Perception method and related device

Abstract

The invention relates to the technical field of wireless communication, in particular to a sensing method and a related device. The method comprises the following steps: a first network element sends perception auxiliary data to at least one first terminal device and at least one first network device; the perceptual assistance data may be used for transmission and / or measurement of perceptual signals. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. A first network element receives N1 pieces of sensing measurement information from at least one first terminal device. The N1 pieces of sensing measurement information are obtained based on sensing signal measurement. The sensing signal is sent by at least one first network device and received by at least one first terminal device. N1 is a positive integer greater than or equal to 1. And the first network element determines a sensing result of the object to be sensed according to the N1 pieces of sensing measurement information. The sensing method provided by the invention is large in sensing coverage rate, high in sensing precision and relatively good in applicability and practicability.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a sensing method and related apparatus. Background Technology

[0002] With the evolution of wireless communication technology, the Internet of Things (IoT), artificial intelligence (AI), big data, and automation are reshaping traditional industries and giving rise to intelligent applications such as smart cities and autonomous driving. These applications pose challenges to supporting high-speed, low-latency, and high-reliability communication. To meet the needs of these emerging applications, wireless sensing technology has been proposed. Wireless sensing technology can detect targets by measuring the echo signal obtained after the sensing signal passes through the surface of the target (e.g., reflection, diffraction, or scattering). However, existing wireless sensing schemes suffer from problems such as short sensing distance and limited field of view, resulting in significant limitations in sensing performance and poor applicability and practicality. Summary of the Invention

[0003] To address the aforementioned problems, this application provides a sensing method and related apparatus. The sensing method provided by this application has a large sensing coverage and high sensing accuracy, and has good applicability and practicality.

[0004] The following sections introduce this application from multiple perspectives. It is easy to understand that the implementation methods of these multiple aspects can be referenced from each other.

[0005] In a first aspect, embodiments of this application provide a sensing method. This method is applicable to a first network element or devices within a first network element (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the first network element). Alternatively, it is applicable to logical nodes, logical modules, or software capable of implementing all or part of the functions of the first network element. The method includes: sending sensing auxiliary data to at least one first terminal device and at least one first network device. It should be understood that each of the at least one first terminal device and each of the at least one first network device can acquire the sensing auxiliary data. The sensing auxiliary data can be used for the transmission and / or measurement of sensing signals. The at least one first terminal device is managed by at least one first network device, and this at least one first network device serves the first network element. N1 sensing measurement information items are received from the at least one first terminal device. The N1 sensing measurement information items can be obtained based on sensing signals. The sensing signals can be sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1. It should be understood that each of the at least one first network device sends a sensing signal. Assuming the transmission quality of the sensing signals is not problematic, each of the at least one first terminal devices may receive sensing signals sent by each first network device, and each first terminal device can measure the same number of sensing measurement information as the first network device based on the sensing signals it receives. The first network element determines the sensing result of the object to be sensed based on the N1 sensing measurement information.

[0006] Using the above method, the first network element can send sensing auxiliary data to at least one first network device and at least one first terminal device, enabling the at least one first network device to send sensing signals based on the sensing auxiliary data, and enabling the at least one first terminal device to receive sensing signals and measure N1 sensing measurement information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0007] In conjunction with the first aspect, in one possible implementation, the method may further include: the first network element sending a first request to the second network element. The first request may include indication information of a first filtering condition. This first request can be used to instruct the second network element to filter N2 second terminal devices based on the first filtering condition. Here, the N2 second terminal devices are managed by N3 first network devices, which serve the first network element. Here, N2 and N3 are positive integers greater than or equal to 1. It should be understood that the N3 first network devices may be some or all of all network devices serving the first network element.

[0008] In conjunction with the first aspect, in one possible implementation, after providing the first filtering condition to the second network element, the method may further include: receiving a first response corresponding to the first request. The first response may include device identification information for N4 second terminal devices, which can be selected by the second network element from N2 second terminal devices based on the first filtering condition, where N4 is a positive integer greater than or equal to 1. These N4 second terminal devices can be used by the first network element to determine at least one first terminal device. Alternatively, after receiving the first response, the first network element can determine these N4 second terminal devices as at least one first terminal device.

[0009] In conjunction with the first aspect, in one possible implementation, the first filtering condition is associated with the location information of the terminal devices. The N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0010] In the above implementation, the second terminal devices are selected by combining the first screening condition and the location information of each of the N2 second terminal devices. The scheme is simple and easy to implement, and can ensure the acquisition efficiency of at least one first terminal device.

[0011] In conjunction with the first aspect, in one possible implementation, the method further includes: if the first network element determines that the second network element has failed to filter based on the first filtering condition, it may send a second request to the second network element. The second request may include indication information for the second filtering condition. This second request instructs the second network element to filter N2 second terminal devices based on the second filtering condition. It should be understood that this second filtering condition is different from the first filtering condition described above. Further, the first network element may receive a third response corresponding to the second request. The third response may include device identification information for N5 second terminal devices, which can be obtained by the second network element from the N2 second terminal devices based on the second filtering condition. N5 is a positive integer greater than or equal to 1. These N5 second terminal devices can be used by the first network element to determine at least one first terminal device.

[0012] Optionally, determining that the second network element failed to filter based on the first filtering condition may specifically include: the first network element determining that it did not receive the first response within a first time period; or, the first network element receiving a second response indicating that no terminal device was filtered based on the first filtering condition. That is, if the first network element does not receive the first response within the first time period, or if it receives a second response indicating that no second terminal device was filtered based on the first filtering condition, it sends a second request to the second network element.

