operation may interfere with the communication signal, the accuracy of the perception result is reduced. When the second device uses the perception result of the first device, it may not be able to effectively utilize the perception result because the accuracy and reliability of the perception result are reduced. In this embodiment, by distinguishing between the first perception mode and the second perception mode by whether the first device receives or sends perception-related information before performing the perception operation, the second device can indicate a perception mode that is suitable for the capabilities of the first device or the perception scenario to the first device. This not only improves the flexibility of the perception operation but also helps to improve the accuracy of the perception result, thereby ensuring the reliability of the perception result.

[0173] In some embodiments, when the time information is information received by the first device from the second device, the time information satisfies at least one of the following:

[0174] The time information includes the timing of the first device performing the sensing operation;

[0175] The time information refers to the update information received by the first device during the timer's operation.

[0176] The time information includes a timing offset, which is the offset value of the timing of the first device performing the sensing operation relative to the timing indicated by the timing indication information (e.g., the timing of the communication signal).

[0177] The time information is valid;

[0178] The conditions for determining the validity of the time information include at least one of the following: both the reference value of the reference link measurement and the reference value of the path loss of the reference link are valid; the change in the reference link measurement value relative to the reference value of the reference link measurement is less than the change threshold; and the timer has not timed out.

[0179] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the range of the Cyclic Prefix (CP), where the first timing is the timing of a reference communication uplink (UL) signal or a reference communication downlink (DL) signal.

[0180] For example, the timing of the first device performing the sensing operation refers to the time used by the first device to determine whether to send or receive a sensing signal when performing the sensing operation.

[0181] For example, the time information is information received by the first device from the second device. Optionally, the second device acquires information such as the position, velocity, or Doppler readings of the first device through a sensing operation, determines the time information based on the sensed information, and then sends the time information to the first device. Optionally, the time information includes at least one of the following: timing of the first device's sensing operation, time advance information, time advance offset information, pre-compensation or offset information of the time advance, post-compensation or offset information of the time advance, time advance change rate or offset information, time advance timer or offset, and valid information of the time advance, etc.

[0182] For example, the timing information includes the timing of the first device performing the sensing operation. This timing may be equal to or not equal to a first timing, which is a referenced uplink UL signal timing or a referenced downlink DL signal timing. Of course, in other alternative embodiments, the first timing can also be a sidelink referenced communication signal timing; this application does not specifically limit this. In this embodiment, when the timing of the first device performing the sensing operation is not aligned with the first timing, interference between the sensing and communication of the first device can be reduced, thereby simultaneously ensuring sensing performance and communication performance, which is equivalent to ensuring the integrated performance of the sensing and communication integration.

[0183] For example, the time information is the update information received by the first device during the timer's operation. Optionally, the update information is used to assist the first device in determining the timing of the first device's sensing operation, or the update information includes the timing of the first device's sensing operation. Optionally, after receiving an update message, the first device can start a timer, and expect to receive another update message before the timer expires.

[0184] For example, the time information includes a timing offset, which is the offset value of the timing of the first device performing a sensing operation relative to the timing indicated by the timing indication information (e.g., the timing of a communication signal). Optionally, the timing offset is used to assist the first device in determining the timing of the first device performing a sensing operation. For example, the timing indicated by the timing indication information can be offset by the timing offset to obtain the timing of the first device performing a sensing operation. Optionally, the timing indication information is the timing indication information most recently received by the first device. Optionally, the timing indication information can be the timing indication information in the current time information or the timing indication information in the historical time information; the timing indication information in the current time information or the timing indication information in the historical time information can be the timing indication information used by the first device for communication uplink transmission. Optionally, the time information also includes a timing group number and timing indication information, whereby the timing group number is used to indicate the timing range of the first device performing a sensing operation or the starting value of the timing range, and the timing indication information is used to indicate a timing based on the timing range. In this embodiment, by introducing a timing group number and timing indication information, the transmission signaling overhead of the time information can be reduced.

[0185] For example, the conditions for determining the validity of the time information include at least one of the following: both the stored reference signal received power (RSRP) value of the reference link path loss reference and the current reference link path loss reference RSRP value are valid; the change (increase or decrease) in the RSRP of the current reference link path loss reference compared to the stored reference link path loss reference RSRP is less than a pre-configured threshold; and the timer has not timed out. Optionally, the validity of both the stored reference link path loss reference RSRP value and the currently measured reference link path loss reference RSRP value includes: the RSRP value being within its valid range. Optionally, the reference link may include at least one of the following: uplink, downlink, sidelink (e.g., when the first device is a UE, then the sidelink is a link between two UEs), and sensing link (a link between a device sending a sensing signal and a device receiving a sensing signal). Optionally, the change (increase or decrease) in the RSRP of the current reference link path loss reference compared to the RSRP of the stored reference link path loss reference is less than a pre-configured threshold, including: the increase in the RSRP value of the currently measured reference link path loss reference relative to the RSRP value of the stored reference link path loss reference is less than the change threshold, or the decrease in the RSRP value of the currently measured reference link path loss reference relative to the RSRP value of the stored reference link path loss reference is less than the change threshold. Optionally, the change threshold may be a threshold configured by the second device, a threshold determined by the first device, or a threshold agreed upon by the protocol. Optionally, the timer not timing out includes: the timer used to receive update information not timing out.

[0186] It should be understood that "the time information is valid" can mean "the time information is in a valid state" or a similar description, and "the condition for judging the validity of the time information" can mean "the condition for judging that the time information is in a valid state" or a similar description, which this application does not specifically limit. Similarly, "the stored reference link path loss reference RSRP value and the currently measured reference link path loss reference RSRP value are valid" can mean "the reference link path loss reference RSRP values ​​are both in a valid state." For example, the statement "The conditions for determining the validity of the time information include at least one of the following: both the stored reference link path loss reference RSRP value and the currently measured reference link path loss reference RSRP value are valid; the change in the currently measured reference link path loss reference RSRP value relative to the stored reference link path loss reference RSRP value is less than a change threshold; and the timer has not expired" can be understood as "The conditions for determining that the time information is in a valid state include at least one of the following: both the stored reference link path loss reference RSRP value and the currently measured reference link path loss reference RSRP value are valid; the currently measured reference link path loss reference RSRP value relative to the stored reference link path loss reference RSRP value is less than a change threshold; and the timer has not expired."

[0187] For example, the deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the CP range, where the first timing is a reference communication uplink UL signal timing or a reference communication downlink DL signal timing. Of course, in other alternative embodiments, the first timing can also be a sidelink reference communication signal timing, which is not specifically limited in this application. In this embodiment, the deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the CP range, which can reduce interference between the sensing and communication of the first device, thereby simultaneously ensuring sensing performance and communication performance, which is equivalent to ensuring the integrated performance of the sensing and communication integration.

[0188] In some embodiments, when the time information is information sent from the first device to the second device, the time information satisfies at least one of the following:

[0189] The time information includes the timing suggested by the first device for performing the sensing operation;

[0190] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

[0191] The time information is reported through scheduled reports.

[0192] For example, the information sent by the first device to the second device may include information suggested by the first device. Optionally, the second device requests the first device to report a timing, which may be suggested by the first device to the second device. For example, a device A receives a sensing signal from another device B for sensing. Device A can estimate the arrival timing of the sensing signal through the communication signal of device B, and then report the timing to the network, thereby avoiding interference with the communication signal. If the deviation between the timing of device A receiving the sensing signal and the timing of device A receiving the communication signal is within the CP range, device A can simultaneously receive the communication signal and the sensing signal (e.g., frequency division). Otherwise, the network may not schedule downlink transmission of device A at the sensing time. Optionally, the time information includes at least one of the following: the time information includes the timing suggested by the first device for performing the sensing operation, the timing for determining the timing of the first device performing the sensing operation, timing advance information, timing advance offset information, timing advance pre-compensation or its offset information, timing advance post-compensation or its offset information, timing advance change rate or its offset information, timing advance timer or its offset, and timing advance validity information, etc.

[0193] For example, the deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the CP range, where the first timing is a reference communication UL signal timing or a reference communication downlink DL signal timing. Of course, in other alternative embodiments, the first timing can also be a sidelink reference communication signal timing, and this application does not specifically limit this. In this embodiment, the deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the CP range, which can reduce interference between the sensing and communication of the first device, thereby simultaneously ensuring sensing performance and communication performance, which is equivalent to ensuring the integrated performance of sensing and communication integration.

[0194] For example, the time information is reported via a timed report (TAreport). Optionally, the first device may report the time information via a timed report during random access (RRC connection establishment / RRC connection resumption) and during RRC connection re-establishment. Optionally, if the first device is configured to report the timed report via dedicated signaling, the first device may report the time information via a timed report during RA (Automatic Access) phases. Optionally, for the perception of non-terrestrial network systems, the first device may report the time information via a timed report.

[0195] In some embodiments, at least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first signal; at least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first channel.

[0196] The first channel includes at least one of the following: Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Physical Downlink Control Channel (PDCCH), Physical Downlink Shared Channel (PDSCH), and Physical Random Access Channel (PRACH); the first signal includes at least one of the following: Sounding Reference Signal (SRS), Channel State Information Reference Signal (CSI-RS), and Demodulation Reference Signal (DMRS). Of course, the first signal can also be other types of signals, for example, a sidelink signal, which is not specifically limited in this application. It should also be understood that the first timing mentioned above can also be the timing of the first signal or the first channel.

[0197] For example, the frequency information is obtained with the assistance of a first signal or a first channel; wherein, the frequency information is used to assist the first device in frequency synchronization during sensing operations. Specifically, the frequency information can be obtained in any of the following ways:

[0198] Method 1:

[0199] The second device obtains the frequency information (such as frequency error information, frequency error offset information, pre-compensation of frequency error or its offset information, post-compensation of frequency error or its offset information, frequency error change rate or its offset information or Doppler or its offset information, etc.) of the first device by transmitting and receiving the first signal (such as PRS / CSI RS and SRS) or the first channel, and instructs it to the first device.

[0200] Method 2:

[0201] The first device reports its own frequency information (such as frequency error information, frequency error offset information, pre-compensation or offset information of frequency error, post-compensation or offset information of frequency error, frequency error rate of change or offset information, or Doppler or offset information, etc.) by transmitting and receiving a first signal (e.g., PRS / CSI RS and SRS) or a first channel.

[0202] For example, the power information is indicated or reported via a first signal or a first channel; wherein, the power information is used to assist in improving the sensing performance of the sensing operation. Specifically, the power information can be obtained in any of the following ways:

[0203] Method 1:

[0204] The second device obtains the power information of the first device (e.g., the first device's transmit power command information, power ramp-up information, target receive power information, or offset information of these information) by receiving a first signal (e.g., preamble or SRS) or a first channel, and instructs the first device on the power information for sensing operations. It should be noted that this power information serves as a reference for the first device's transmit power during sensing operations and can also be used to avoid interference between terminals and interference with neighboring cells.

[0205] Method 2:

[0206] The first device reports the power information used for sensing operations, including power parameters such as open-loop operating point or transmit power level, etc.

[0207] For example, the beam information is information indicated or reported via a first signal or a first channel; wherein, the beam information is used to assist the beam scanning process of sensing operations and reduce interference to neighboring UEs or cells. Specifically, the beam information can be acquired in any of the following ways:

[0208] Method 1:

[0209] The second device obtains the beam information (association reference signal information) of the first device by receiving a first signal (e.g., preamble or SRS) or a first channel, and instructs the first device on the beam information to be used for sensing operations. It should be noted that this beam information is used as a reference for the first device to transmit beams during sensing operations, and can also be used to avoid interference between UEs and interference with neighboring cells.

[0210] Method 2:

[0211] The first device reports the beam information used for sensing operations, such as the beam index or number associated with the sensing signal.

[0212] It should be understood that the acquisition of the reference signal information can be achieved by referring to the acquisition of beam information, and will not be repeated here to avoid repetition.

[0213] For example, the resource information is indicated or reported via a first signal or a first channel; wherein, the resource information is used to assist in determining the time-frequency resources for sensing operations and to reduce interference to neighboring UEs or cells. Specifically, the resource information can be obtained in any of the following ways:

[0214] Method 1:

[0215] The second device instructs the first device to send time-domain and / or frequency-domain and / or spatial-domain (sequence) resource information for sensing signals or channels, which can use independent configuration resources relative to other processes. This avoids interference between UEs and interference with neighboring cells.

[0216] Method 2:

[0217] The first device reports the time-domain and / or frequency-domain and / or spatial-domain (sequence) resource information of the sensed signals or channels used for the sensing operation, and can use independent configuration resources relative to other processes.