[0013] In the above implementation, if the first screening condition fails to be successfully screened, the first network element will provide different second screening conditions to trigger the second network element to screen again. This can avoid the problem of not being able to determine at least one first terminal device for a long time due to the unsuitable first screening condition, and improve the efficiency of the sensing method.

[0014] In conjunction with the first aspect, in one possible implementation, the second request further includes first indication information. This first indication information indicates that the interval between the time when the second network element performs filtering on N2 second terminal devices based on the first filtering condition and the time when it performs filtering on N2 second terminal devices based on the second filtering condition is equal to or greater than a second duration. Alternatively, the first indication information indicates that the time interval between the two filtering operations performed by the second network element based on the first and second filtering conditions should be equal to or greater than the second duration.

[0015] In conjunction with the first aspect, in one possible implementation, the method further includes: the first network element acquiring N3 second network devices serving the first network element. Here, N3 is a positive integer greater than or equal to 1. If N6 second terminal devices satisfying a third filtering condition are acquired from N2 second terminal devices, the N6 third terminal devices are determined as at least one first terminal device, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

[0016] In the above implementation, the first network element can directly determine at least one first terminal device based on the third screening condition, which can effectively reduce the time delay caused by determining at least one first terminal device, thereby improving the efficiency of the sensing method.

[0017] In conjunction with the first aspect, in one possible implementation, the method further includes: a first network element sending a sensing information request to at least one first terminal device. The sensing information request is used to trigger or instruct the at least one first terminal device to acquire N1 sensing measurement information items. Alternatively, the sensing information request is used to trigger or instruct the at least one first terminal device to receive sensing signals sent by at least one first network device, and to complete the measurement of the sensing signals based on sensing auxiliary data to obtain N1 sensing measurement information items.

[0018] Secondly, embodiments of this application provide a sensing method. This method is applicable to a second network element or devices within a second network element (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the second network element). Alternatively, it is applicable to logic nodes, logic modules, or software capable of implementing all or part of the functions of the second network element. The method includes: the second network element sending sensing auxiliary data to at least one first terminal device and at least one first network device. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. At least one first terminal device is managed by at least one first network device, and at least one first network device serves the first network element. The second network element sends N1 sensing measurement information items to the first network element. The N1 sensing measurement information items are used to determine the sensing result of the object to be sensed. These N1 sensing measurement information items are obtained based on sensing signal measurements. The sensing signal is sent by at least one first network device and received by at least one first terminal device. N1 is a positive integer greater than or equal to 1.

[0019] Using the above method, the second network element can send sensing auxiliary data provided by the first network element to at least one first network device and at least one first terminal device. This enables at least one first network device to send sensing signals based on the sensing auxiliary data, and enables at least one first terminal device to receive and measure N1 sensing measurement information based on the sensing auxiliary data and report them to the first network element through the second network element, thereby completing the downlink bistatic sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0020] In conjunction with the second aspect, in one possible implementation, the method may further include: a second network element receiving a first request from a first network element. The first request includes indication information for a first filtering condition. If N4 second terminal devices satisfying the first filtering condition are obtained from N2 second terminal devices, the second network element sends a first response to the first network element. The first response includes identification information for the N4 second terminal devices, which can be used by the first network element to identify at least one first terminal device. These N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0021] In conjunction with the second aspect, in one possible implementation, the first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices can be selected by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0022] In conjunction with the second aspect, in one possible implementation, the method further includes: indicating the situation to the first network element if no second terminal device is selected based on the first screening condition.

[0023] Optionally, if the first network element fails to find the second terminal device based on the first filtering condition, it may not send the first response to the first network element, or it may send the second response corresponding to the first request to the first network element, wherein the second response is used to indicate that the first network element has failed to find the second terminal device based on the first filtering condition.

[0024] In conjunction with the second aspect, in one possible implementation, after instructing the first network element that the second network element has not selected any second terminal devices based on the first filtering condition, the method may further include: the second network element receiving a second request from the first network element. The second request may include indication information for the second filtering condition. This second request can be used to instruct the second network element to filter N2 second terminal devices based on the second filtering condition.

[0025] Furthermore, after successfully filtering based on the filtering conditions, the second network element can send a third response corresponding to the second request to the first network element. The third response may include device identification information for N5 second terminal devices. These N5 second terminal devices can be used by the first network element to identify at least one first terminal device. These N5 second terminal devices can be selected by the second network element from N2 second terminal devices based on the second filtering conditions. N5 is a positive integer greater than or equal to 1.

[0026] In conjunction with the second aspect, in one possible implementation, the second request further includes first indication information. This first indication information is used to indicate that the interval between the time when the second network element filters the N2 second terminal devices based on the first filtering condition and the time when it filters the N2 second terminal devices based on the second filtering condition should be equal to or greater than a second duration. That is, the first indication information can be used to inform the second network element that the time interval between any two adjacent filtering operations should be equal to or greater than the second duration.

[0027] In conjunction with the second aspect, in one possible implementation, the method further includes: the second network element sending a sensing information request from the first network element to at least one first terminal device. This sensing information request is used to trigger at least one first terminal device to acquire N1 sensing measurement information items.