[0218] In this embodiment, the transmission parameters of the channel or signal carrying at least one of the sensing-related information, such as frequency information, power information, beam information, reference signal information, and resource information, can be different from the transmission parameters of the first signal. This reduces interference from the first device to the communication channels or signals of other devices and ensures the performance of sensing-related information transmission, effectively guaranteeing the integrated performance of the sensing-related communication system. Similarly, at least one of the power information, beam information, reference signal information, and resource information can be information indicated or reported by the first signal, and at least one of the power information, beam information, reference signal information, and resource information can be information indicated or reported by the first channel. This is equivalent to transmitting the sensing-related information using the first signal or the first channel, thereby sending the sensing-related information and communication information together, saving overhead.

[0219] In some embodiments, when the first device is in a Radio Resource Control (RRC) connected state or the second device has acquired the sensing-related information, the sensing mode indicated by the first indication information is the first sensing mode.

[0220] It should be noted that the perception-related information of the first device is configured by the second device. Therefore, the second device knows the perception-related information used by the first device when performing perception operations. Optionally, if the second device configures the perception-related information for the first device through public or proprietary information when the first device is in a non-RRC connected state, then the perception mode indicated by the first indication information can be the first perception mode.

[0221] In this embodiment, when the first device is in RRC connection state or the second device has acquired the perception-related information, even if the perception mode indicated by the first indication information is the first perception mode, since the second device is in RRC connection state or the second device has acquired perception-related information, such as the direction information of the first device and the distance from the first device, the second device can improve the accuracy of the perception result after acquiring the perception result of the first device, thereby ensuring the reliability of the perception result.

[0222] In some embodiments, when the first device is in a Radio Resource Control (RRC) deactivated state, the first device is in an RRC idle state, or the second device has not acquired the sensing-related information, the sensing mode indicated by the first indication information is the second sensing mode.

[0223] In this embodiment, when the first device is in an RRC deactivated state or an idle state, or when the second device has not acquired the perception-related information, the perception mode indicated by the first indication information can be the second perception mode. Since the first device receives the perception-related information from or to the second device in the second perception mode, the second device, after acquiring the perception result from the first device, can improve the accuracy of the perception result through the perception-related information, thereby ensuring the reliability of the perception result. Furthermore, when the first device is in an RRC deactivated state or an idle state, the perception mode indicated by the first indication information is the second perception mode, which means that the first device can perform perception operations in the RRC deactivated state or idle state, thereby improving perception performance.

[0224] In some embodiments, when the sensing mode of the first device is the second sensing mode, the method 200 further includes:

[0225] After the first device receives the sensing indication information, the first device receives or sends the sensing-related information; wherein, S202 includes:

[0226] The first device performs sensing operations based on its sensing mode and the sensing-related information.

[0227] For example, when the first device receives the first indication information from the second device, it can simultaneously receive perception-related information, that is, the perception-related information and the first indication information can be carried by the same signaling. This application does not make specific limitations in this regard.

[0228] For example, the first device may first send a proprietary signal (e.g., a sensing SRS or a sensing preamble) for acquiring the sensing-related information, and then receive the sensing-related information; correspondingly, after receiving the proprietary signal, the second device can determine the sensing-related information based on the proprietary signal and send the sensing-related information to the first device. For example, the first device may first send a proprietary signal (e.g., a sensing SRS or a sensing preamble) for acquiring the time information, and then receive the time information; correspondingly, after receiving the proprietary signal, the second device can determine the time information based on the proprietary signal and send the time information to the first device.

[0229] Optionally, the first channel includes at least one of the following: PUCCH, PUSCH, PDCCH, PDSCH, PRACH; the first signal includes at least one of the following: SRS, CSI-RS, DMRS. Of course, the first signal or the first channel can also be other types of signals, for example, it can be a side link signal, and this application does not specifically limit it.

[0230] For example, the first device receives the perception-related information, which can be carried by at least one of the following:

[0231] Downlink Control Information (DCI);

[0232] Msg 2PDSCH;

[0233] Paging messages;

[0234] Media Access Control (MAC) Control Element (CE) information;

[0235] RRC signaling;

[0236] Sidelink message.

[0237] For example, the first device sends the perception-related information, which can be carried by at least one of the following:

[0238] The sensing-related information reported by the first device to the second device can be carried in at least one of the following channels / information.

[0239] Uplink Control Information (UCI);

[0240] Msg 3PUSCH;

[0241] MAC-CE information;

[0242] PUSCH;

[0243] PUCCH;

[0244] Side link message.

[0245] In some embodiments, the first device receives or transmits the perception-related information, including at least one of the following:

[0246] During the random access process of the first device, the first device sends or receives the sensing-related information;

[0247] After the random access process of the first device is completed, the first device sends or receives the sensing-related information;

[0248] When the first device is in a sensing ready state, the first device sends or receives the sensing-related information.

[0249] For example, the perception preparation state refers to a state that allows the first device to perform perception operations, or a state that allows the first device to send or receive perception-related information.

[0250] For example, the first device obtains sensing-related information for sensing operations through a random access procedure. This can be done during the random access procedure, or after the random access procedure is completed and the device enters the connected state, with the second device indicating the sensing-related information or the first device reporting the sensing-related information. For instance, during the random access procedure, the second device indicates the sensing-related information, which can be carried in the Msg 2PDSCH. Alternatively, after the random access procedure is completed and the device enters the connected state, the first device reports the sensing-related information, which can be carried by Uplink Control Information (UCI) or MAC-CE information. Optionally, the sensing-related information can also be carried by RRC signaling.

[0251] For example, the random access procedure of the first device may be at least one of the following:

[0252] Competition-based random access procedure;

[0253] Based on a non-contention-based random access procedure;

[0254] Two-step random access process.

[0255] For example, during the random access process of the first device, a signal or channel with transmission parameters different from the first signal or the first channel can be used to carry the sensing-related information, thereby reducing the interference of the acquisition of the sensing-related information on the first signal or the first channel, and thus ensuring both sensing performance and communication performance. This is equivalent to ensuring the integrated performance of sensing and communication. Optionally, the transmission parameters include at least one of the following: the transmission power of the preamble or Msg 3 / APUSCH, the target transmission power, the power boost step size, and the time-frequency resources for DL ​​reception and UL transmission during random access. Optionally, the first channel includes at least one of the following: PUCCH, PUSCH, PDCCH, PDSCH, PRACH; the first signal includes at least one of the following: SRS, CSI-RS, DMRS. Of course, the first signal or the first channel can also be other types of signals, for example, a sidelink signal; this application does not specifically limit this.