[0028] Thirdly, embodiments of this application provide a sensing method. This method is applicable to a first terminal device or a device within the first terminal device (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the first terminal device). Alternatively, it is applicable to logic nodes, logic modules, or software capable of implementing all or part of the functions of the first terminal device. Here, the first terminal device can be any one of the at least one first terminal device described in the first or second aspect. The method includes: the first terminal device receiving sensing auxiliary data from a first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device sends sensing measurement information to the first network element. The sensing measurement information is used to determine the sensing result of the object to be sensed. The sensing signal is sent by a first network device managing the first terminal device and received by the first terminal device; the first network device serves the first network element. It should be understood that the first network device here can be any one of the at least one first network device described in the first or second aspect.

[0029] In conjunction with the third aspect, in one possible implementation, the method further includes: a first terminal device receiving a sensing information request from a first network element. This sensing information request can be used to trigger the first terminal device to acquire sensing measurement information.

[0030] In one possible implementation, combining the first aspect and any possible implementation thereof, the second aspect and any possible implementation thereof, or the third aspect and any possible implementation thereof, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0031] In one possible implementation, combining the first aspect and any possible implementation thereof, and the second aspect and any possible implementation thereof, the sensing auxiliary data further includes second indication information determined by the first network element. This second indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, or the sensing result is determined based on the first sensing reconstruction algorithm.

[0032] Fourthly, embodiments of this application provide a sensing method. This method is applicable to a first network element or devices within a first network element (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the first network element). Alternatively, it is applicable to logical nodes, logical modules, or software capable of implementing all or part of the functions of the first network element. The method includes: the first network element sending a sensing information request to at least one first network device. The sensing information request triggers at least one first network device to send sensing auxiliary data to at least one first terminal device. The at least one first network device manages at least one first terminal device and serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first network element sends a sensing activation request to at least one first network device. The sensing activation request triggers at least one first network device to send sensing signal activation information to at least one first terminal device, and the sensing signal activation information triggers at least one first terminal device to send sensing signals. The first network element receives N1 sensing measurement information from at least one first network device. The N1 sensing measurement information are obtained by at least one first network device based on sensing signals. The sensing signal is sent by at least one first terminal device and received by at least one first network device. N1 is a positive integer greater than or equal to 1. The first network element determines the sensing result of the object to be sensed based on N1 sensing measurement information.

[0033] For a description of the perceived measurement information, please refer to the corresponding description in the first aspect above, which will not be repeated here.

[0034] Through the above method, the first network element can trigger at least one first network device to provide sensing auxiliary data to at least one first terminal device. A sensing activation request triggers at least one first terminal device to send a sensing signal based on the sensing auxiliary data, and at least one first network device receives the sensing signal based on the sensing auxiliary data to measure N1 sensing measurement information points, thereby completing the uplink bi-base sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bi-base sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0035] In conjunction with the fourth aspect, in one possible implementation, the method may further include: a first network element sending a sensing deactivation request to at least one network device. The sensing deactivation request is used to trigger at least one first network device to send sensing signal deactivation information to at least one first terminal device. This sensing signal deactivation information is used to instruct or trigger N1 first terminal devices to stop sending sensing signals.

[0036] In conjunction with the fourth aspect, in one possible implementation, the method may further include: the first network element sending a first request to the second network element. The first request may include indication information of a first filtering condition. This first request can be used to instruct the second network element to filter N2 second terminal devices based on the first filtering condition. Here, the N2 second terminal devices are managed by N3 first network devices, which serve the first network element. Here, N2 and N3 are positive integers greater than or equal to 1.

[0037] In conjunction with the fourth aspect, in one possible implementation, after providing the first filtering condition to the second network element, the method may further include: receiving a first response corresponding to the first request. The first response may include device identification information for N4 second terminal devices, which can be selected by the second network element from N2 second terminal devices based on the first filtering condition, where N4 is a positive integer greater than or equal to 1. These N4 second terminal devices can be used by the first network element to determine at least one first terminal device. Alternatively, after receiving the first response, the first network element can determine these N4 second terminal devices as at least one first terminal device.

[0038] In conjunction with the fourth aspect, in one possible implementation, the first filtering condition is associated with the location information of the terminal devices. The N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0039] In the above implementation, the second terminal devices are selected by combining the first screening condition and the location information of each of the N2 second terminal devices. The scheme is simple and easy to implement, and can ensure the acquisition efficiency of at least one first terminal device.

[0040] In conjunction with the fourth aspect, in one possible implementation, the method further includes: if the first network element determines that the second network element has failed to filter based on the first filtering condition, it may send a second request to the second network element. The second request may include indication information for the second filtering condition. This second request instructs the first network element to filter N2 second terminal devices based on the second filtering condition. It should be understood that this second filtering condition is different from the first filtering condition described above. Further, the first network element may receive a third response corresponding to the second request. The third response may include device identification information for N5 second terminal devices, which can be obtained by the second network element from the N2 second terminal devices based on the second filtering condition. N5 is a positive integer greater than or equal to 1. These N5 second terminal devices can be used by the first network element to determine at least one first terminal device.

[0041] Optionally, determining that the second network element failed to filter based on the first filtering condition may specifically include: the first network element determining that it did not receive the first response within a first time period; or, the first network element receiving a second response indicating that N4 second terminal devices were not filtered based on the first filtering condition. That is, if the first network element does not receive the first response within the first time period, or if it receives the second response indicating that no second terminal devices were filtered based on the first filtering condition, it sends a second request to the second network element.

[0042] In the above implementation, if the first screening condition fails to be successfully screened, the first network element will provide different second screening conditions to trigger the second network element to screen again. This can avoid the problem of not being able to determine at least one first terminal device for a long time due to the unsuitable first screening condition, and improve the efficiency of the sensing method.