[0256] In this embodiment, the first device can send or receive the sensing-related information during random access, after random access is completed, or in a sensing preparation state. This means that the first device can perform sensing operations during random access, after random access is completed, or in a sensing preparation state, which can improve the performance of sensing operations.

[0257] In some embodiments, before the first device sends or receives the sensing-related information when the first device is in a sensing readiness state, the method 200 further includes:

[0258] The first device receives configuration information associated with the perception-related information from the second device;

[0259] The first device sends or receives the sensing-related information, including:

[0260] The first device sends or receives updates to the perception-related information based on the configuration information.

[0261] For example, the configuration information is used to configure the transmission parameters of the perception-related information, such as transmission resources.

[0262] For example, for a first device in a sensing-ready state, configuration information previously provided by a second device can be reserved (pending). Further, the first device can be configured by the second device with a proprietary notification signal, such as a preamble or RS, to indicate that the configuration information has taken effect. Specifically, when the second device sends sensing indication information to the first device, i.e., when the first device receives the sensing indication information, the first device can notify the second device that the previously provided configuration information has taken effect by sending the notification signal. Based on this, the second device can quickly send updated sensing-related information to the first device to assist the first device in performing sensing operations. Alternatively, the first device can quickly notify the second device of sensing-related information suggested by the first device. In this embodiment, by introducing configuration information, the first device can quickly obtain the sensing-related information, thereby reducing the latency of obtaining the sensing-related information.

[0263] For example, when the first device is in a sensing ready state, the first device can obtain the updated information of the sensing-related information in real time (periodically), for example, by obtaining the updated information of the sensing-related information in real time (periodically) through DCI or paging DCI.

[0264] It should be understood that the updated information related to perception may be the updated information received by the first device during the operation of the timer mentioned above.

[0265] In some embodiments, before the first device sends or receives the sensing-related information after entering the sensing readiness state, the method 200 further includes:

[0266] The first device receives second indication information from the second device, the second indication information being used to instruct the first device to enter a sensing ready state.

[0267] For example, before the second device sends the information about receiving the perception-related information, the second device may send the second indication information to the first device.

[0268] For example, the second indication information can be carried by RRC signaling (such as RRC establishment or RRC reconfiguration signaling) or RRC release signaling (such as idle / inactive state).

[0269] For example, the DCI can carry update information of the perception-related information. If no update information of the perception-related information is received (e.g., if the second device believes that the perception-related information of the first device has not changed, then it may not send it), the first device assumes to use the most recent perception-related information for perception operation. For example, if no update information of the perception-related information is received or the update information of the perception-related information does not include the update information (e.g., if the second device believes that the timing of the first device has not changed, then it may not send it), the first device assumes to use the most recent timing for perception operation.

[0270] In some embodiments, when the sensing mode indicated by the first indication information is the third sensing mode; wherein, before or after the first device performs a sensing operation based on the sensing mode of the first device, the method 200 further includes:

[0271] The first device performs a positioning operation on itself.

[0272] For example, after receiving the sensing indication information, the first device performs a positioning operation before performing the sensing operation.

[0273] For example, the first device may perform a positioning operation periodically or aperiodically before or after performing a sensing operation based on the first device's sensing mode. The periodic or aperiodic resources may be indicated or configured by the second device.

[0274] It is worth noting that the first device can send the sensing result and the positioning result of the positioning operation together to the second device, or they can be sent separately, or the sensing result may include the positioning result; this application does not specifically limit this. Furthermore, the positioning result can be sent to the second device or other devices; for example, whether it is sent to the second device can be configured by the second device, and this application does not specifically limit this. Optionally, the positioning result may include the position of the first device or a measurement result of position change. For example, the measurement result of position change may include the position change between the time of receiving the sensing indication information and the time the first device performs the sensing operation, or the measurement result of position change may include the position change between the time the first device performs the positioning operation and the time the first device performs the sensing operation, etc.

[0275] In some embodiments, the method 200 further includes:

[0276] The first device receives third indication information from the second device, the third indication information being used to indicate the positioning method used by the first device;

[0277] The first device reports the positioning method used by the first device to the second device;

[0278] The first device sends the measurement results of the position or position change of the first device to the second device.

[0279] For example, the positioning method used by the first device includes at least one of the following:

[0280] Network-assisted Global Navigation Satellite System (GNSS) positioning method;

[0281] Positioning method based on LTE signal observation time difference of arrival (OTDOA);

[0282] Location method based on enhanced cell ID of LTE signal;

[0283] Ground Beacon System (TBS) positioning method;

[0284] Sensor-based positioning methods; for example, including barometric pressure sensor positioning methods and / or motion sensor positioning methods;

[0285] Location method for NR-enhanced cell ID based on NR signals;

[0286] Multi-RTT positioning is a positioning method based on NR signals.

[0287] Positioning method based on downlink departure angle DL-AoD of NR signal;

[0288] Location method based on downlink time difference of arrival (DL-TDOA) of NR signal;

[0289] Positioning method based on UL-TDOA uplink time difference of arrival of NR signal;

[0290] The uplink angle of arrival (UL-AoA) positioning method based on NR signals; UL-AoA includes A-AoA and Z-AoA;

[0291] Bandwidth aggregation positioning method;

[0292] Carrier phase positioning method;

[0293] WLAN positioning method;

[0294] Bluetooth positioning method;

[0295] Redcap positioning method;

[0296] Positioning methods based on sidelink signals include SL positioning and ranging, including sidelink round-trip time (SL-RTT) positioning and sidelink angle of arrival positioning.

[0297] For example, the second device may indicate a subset of the aforementioned positioning methods, which may be arbitrarily selected by the first device or selected according to predefined rules (e.g., the capabilities supported by the first device, or positioning accuracy selected from high to low). Alternatively, the first device may report the positioning method it uses to the second device; the positioning method used by the first device may be reported together with the sensing results, or separately from the sensing results. Furthermore, the configuration information such as reference signals (e.g., SRS, PRS / CSI-RS) required in the aforementioned positioning methods may be provided by the second device, and this application does not specifically limit this.

[0298] In some embodiments, before the first device receives the third indication information from the second device, the method 200 further includes:

[0299] The first device sends the positioning methods supported by the first device to the second device; wherein, the positioning methods supported by the first device include the positioning methods indicated by the third indication information.

[0300] For example, before performing a sensing operation, the first device reports the positioning methods it supports, and then the second device instructs the first device which positioning method to use.

[0301] The sensing method provided in this application can be executed by a sensing device. This application uses the example of a sensing device executing the sensing method to illustrate the sensing device provided in this application.

[0302] This application provides a sensing device. As an example, the sensing device may be a communication device or a component within a communication device, such as a chip. The communication device may be a first device or a second device. Exemplarily, the first device may include, but is not limited to, the types of terminal A or terminal B listed above, and the second device may include, but is not limited to, the types of base station A or base station B listed above. This application does not impose specific limitations.

[0303] The sensing device includes a receiving module, a transmitting module, and a processing module. These modules can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor can include general-purpose processors, special-purpose processors, such as a Central Processing Unit (CPU), microprocessor, Digital Signal Processor (DSP), Artificial Intelligence (AI) processor, Graphics Processing Unit (GPU), Application Specific Integrated Circuit (ASIC), Network Processor (NP), Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc. The receiving and transmitting modules can be implemented by a communication interface, which can include one or more of the following: transceiver, pins, circuits, bus, radio frequency unit, etc.

[0304] For details, see Figure 9 When the sensing device is a first device or a component of the first device, the sensing device 300 includes a receiving module 301 for receiving first indication information from a second device, the first indication information indicating the sensing mode of the first device; and a processing module 302 for performing a sensing operation based on the sensing mode of the first device.

[0305] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0306] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0307] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0308] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0309] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0310] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0311] In some embodiments, the perception-related information includes at least one of the following:

[0312] Time information;

[0313] Power information;

[0314] Beam information;

[0315] Reference signal information;

[0316] Resource information.

[0317] In some embodiments, when the time information is information received by the first device from the second device, the time information satisfies at least one of the following:

[0318] The time information includes the timing of the first device performing the sensing operation;

[0319] The time information refers to the update information received by the first device during the timer's operation.

[0320] The time information includes a timing offset, which is the offset value of the timing of the first device performing the sensing operation relative to the timing indicated by the timing indication information.

[0321] The time information is valid;

[0322] The conditions for determining the validity of the time information include at least one of the following: both the reference value of the reference link measurement and the reference value of the path loss of the reference link are valid; the change in the reference link measurement value relative to the reference value of the reference link measurement is less than the change threshold; and the timer has not timed out.

[0323] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

[0324] In some embodiments, when the time information is information sent from the first device to the second device, the time information satisfies at least one of the following:

[0325] The time information includes the timing suggested by the first device for performing the sensing operation;

[0326] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

[0327] The time information is reported through scheduled reports.

[0328] In some embodiments, at least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first signal; or

[0329] At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported through the first channel;

[0330] The first channel includes at least one of the following:

[0331] Physical uplink control channel PUCCH, physical uplink shared channel PUSCH, physical downlink control channel PDCCH, physical downlink shared channel PDSCH, and physical random access channel PRACH;

[0332] The first signal includes at least one of the following:

[0333] The detection reference signal (SRS), channel state information reference signal (CSI-RS), and demodulation reference signal (DMRS) are used.

[0334] In some embodiments, when the first device is in a Radio Resource Control (RRC) connected state or the second device has acquired the sensing-related information, the sensing mode indicated by the first indication information is the first sensing mode.

[0335] In some embodiments, when the first device is in a Radio Resource Control (RRC) deactivated state, the first device is in an RRC idle state, or the second device has not acquired the perception-related information, the perception mode indicated by the first indication information is the second perception mode.

[0336] In some embodiments, when the sensing mode of the first device is the second sensing mode, the device 300 further includes a first communication module, configured to:

[0337] After the first device receives the sensing indication information, it receives or sends the sensing-related information.

[0338] Specifically, the processing module 302 is used for:

[0339] The sensing operation is performed based on the sensing mode of the first device and the sensing-related information.

[0340] In some embodiments, the first communication module is specifically configured to perform at least one of the following:

[0341] During the random access process of the first device, the sensing-related information is sent or received;

[0342] After the random access process of the first device is completed, the sensing-related information is sent or received;

[0343] When the first device is in a sensing ready state, it sends or receives the sensing-related information.

[0344] In some embodiments, the first communication module is specifically used for:

[0345] When the first device is in a sensing ready state, configuration information associated with the sensing-related information is received from the second device;

[0346] Based on the configuration information, send or receive update information related to the perception.

[0347] In some embodiments, before sending or receiving the sensing-related information when the first device is in a sensing readiness state, the first communication module is further configured to:

[0348] The first device receives a second instruction message, which is used to instruct the first device to enter a sensing readiness state.

[0349] In some embodiments, when the sensing mode indicated by the first indication information is the third sensing mode, the device 300 further includes a third communication module, the third communication module being configured to perform at least one of the following:

[0350] Receive third indication information from the second device, the third indication information being used to indicate the positioning method used by the first device;

[0351] Report the positioning method used by the first device to the second device;

[0352] Send the measurement results of the position or position change of the first device to the second device.

[0353] In some embodiments, before receiving the third indication information from the second device, the third communication module is further configured to:

[0354] Send the positioning methods supported by the first device to the second device;

[0355] The positioning methods supported by the first device include the positioning methods indicated by the third indication information.

[0356] See Figure 10 When the sensing device is a second device or a component of the second device, the sensing device 400 includes a transmitting module 401 for transmitting first indication information to the first device, the first indication information indicating the sensing mode of the first device.

[0357] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0358] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0359] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0360] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0361] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0362] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0363] In some embodiments, the perception-related information includes at least one of the following:

[0364] Time information;

[0365] Power information;

[0366] Beam information;

[0367] Reference signal information;

[0368] Resource information.

[0369] In some embodiments, when the time information is information received by the first device from the second device, the time information satisfies at least one of the following:

[0370] The time information includes the timing of the first device performing the sensing operation;

[0371] The time information refers to the update information received by the first device during the timer's operation.

[0372] The time information includes a timing offset, which is the offset value of the timing of the first device performing the sensing operation relative to the timing indicated by the timing indication information.

[0373] The time information is valid;

[0374] The conditions for determining the validity of the time information include at least one of the following: both the reference value of the reference link measurement and the reference value of the path loss of the reference link are valid; the change in the reference link measurement value relative to the reference value of the reference link measurement is less than the change threshold; and the timer has not timed out.

[0375] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

[0376] In some embodiments, when the time information is information sent from the first device to the second device, the time information satisfies at least one of the following:

[0377] The time information includes the timing suggested by the first device for performing the sensing operation;

[0378] The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

[0379] The time information is reported through scheduled reports.