[0043] In conjunction with the fourth aspect, in one possible implementation, the second request further includes first indication information. This first indication information indicates that the interval between the time when the first network element performs filtering on the N2 second terminal devices based on the first filtering condition and the time when it performs filtering on the N2 second terminal devices based on the second filtering condition is equal to or greater than a second duration. Alternatively, the first indication information indicates that the time interval between the two filtering operations performed by the first network element based on the first and second filtering conditions should be equal to or greater than the second duration.

[0044] In conjunction with the fourth aspect, in one possible implementation, the method further includes: the first network element acquiring N3 second network devices serving the first network element. Here, N3 is a positive integer greater than or equal to 1. If N6 second terminal devices satisfying the third filtering condition are acquired from N2 second terminal devices, the N6 third terminal devices are determined as at least one first terminal device, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

[0045] In the above implementation, the first network element can directly determine at least one first terminal device based on the third screening condition, which can effectively reduce the time delay caused by determining at least one first terminal device, thereby improving the efficiency of the sensing method.

[0046] Fifthly, embodiments of this application provide a sensing method. This method is applicable to a second network element or devices within a second network element (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the second network element). Alternatively, it is applicable to logical nodes, logical modules, or software capable of implementing all or part of the functions of the second network element. The method includes: the second network element sending a sensing information request from the first network element to at least one first network device. The sensing information request is used to trigger at least one first network device to send sensing auxiliary data to at least one first terminal device. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. At least one first terminal device is managed by at least one first network device, and at least one first network device serves the first network element. The second network element sends a sensing activation request from the first network device to at least one first network device. The sensing activation request is used to trigger at least one first network device to send sensing signal activation information to at least one first terminal device, and the sensing signal activation information is used to instruct at least one first terminal device to send sensing signals. The second network element sends N1 sensing measurement information items from at least one first network device to the first network element. Among them, N1 sensing measurement information is used to determine the sensing result of the object to be sensed, and N1 sensing measurement information is obtained based on sensing signals. The sensing signals are received by at least one first network device. N1 is a positive integer greater than or equal to 1.

[0047] Using the above method, the second network element can send a sensing information request from the first network device to at least one first network device, so that the at least one first network device can send sensing auxiliary data to at least one first terminal device. The second network element can also send a sensing activation request from the first network device to the at least one first network device, so that the at least one first network device can instruct the at least one first terminal device to send a sensing signal through sensing signal activation information. In this way, the at least one first network device can measure N1 sensing measurement information based on the sensing auxiliary data and report it to the first network element through the second network element, thereby completing the downlink bi-base sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bi-base sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0048] In conjunction with the fifth aspect, in one possible implementation, the method may further include: a second network element receiving a first request from a first network element. The first request includes indication information for a first filtering condition. If N4 second terminal devices satisfying the first filtering condition are obtained from N2 second terminal devices, the second network element sends a first response to the first network element. The first response includes identification information for the N4 second terminal devices, which can be used by the first network element to identify at least one first terminal device. These N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0049] In conjunction with the fifth aspect, in one possible implementation, the first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices can be selected by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0050] In conjunction with the fifth aspect, in one possible implementation, the method further includes: indicating the situation to the first network element if no second terminal device is selected based on the first screening condition.

[0051] Optionally, if the first network element fails to find the second terminal device based on the first filtering condition, it may not send the first response to the first network element, or it may send the second response corresponding to the first request to the first network element, wherein the second response is used to indicate that the first network element has failed to find the second terminal device based on the first filtering condition.

[0052] In conjunction with the fifth aspect, in one possible implementation, after instructing the first network element that the second network element has not selected any second terminal devices based on the first filtering condition, the method may further include: the second network element receiving a second request from the first network element. The second request may include indication information for the second filtering condition. This second request can be used to instruct the second network element to filter N2 second terminal devices based on the second filtering condition.

[0053] Furthermore, after successfully filtering based on the filtering conditions, the second network element can send a third response corresponding to the second request to the first network element. The third response may include device identification information for N5 second terminal devices. These N5 second terminal devices can be used by the first network element to identify at least one first terminal device. These N5 second terminal devices can be selected by the second network element from N2 second terminal devices based on the second filtering conditions. N5 is a positive integer greater than or equal to 1.

[0054] It is understandable that, in actual implementation, if the second network element still fails to filter based on the second filtering condition, the second network element can continue to notify the first network element of this situation, so that the first network element can provide the second network element with new filtering conditions. Then, the second network element can continue to filter the N2 second terminal devices based on this new filtering condition until it is successfully filtered.

[0055] In conjunction with the fifth aspect, in one possible implementation, the second request further includes first indication information. This first indication information is used to indicate that the interval between the time when the second network element filters the N2 second terminal devices based on the first filtering condition and the time when it filters the N2 second terminal devices based on the second filtering condition should be equal to or greater than the second duration. That is, the first indication information can be used to inform the second network element that the time interval between any two adjacent filtering operations should be equal to or greater than the second duration.

[0056] In conjunction with the fifth aspect, in one possible implementation, the method may further include: the second network element sending a sensing deactivation request from the first network element to at least one first network device. The sensing deactivation request triggers at least one first network device to send sensing signal deactivation information to at least one first terminal device, the sensing signal deactivation information instructing at least one first terminal device to stop sending sensing signals.