[0380] In some embodiments, at least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first signal; or

[0381] At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported through the first channel;

[0382] The first channel includes at least one of the following:

[0383] Physical uplink control channel PUCCH, physical uplink shared channel PUSCH, physical downlink control channel PDCCH, physical downlink shared channel PDSCH, and physical random access channel PRACH;

[0384] The first signal includes at least one of the following:

[0385] The detection reference signal (SRS), channel state information reference signal (CSI-RS), and demodulation reference signal (DMRS) are used.

[0386] In some embodiments, when the first device is in a Radio Resource Control (RRC) connected state or the second device has acquired the sensing-related information, the sensing mode indicated by the first indication information is the first sensing mode.

[0387] In some embodiments, when the first device is in a Radio Resource Control (RRC) deactivated state, the first device is in an RRC idle state, or the second device has not acquired the perception-related information, the perception mode indicated by the first indication information is the second perception mode.

[0388] In some embodiments, when the sensing mode of the first device is the second sensing mode, the device 400 further includes a second communication module for:

[0389] After the second device sends the sensing indication information, it receives or sends the sensing-related information.

[0390] In some embodiments, the second communication module is specifically configured to perform at least one of the following:

[0391] During the random access process of the first device, the sensing-related information is sent or received;

[0392] After the random access process of the first device is completed, the sensing-related information is sent or received;

[0393] When the first device is in a sensing ready state, it sends or receives the sensing-related information.

[0394] In some embodiments, before sending or receiving the sensing-related information when the first device is in a sensing-ready state, the second communication module is further configured to:

[0395] Send configuration information associated with the perception-related information to the first device.

[0396] In some embodiments, before sending or receiving the sensing-related information when the first device is in a sensing-ready state, the second communication module is further configured to:

[0397] Send a second instruction message to the first device, the second instruction message being used to instruct the first device to enter a sensing readiness state.

[0398] In some embodiments, when the sensing mode indicated by the first indication information is the third sensing mode, the device 400 further includes a fourth communication module, which is also configured to perform at least one of the following:

[0399] Send a third indication message to the first device, the third indication message being used to indicate the positioning method used by the first device;

[0400] Receive the positioning method used by the first device from the first device;

[0401] Receive the measurement results of the position or position change of the first device from the first device.

[0402] In some embodiments, before sending the third indication information to the first device, the fourth communication module is further configured to:

[0403] Receive the positioning methods supported by the first device from the first device;

[0404] The positioning methods supported by the first device include the positioning methods indicated by the third indication information.

[0405] The apparatus provided in this application embodiment can achieve... Figures 2 to 8 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0406] like Figure 11 As shown in the illustration, this application also provides a communication device 500, including a processor 501 and a memory 502. The memory 502 stores a program or instructions that can run on the processor 501. For example, when the communication device 500 is a first device, the program or instructions executed by the processor 501 implement the various steps performed by the first device in the above-described sensing method embodiment, and achieve the same technical effect. When the communication device 500 is a second device, the program or instructions executed by the processor 501 implement the various steps performed by the second device in the above-described sensing method embodiment, and achieve the same technical effect. To avoid repetition, this will not be elaborated further here.

[0407] This application embodiment also provides a first device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement, as shown in the example. Figures 2 to 8The steps in the method embodiment shown are illustrated. This first device embodiment corresponds to the first device-side method embodiment. All implementation processes and methods of the above method embodiments can be applied to this first device embodiment and achieve the same technical effect. The first device can be... Figure 9 The sensing device shown. Specifically, Figure 12 A schematic diagram of the hardware structure of a first device according to an embodiment of this application.

[0408] The first device 600 includes, but is not limited to, at least some of the following components: radio frequency unit 601, network module 602, audio output unit 603, input unit 604, sensor 605, display unit 606, user input unit 607, interface unit 608, memory 609, and processor 610.

[0409] Those skilled in the art will understand that the first device 600 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 610 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 12 The first device structure shown in the figure does not constitute a limitation on the first device. The first device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0410] It should be understood that, in this embodiment, the input unit 604 may include a graphics processor 6041 and a microphone 6042. The graphics processor 6041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 607 includes at least one of a touch panel 6071 and other input devices 6072. The touch panel 6071 is also called a touch screen. The touch panel 6071 may include two parts: a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0411] In this embodiment, after receiving downlink data from the second device, the radio frequency unit 601 can transmit it to the processor 610 for processing; in addition, the radio frequency unit 601 can send uplink data to the second device. Typically, the radio frequency unit 601 includes, but is not limited to, an antenna, amplifier, transceiver, coupler, low-noise amplifier, duplexer, etc.

[0412] The memory 609 can be used to store software programs or instructions, as well as various data. The memory 609 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 609 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 609 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0413] Processor 610 may include one or more processing units; optionally, processor 610 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 610.

[0414] The radio frequency unit 601 is used to receive first indication information from the second device, wherein the first indication information indicates the sensing mode of the first device;

[0415] Processor 610 is used to perform sensing operations based on the sensing mode of the first device;

[0416] The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode;

[0417] The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information.

[0418] The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information.

[0419] The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation.

[0420] The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information.

[0421] The sensing indication information is used to instruct the first device to perform a sensing operation.

[0422] In this embodiment of the application, by introducing first indication information to indicate the perception mode of the first device, the perception mode of the first device includes at least one of the following: first perception mode, second perception mode, third perception mode, and fourth perception mode. This enables the second device to indicate to the first device a perception mode that is adapted to the capabilities of the first device or the perception scenario. This not only improves the flexibility of the perception operation, but also helps to improve the accuracy of the perception results, thereby ensuring the reliability of the perception results.

[0423] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned perception method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0424] This application embodiment also provides a second device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement, as shown in the example. Figures 2 to 8 The steps of the method embodiment shown are illustrated. This second device embodiment corresponds to the second device method embodiment. All implementation processes and methods of the above method embodiments can be applied to this second device embodiment and can achieve the same technical effect.

[0425] Specifically, embodiments of this application also provide a second device, which may be... Figure 10 The sensing device shown. (As shown) Figure 13As shown, the second device 700 includes: an antenna 71, a radio frequency (RF) device 72, a baseband device 73, a processor 74, and a memory 75. The antenna 71 is connected to the RF device 72. In the uplink direction, the RF device 72 receives information through the antenna 71 and transmits the received information to the baseband device 73 for processing. In the downlink direction, the baseband device 73 processes the information to be transmitted and sends it to the RF device 72. The RF device 72 processes the received information and transmits it through the antenna 71.