[0057] Sixthly, this application provides a sensing method applicable to a first network device or a device within the first network device (such as a module, communication module, circuit responsible for communication and / or sensing functions, processor, chip, or chip system, etc., within the first network device). Alternatively, it is applicable to a logic node, logic module, or software capable of implementing all or part of the functions of the first network device. It should be understood that the first network device can be any one of the at least one first network device described in the fourth or fifth aspect. The method includes: the first network device receiving a sensing information request and sending sensing auxiliary data to a first terminal device according to the sensing information request. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device can be any one of the at least one first terminal device described in the fourth or fifth aspect. The first network device receives a sensing activation request and sends sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information is used to instruct the first terminal device to send a sensing signal. The first network device sends sensing measurement information. The sensing measurement information is used to determine the sensing result of the object to be sensed, and the sensing measurement information is obtained based on the sensing signal measurement, which is received by the first network device.

[0058] In conjunction with the sixth aspect, in one possible implementation, the method further includes: a first network device receiving a sensing deactivation request and sending sensing signal deactivation information to a first terminal device according to the sensing deactivation request. The sensing signal deactivation information is used to instruct the first terminal device to stop sending sensing signals.

[0059] In one possible implementation, combining the fourth aspect and any possible implementation thereof, the fifth aspect and any possible implementation thereof, or the sixth aspect and any possible implementation thereof, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or, reporting configuration information. Here, the description of the sensing auxiliary data can be found in the corresponding descriptions in the first, second, or third aspects above, and will not be repeated here. Furthermore, it can be understood that when the sensing signal is sent by at least one first terminal device and received by at least one first network device, each of the at least one first terminal device can send the sensing signal on the resource indicated by the resource configuration information in the sensing auxiliary data; correspondingly, each of the at least one first network device can receive the sensing signal on the resource indicated by the resource configuration information in the sensing auxiliary data. Moreover, after acquiring the sensing measurement information, each of the at least one first network device can send the acquired sensing measurement information to the first network element based on the reporting configuration information in the sensing auxiliary data.

[0060] In one possible implementation, combining the fourth aspect and any possible implementation thereof, the fifth aspect and any possible implementation thereof, or the sixth aspect and any possible implementation thereof, the sensing auxiliary data further includes third indication information determined by the first network element. This third indication information indicates at least one of the following: the first network element is a sensing initiator, the sensing signal is an uplink signal, or the sensing result is determined based on the second sensing reconstruction algorithm. Furthermore, the third indication information can also be understood as a marker information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0061] In a seventh aspect, this application provides a sensing method applicable to a first network element or devices within the first network element (such as modules, communication modules, circuits responsible for communication and / or sensing functions, processors, chips, or chip systems within the first network element). Alternatively, it is applicable to logical nodes, logical modules, or software capable of implementing all or part of the functions of the first network element. The method includes: the first network element receiving a sensing auxiliary data request from a first terminal device. The sensing auxiliary data request triggers the first network element to provide sensing auxiliary data. The first network element sends sensing auxiliary data to the first terminal device and a first network device according to the sensing auxiliary data request. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals.

[0062] Using the above method, the first network element can provide sensing auxiliary data to the first terminal device and the first network device according to the sensing auxiliary data request provided by the first terminal device. This enables the first network device to send sensing signals based on the sensing auxiliary data, and the first terminal device to receive sensing signals and measure sensing information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first terminal device for the object to be sensed. Since this sensing method is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0063] In conjunction with the seventh aspect, in one possible implementation, the method further includes: a first network element receiving a sensing information response from a first terminal device. The sensing information response includes the sensing result of the object to be sensed, the sensing result being determined based on sensing measurement information, which is obtained based on sensing signal measurements. The sensing signal is sent by the first network device and received by the first terminal device.

[0064] Eighthly, this application provides a sensing method applicable to a first terminal device or a device within the first terminal device (such as a module, communication module, circuit responsible for communication and / or sensing functions, processor, chip, or chip system, etc.). Alternatively, it is applicable to logic nodes, logic modules, or software capable of implementing all or part of the functions of the first terminal device. The method includes: the first terminal device sending a sensing auxiliary data request to a first network element and receiving sensing auxiliary data from the first network element. The sensing auxiliary data request is used to trigger the first network element to provide sensing auxiliary data. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device determines the sensing result of the object to be sensed based on sensing measurement information. The sensing measurement information is obtained based on sensing signal measurements, which are sent by a first network device and received by the first terminal device. The first terminal device is managed by the first network device, which serves the first network element.

[0065] In conjunction with aspect eight, in one possible implementation, the method further includes: the first terminal device sending a sensing information response to the first network element. The sensing information response includes the sensing result of the object to be sensed.

[0066] In one possible implementation, combining the seventh aspect and any possible implementation under the seventh aspect, and the eighth aspect and any possible implementation under the eighth aspect, the sensing auxiliary data includes resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0067] In one possible implementation, combining aspects seven and any possible implementations thereof, and aspects eight and any possible implementations thereof, the sensing auxiliary data further includes fourth indication information. This fourth indication information indicates at least one of the following: the first terminal device is the sensing initiator; the sensing signal is an uplink signal; and the sensing result is determined based on the third sensing reconstruction algorithm. Here, the fourth indication information can also be understood as a marker information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in aspect one; it will not be repeated here.

[0068] Ninthly, this application provides a sensing method applicable to a first network element or a device within the first network element (such as a module, communication module, circuit responsible for communication and / or sensing functions, processor, chip, or chip system within the first network element). Alternatively, it is applicable to a logic node, logic module, or software capable of implementing all or part of the functions of the first network element. The method includes: the first network element receiving a sensing service request from a first terminal device and sending a sensing information request to a first network device according to the sensing service request. The sensing information request triggers the first network device to send sensing auxiliary data to the first terminal device. The first terminal device is managed by the first network device, which serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first network element sends a sensing activation request to the first network device. The sensing activation request triggers the first network device to send sensing signal activation information to the first terminal device. The sensing signal activation information instructs the first terminal device to send a sensing signal. This sensing signal can be received by the first network device. This sensing signal can be used to measure sensing measurement information, and the sensing measurement signal can be used to determine the sensing result of the object to be sensed.

[0069] Using the above method, the first network element can trigger the first network device to provide sensing service data to the first terminal device based on the sensing service request provided by the first terminal device. Furthermore, a sensing activation request instructs the first network to instruct the first terminal device to send a sensing signal, thereby completing the uplink bi-base sensing initiated by the first terminal device for the object to be sensed. Since this sensing method is based on bi-base sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, demonstrating good applicability and practicality.

[0070] In conjunction with aspect nine, in one possible implementation, the method further includes: the first network element receiving a sensing information response from the first terminal device. The sensing information response includes a sensing result, which is determined by the first terminal device based on sensing measurement information provided by the first network device.

[0071] In conjunction with aspect nine, in one possible implementation, the method further includes: the first network element sending a sensing deactivation request to the first network device. The sensing deactivation request triggers the first network device to send sensing signal deactivation information to the first terminal device, which instructs the first terminal device to stop sending sensing signals.

[0072] Tenthly, this application provides a sensing method applicable to a first terminal device or a device within the first terminal device (such as a module, communication module, circuit responsible for communication and / or sensing functions, processor, chip, or chip system, etc.). Alternatively, it is applicable to a logic node, logic module, or software capable of implementing all or part of the functions of the first terminal device. The method includes: sending a sensing service request to a first network element, causing the first network element to send a sensing information request to a first network device. The sensing information request triggers the first network device to provide sensing auxiliary data to the first terminal device. The first terminal device is managed by the first network device, which serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device receives the sensing auxiliary data sent by the first network device. The first terminal device receives sensing signal activation information from the first network device and sends a sensing signal based on the sensing auxiliary data. The first terminal device receives sensing measurement information from the first network device. This sensing measurement information is obtained based on measurements of the sensing signals. The first terminal device determines the sensing result of the object to be sensed based on the sensing measurement information.

[0073] In conjunction with aspect ten, in one possible implementation, the method further includes: the first terminal device sending a sensing information response to the first network element. The sensing information response includes a sensing result.

[0074] In conjunction with the tenth aspect, in one possible implementation, the method further includes: the first terminal device receiving a sensing signal deactivation information from the first network device and stopping sending the sensing signal.

[0075] Eleventhly, this application provides a sensing method applicable to a first network device or a device within the first network device (such as a module, communication module, circuit responsible for communication and / or sensing functions, processor, chip, or chip system, etc., within the first network device). Alternatively, it is applicable to a logic node, logic module, or software capable of implementing all or part of the functions of the first network device. The method includes: the first network device receiving a sensing information request from a first network element and sending sensing auxiliary data to a first terminal device according to the sensing information request. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing service request triggers the first network device to send sensing auxiliary data to the first terminal device. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first network device receives a sensing activation request from the first network element and sends sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information instructs the first terminal device to send a sensing signal. The first network device receives the sensing signal from the first terminal device and measures sensing measurement information based on the sensing signal. The sensing measurement information is used to determine the sensing result of the object to be sensed. The first network device sends the sensing measurement information to the first terminal device.

[0076] In conjunction with the eleventh aspect, in one possible implementation, the method further includes: a first network device receiving a sensing deactivation request from a first network element and sending sensing signal deactivation information to a first terminal device. The sensing signal deactivation information is used to instruct the first terminal device to stop sending sensing signals.

[0077] In conjunction with any possible implementation of the ninth aspect and below, the tenth aspect and below, or the eleventh aspect and below, in one possible implementation, the sensing auxiliary data includes resource configuration information corresponding to the sensing signal, and / or, reported configuration information. For a description of the sensing auxiliary data, please refer to the corresponding description in the first aspect above; it will not be repeated here. Furthermore, it can be understood that when the sensing signal is sent by the first terminal device and received by the first network device, the first terminal device can send the sensing signal on the resource indicated by the resource configuration information in the sensing auxiliary data, and correspondingly, the first network device can receive the sensing signal on the resource indicated by the resource configuration information in the sensing auxiliary data. In this case, the reported configuration information can be used by the first network device to send sensing measurement information to the first terminal device.

[0078] In one possible implementation, combining the ninth aspect and any possible implementation below the ninth aspect, the tenth aspect and any possible implementation below the tenth aspect, or the eleventh aspect and any possible implementation below the eleventh aspect, the sensing auxiliary data further includes fifth indication information. This fifth indication information indicates at least one of the following: the first terminal device is the sensing initiator, the sensing signal is an uplink signal, or the sensing result is determined based on the third sensing reconstruction algorithm. Here, the fifth indication information can also be understood as marking information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0079] In a twelfth aspect, embodiments of this application provide a communication device comprising modules, units, or means for implementing the sensing method described in any of the preceding aspects or any possible implementations of the sensing method described in any of the preceding aspects. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0080] It should be understood that the communication device can be the first network element, the second network element, the first terminal device, or the first network device involved in the first to eleventh aspects mentioned above.

[0081] In a thirteenth aspect, this application provides a communication device. The communication device may include at least one processor. This at least one processor is configured to execute the sensing method described in any of the preceding aspects or any possible implementation thereof.