[0426] The method executed by the second device in the above embodiments can be implemented in the baseband device 73, which includes a baseband processor.

[0427] The baseband device 73 may include, for example, at least one baseband board on which multiple chips are disposed, one of which is, for example, a baseband processor. Figure 13 As shown, the baseband device 73 is connected to the memory 75 via a bus interface to call the program in the memory 75 and execute the network device operation shown in the above method embodiment.

[0428] The second device may also include a network interface 76, such as a Common Public Radio Interface (CPRI).

[0429] Specifically, the second device 700 in this application embodiment further includes: instructions or programs stored in memory 75 and executable on processor 74, wherein processor 74 calls the instructions or programs in memory 75 to execute. Figure 10 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0430] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described sensing method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0431] The processor is the processor in the first device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0432] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described sensing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0433] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0434] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described sensing method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0435] This application also provides a communication system, including a first device and a second device, wherein the first device can be used to perform the steps performed by the first device in the sensing method described above, and the second device can be used to perform the steps performed by the second device in the sensing method described above.

[0436] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0437] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the first device or the second device to execute the methods described in the various embodiments of this application.

[0438] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A sensing method, characterized in that, include: The first device receives first indication information from the second device, the first indication information indicating the sensing mode of the first device; The first device performs sensing operations based on its sensing mode. The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode; The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information. The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information. The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation. The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information. The sensing indication information is used to instruct the first device to perform a sensing operation.

2. The method according to claim 1, characterized in that, The perception-related information includes at least one of the following: Time information; Power information; Beam information; Reference signal information; Resource information.

3. The method according to claim 2, characterized in that, When the time information is information received by the first device from the second device, the time information satisfies at least one of the following: The time information includes the timing of the first device performing the sensing operation; The time information refers to the update information received by the first device during the timer's operation. The time information includes a timing offset, which is the offset value of the timing of the first device performing the sensing operation relative to the timing indicated by the timing indication information. The time information is valid; The conditions for determining the validity of the time information include at least one of the following: both the reference value of the reference link measurement and the reference value of the path loss of the reference link are valid; the change in the reference link measurement value relative to the reference value of the reference link measurement is less than the change threshold; and the timer has not timed out. The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

4. The method according to claim 2, characterized in that, When the time information is information sent from the first device to the second device, the time information satisfies at least one of the following: The time information includes the timing suggested by the first device for performing the sensing operation; The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing. The time information is reported through scheduled reports.

5. The method according to any one of claims 2 to 4, characterized in that, At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first signal; or At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported through the first channel; The first channel includes at least one of the following: Physical uplink control channel PUCCH, physical uplink shared channel PUSCH, physical downlink control channel PDCCH, physical downlink shared channel PDSCH, and physical random access channel PRACH; The first signal includes at least one of the following: The detection reference signal (SRS), channel state information reference signal (CSI-RS), and demodulation reference signal (DMRS) are used.

6. The method according to any one of claims 1 to 5, characterized in that, When the first device is in a Radio Resource Control (RRC) connected state or the second device has acquired the sensing-related information, the sensing mode indicated by the first indication information is the first sensing mode.

7. The method according to any one of claims 1 to 5, characterized in that, When the first device is in the Radio Resource Control (RRC) deactivated state, the first device is in the RRC idle state, or the second device has not acquired the sensing-related information, the sensing mode indicated by the first indication information is the second sensing mode.

8. The method according to any one of claims 1 to 5, characterized in that, When the first device is in the second sensing mode, the method further includes: After the first device receives the sensing indication information, the first device receives or sends the sensing-related information. Wherein, the first device performs sensing operations based on the first device's sensing mode, including: The first device performs sensing operations based on its sensing mode and the sensing-related information.

9. The method according to claim 8, characterized in that, The first device receives or sends the sensing-related information, including at least one of the following: During the random access process of the first device, the first device sends or receives the sensing-related information; After the random access process of the first device is completed, the first device sends or receives the sensing-related information; When the first device is in a sensing ready state, the first device sends or receives the sensing-related information.

10. The method according to claim 9, characterized in that, When the first device is in a sensing readiness state, the first device sending or receiving the sensing-related information includes: When the first device is in a sensing ready state, the first device receives configuration information associated with the sensing-related information from the second device; The first device sends or receives updates to the perception-related information based on the configuration information.

11. The method according to claim 9 or 10, characterized in that, Before the first device sends or receives the sensing-related information when the first device is in a sensing readiness state, the method further includes: The first device receives second indication information from the second device, the second indication information being used to instruct the first device to enter a sensing ready state.

12. The method according to any one of claims 1 to 5, characterized in that, When the perception mode indicated by the first indication information is the third perception mode; Wherein, before or after the first device performs a sensing operation based on the first device's sensing mode, the method further includes at least one of the following: The first device receives third indication information from the second device, the third indication information being used to indicate the positioning method used by the first device; The first device reports the positioning method used by the first device to the second device; The first device sends the measurement results of the position or position change of the first device to the second device.

13. The method according to claim 12, characterized in that, Before the first device receives the third indication information from the second device, the method further includes: The first device sends the positioning methods supported by the first device to the second device; The positioning methods supported by the first device include the positioning methods indicated by the third indication information.

14. A sensing method, characterized in that, include: The second device sends a first instruction message to the first device, the first instruction message indicating the sensing mode of the first device; The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode; The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information. The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information. The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation. The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information. The sensing indication information is used to instruct the first device to perform a sensing operation.

15. The method according to claim 14, characterized in that, The perception-related information includes at least one of the following: Time information; Power information; Beam information; Reference signal information; Resource information.

16. The method according to claim 15, characterized in that, When the time information is information received by the first device from the second device, the time information satisfies at least one of the following: The time information includes the timing of the first device performing the sensing operation; The time information refers to the update information received by the first device during the timer's operation. The time information includes a timing offset, which is the offset value of the timing of the first device performing the sensing operation relative to the timing indicated by the timing indication information. The time information is valid; The conditions for determining the validity of the time information include at least one of the following: both the reference value of the reference link measurement and the reference value of the path loss of the reference link are valid; the change in the reference link measurement value relative to the reference value of the reference link measurement is less than the change threshold; and the timer has not timed out. The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing.