[0082] Optionally, the communication device also includes a memory for storing necessary program instructions and data. Furthermore, the memory may be coupled to the processor, or it may be independent of the processor.

[0083] Optionally, the communication device may further include a transceiver for transmitting and / or receiving information involved in the sensing method described in any of the preceding aspects or any possible implementations of the preceding aspects.

[0084] Optionally, the communication device may also include a bus system through which at least one processor, memory, and transceiver can be coupled.

[0085] In a fourteenth aspect, this application provides a computer program product including instructions that, when executed on a computer, cause the computer to perform the sensing method described in any of the preceding aspects or any possible implementation thereof.

[0086] In a fifteenth aspect, this application provides a computer-readable storage medium storing a computer program that, when executed, performs the sensing method described in any of the preceding aspects or any possible implementation thereof.

[0087] In a sixteenth aspect, this application provides a chip system that includes at least a processor. The processor is configured to execute computer execution instructions to enable a device equipped with the chip system to perform a sensing method as described in any of the foregoing aspects or any possible implementation thereof.

[0088] In conjunction with aspect sixteen, in one possible implementation, the chip system may further include interface circuitry. This interface circuitry is used to receive computer execution instructions and transmit them to the processor.

[0089] In a seventeenth aspect, this application provides a communication device, which may include a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices besides the communication device and transmit them to the processor, or to send signals from the processor to other communication devices besides the communication device. The processor is configured to implement the sensing method described in any of the preceding aspects or any possible implementations of the sensing method described in any of the preceding aspects through logic circuits or by executing computer programs or instructions.

[0090] It should be understood that the communication device can be a first network element involved in the sensing method described in any of the above aspects or in any possible implementation of the above aspects, or a device containing the first network element, or a device contained in the first network element, such as a chip system. Alternatively, the communication device can be a second network element involved in the sensing method described in any of the above aspects or in any possible implementation of the above aspects, or a device containing the second network element, or a device contained in the second network element, such as a chip system. Alternatively, the communication device can be a first terminal device involved in the sensing method described in any of the above aspects or in any possible implementation of the above aspects, or a device containing the first terminal device, or a device contained in the first terminal device, such as a chip system. Alternatively, the communication device can be a first network device involved in the sensing method described in any of the above aspects or in any possible implementation of the above aspects, or a device containing the first network device, or a device contained in the first network device, such as a chip system.

[0091] In an eighteenth aspect, this application provides a communication system. The communication system may include at least one first terminal device, at least one first network device, and a first network element.

[0092] The first network element is used to implement the sensing method provided by the first aspect or any possible implementation of the first aspect. The at least one first terminal device is used to implement the sensing method provided by the third aspect or any possible implementation of the third aspect.

[0093] Alternatively, the first network element may be used to implement the sensing method provided by the fourth aspect or any possible implementation of the fourth aspect. The at least one first network device may be used to implement the sensing method provided by the sixth aspect or any possible implementation of the sixth aspect.

[0094] Alternatively, the first network element may be used to implement the sensing method provided by the seventh aspect or any possible implementation of the seventh aspect, and any one of the at least one first terminal devices may be used to implement the sensing method provided by the eighth aspect or any possible implementation of the eighth aspect.

[0095] Alternatively, the first network element may be used to implement the sensing method provided by the ninth aspect or any possible implementation of the ninth aspect; any one of the at least one first terminal devices may be used to implement the sensing method provided by the tenth aspect or any possible implementation of the tenth aspect; and any one of the at least one first network devices may be used to implement the sensing method provided by the eleventh aspect or any possible implementation of the eleventh aspect.

[0096] In conjunction with aspect eighteen, in one possible implementation, the communication system may also include a second network.

[0097] The second network element can be used to implement the sensing method provided by the second aspect or any possible implementation of the second aspect.

[0098] Alternatively, the second network element can be used to implement the sensing method provided by the fifth aspect or any possible implementation of the fifth aspect.

[0099] In summary, the sensing method provided in this application is based on bibasic sensing, thus enabling enhanced sensing capabilities in terms of coverage, accuracy, and resolution. Therefore, using the sensing method provided in this application in a synesthetic network can solve the problem of limited sensing performance caused by using a single-basic sensing mode, improving the sensing performance of the synesthetic network and consequently enhancing its practicality. Attached Figure Description

[0100] Figure 1 This is a schematic diagram of the structure of a communication system provided in this application;

[0101] Figure 2 This is a flowchart illustrating a sensing method provided in this application;

[0102] Figure 3 This is another flowchart illustrating a sensing method provided in this application;

[0103] Figure 4 This is a flowchart of a method for determining at least one first terminal device provided in this application;

[0104] Figure 5 This is a flowchart of another method for determining at least one first terminal device provided in this application;

[0105] Figure 6 This is another flowchart illustrating a sensing method provided in this application;

[0106] Figure 7 This is another flowchart illustrating a sensing method provided in this application;

[0107] Figure 8 This is another flowchart illustrating a sensing method provided in this application;

[0108] Figure 9 This is another flowchart illustrating a sensing method provided in this application;

[0109] Figure 10 This is another flowchart illustrating a sensing method provided in this application;

[0110] Figure 11 This is another flowchart illustrating a sensing method provided in this application;

[0111] Figure 12 This is another flowchart illustrating a sensing method provided in this application;

[0112] Figure 13 This is another flowchart illustrating a sensing method provided in this application;

[0113] Figure 14 This is another flowchart illustrating a sensing method provided in this application;

[0114] Figure 15 This is another flowchart illustrating a sensing method provided in this application;

[0115] Figure 16 This is a schematic diagram of the structure of a communication device provided in this application;

[0116] Figure 17 This is a schematic diagram of the structure of another communication device provided in this application;

[0117] Figure 18 This is a schematic diagram of another communication device provided in this application. Detailed Implementation

[0118] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0119] It should be understood that the technical solutions provided in this application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th Generation (5G) systems, or New Radio (NR) systems. In addition, they can also be applied to future evolution systems.