17. The method according to claim 15, characterized in that, When the time information is information sent from the first device to the second device, the time information satisfies at least one of the following: The time information includes the timing suggested by the first device for performing the sensing operation; The deviation between the timing of the first device performing the sensing operation determined by the time information and the first timing is within the cyclic prefix CP range, where the first timing is the reference communication uplink UL signal timing or the reference communication downlink DL signal timing. The time information is reported through scheduled reports.

18. The method according to any one of claims 15 to 17, characterized in that, At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported via a first signal; or At least one of the power information, the beam information, the reference signal information, and the resource information is information indicated or reported through the first channel; The first channel includes at least one of the following: Physical uplink control channel PUCCH, physical uplink shared channel PUSCH, physical downlink control channel PDCCH, physical downlink shared channel PDSCH, and physical random access channel PRACH; The first signal includes at least one of the following: The detection reference signal (SRS), channel state information reference signal (CSI-RS), and demodulation reference signal (DMRS) are used.

19. The method according to any one of claims 14 to 18, characterized in that, When the first device is in a Radio Resource Control (RRC) connected state or the second device has acquired the sensing-related information, the sensing mode indicated by the first indication information is the first sensing mode.

20. The method according to any one of claims 14 to 18, characterized in that, When the first device is in the Radio Resource Control (RRC) deactivated state, the first device is in the RRC idle state, or the second device has not acquired the sensing-related information, the sensing mode indicated by the first indication information is the second sensing mode.

21. The method according to any one of claims 14 to 18, characterized in that, When the first device is in the second sensing mode, the method further includes: After the second device sends the sensing indication information, the second device receives or sends the sensing-related information.

22. The method according to claim 21, characterized in that, The second device receives or sends the sensing-related information, including at least one of the following: During the random access process of the first device, the second device sends or receives the sensing-related information; After the random access process of the first device is completed, the second device sends or receives the sensing-related information; When the first device is in a sensing ready state, the second device sends or receives the sensing-related information.

23. The method according to claim 22, characterized in that, Before the second device sends or receives the sensing-related information when the first device is in a sensing readiness state, the method further includes: The second device sends configuration information associated with the perception-related information to the first device.

24. The method according to claim 22 or 23, characterized in that, Before the second device sends or receives the sensing-related information when the first device is in a sensing readiness state, the method further includes: The second device sends a second instruction message to the first device, the second instruction message being used to instruct the first device to enter a sensing ready state.

25. The method according to any one of claims 14 to 18, characterized in that, When the perception mode indicated by the first indication information is the third perception mode, the method further includes at least one of the following: The second device sends a third indication message to the first device, the third indication message being used to indicate the positioning method used by the first device; The second device receives the positioning method used by the first device from the first device; The second device receives the measurement results of the position or position change of the first device from the first device.

26. The method according to claim 25, characterized in that, Before the second device sends the third indication information to the first device, the method further includes: The second device receives the positioning methods supported by the first device from the first device; The positioning methods supported by the first device include the positioning methods indicated by the third indication information.

27. A sensing device, characterized in that, include: The receiving module is configured to receive first indication information from the second device, wherein the first indication information indicates the sensing mode of the first device; The processing module is used to perform sensing operations based on the sensing mode of the first device; The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode; The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information. The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information. The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation. The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information. The sensing indication information is used to instruct the first device to perform a sensing operation.

28. The apparatus according to claim 27, characterized in that, When the sensing mode of the first device is the second sensing mode, the sensing device further includes a first communication module, used for: After the first device receives the sensing indication information, it receives or sends the sensing-related information. The processing module is specifically used for: The sensing operation is performed based on the sensing mode of the first device and the sensing-related information.

29. The apparatus according to claim 28, characterized in that, The first communication module is specifically used to perform at least one of the following: During the random access process of the first device, the sensing-related information is sent or received; After the random access process of the first device is completed, the sensing-related information is sent or received; When the first device is in a sensing ready state, it sends or receives the sensing-related information.

30. The apparatus according to claim 29, characterized in that, The first communication module is specifically used for: When the first device is in a sensing ready state, configuration information associated with the sensing-related information is received from the second device; Based on the configuration information, send or receive update information related to the perception.

31. The apparatus according to claim 29 or 30, characterized in that, Before sending or receiving the sensing-related information when the first device is in a sensing readiness state, the first communication module is further configured to: The first device receives a second instruction message, which is used to instruct the first device to enter a sensing readiness state.

32. A sensing device, characterized in that, include: The sending module is used to send first indication information to the first device, wherein the first indication information indicates the sensing mode of the first device; The sensing modes of the first device include at least one of the following: a first sensing mode, a second sensing mode, a third sensing mode, and a fourth sensing mode; The first sensing mode is a sensing mode that performs sensing operations when a first condition is met, wherein the first condition is that the first device receives sensing instruction information and the first device does not transmit sensing-related information. The second sensing mode is a sensing mode that performs sensing operations when a second condition is met, namely, the first device receives sensing instruction information and the first device transmits sensing-related information. The third sensing mode is a sensing mode that performs sensing operations when a third condition is met, namely, the first device receives sensing instruction information and the first device performs a positioning operation. The fourth sensing mode is a sensing mode that performs sensing operations when a fourth condition is met, namely, the first device receives sensing instruction information and the first device reports tag information. The sensing indication information is used to instruct the first device to perform a sensing operation.

33. The apparatus according to claim 32, characterized in that, When the first device is in the second sensing mode, the device further includes a second communication module for: After the second device sends the sensing indication information, it receives or sends the sensing-related information.

34. The apparatus according to claim 33, characterized in that, The second communication module is specifically used to perform at least one of the following: During the random access process of the first device, the sensing-related information is sent or received; After the random access process of the first device is completed, the sensing-related information is sent or received; When the first device is in a sensing ready state, it sends or receives the sensing-related information.

35. The apparatus according to claim 34, characterized in that, Before sending or receiving the sensing-related information when the first device is in a sensing readiness state, the second communication module is further configured to: Send configuration information associated with the perception-related information to the first device.

36. The apparatus according to claim 34 or 35, characterized in that, Before sending or receiving the sensing-related information when the first device is in a sensing readiness state, the second communication module is further configured to: Send a second instruction message to the first device, the second instruction message being used to instruct the first device to enter a sensing readiness state.

37. A first device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the sensing method according to any one of claims 1 to 13.

38. A second device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the sensing method according to any one of claims 14 to 26.

39. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the sensing method according to any one of claims 1 to 13, or implement the steps of the sensing method according to any one of claims 15 to 26.

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