[0120] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a communication system provided in this application. The sensing method provided in this application is applicable to... Figure 1 The communication system shown. (As shown) Figure 1 As shown, the communication system may include at least one terminal device on the user side. Figure 1 The diagram shows multiple terminal devices, including terminal device 1, terminal device 2 to terminal device n, and at least one network device on the wireless access network side. Figure 1 The diagram shows multiple network devices, including network device 1, network device 2 to network device m) and a first network element on the core network side.

[0121] In this embodiment, the first network element can be a sensing management function (SeMF) network element. In this embodiment, the sensing management function network element can be used for network control, management, and scheduling of sensing service processes such as sensing measurement and sensing reporting.

[0122] Alternatively, the first network element can be a network element resulting from the merging of the perception management function network element and the location management function (LMF) network element. In other words, the first network element can also be a network element that simultaneously possesses all the functions of both the perception management function network element and the location management function network element. This first network element can also be called a perception-location merged network element, an enhanced perception network element, an enhanced perception management function network element, etc. Here, the location management function network element can be a network element that interacts with other network elements in the core network to complete the location of terminal devices.

[0123] It should be noted that, Figure 1 The first network element is located on or belongs to the core network side. However, this is only an example. In actual implementation, the first network element may also be located on the radio access network side, or belong to a device or entity on the radio access network side. This application does not impose specific restrictions on this.

[0124] Optional, such as Figure 1 As shown, the communication system may further include a second network element on the core network side. Here, the second network element is mainly used for location management of terminal devices. For example, the second network element may be a positioning management function network element. It should be understood that in this embodiment, the second network element will only exist in the communication system if the first network element is a sensing management function network element. Correspondingly, if the first network element is a network element that simultaneously possesses all the functions of a sensing management function network element and a positioning management function network element, the second network element may not exist in the communication system.

[0125] In practice, the aforementioned at least one terminal device, at least one network device, first network element, and possible second network element can work together to implement the various steps of the sensing method provided in this application. For specific implementation details, please refer to the corresponding description below.

[0126] It should be noted that the naming of network elements in the core network in this application is exemplary and not limiting. As technology evolves, entities possessing the corresponding functions of each network element may adopt other naming methods, and no specific restrictions are placed on this. For example, access and mobility management network elements may be named access management function network element, mobility management function network element, registration management function network element, etc. Furthermore, network elements can also be referred to as entities, devices, apparatuses, or modules, etc., and this application does not place specific limitations on these terms.

[0127] It should be understood that the radio access network provided in this application can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems. The radio access network can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. Alternatively, the radio access network can also be a communication system that integrates two or more of the above systems.

[0128] It should be understood that in the embodiments of this application, the wireless access network device may sometimes be referred to as a RAN node, access network device, network device, RAN entity, or access node, etc. For ease of understanding, the embodiments of this application will uniformly use "network device" to describe it. In actual work, network devices are mainly used to help terminal devices achieve wireless access.

[0129] In one possible scenario, the network device can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system. Optionally, the network device can also be a macro base station, a micro base station, an indoor station, a relay node, or a donor node. Optionally, the network device can also be a server, a wearable device, a vehicle, or in-vehicle equipment. For example, the access network device in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the network device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The network device can also be equipped with communication modules, circuits, or chips that perform corresponding communication functions. The network device can also be configured with program instructions for performing corresponding communication functions and corresponding program instructions. The network device in this application may also be a logical node, logical module, or software that can implement all or part of the functions of a network device.

[0130] In another possible scenario, multiple network devices can collaborate to assist the terminal in achieving wireless access, with each network device performing a portion of the base station's functions. For example, the network devices can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be configured separately or included in the same network element, such as a baseband unit (BBU). The RU can be included in radio equipment or radio units, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0131] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0132] It should be understood that in the embodiments of this application, the terminal device can be a device or module with corresponding communication functions. The terminal device can also be called a terminal, user equipment, mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), V2X communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, transportation vehicles with wireless communication capabilities, communication modules, etc. It should be understood that the embodiments of this application do not limit the device form of the terminal device. In addition, the terminal device typically contains a communication module, circuit, or chip that performs the corresponding communication function. The terminal device can also be configured with program instructions for performing the corresponding communication function.

[0133] The preceding text is based on Figure 1 The structure of the communication system to which the communication method provided in this application is applicable has been described, and will be discussed below in conjunction with... Figure 1 The communication system structure shown in this application provides a detailed explanation of the implementation process of the communication method provided in this application.

[0134] To facilitate understanding of the present application, the following description addresses single-static sensing and bi-static sensing. Wireless sensing technology can generally be categorized into two modes: single-static sensing and bi-static sensing. In single-static sensing, the transmitting end of the sensing signal and the receiving end of the echo signal are the same device. In other words, in single-static sensing, the transmitting end both transmits the sensing signal and receives the echo signal obtained after the sensing signal interacts with the surface of the target (e.g., reflection, diffraction, or scattering). Therefore, single-static sensing can also be called self-transmitting and self-receiving sensing. In bi-static sensing, the transmitting end of the sensing signal and the receiving end of the echo signal are two different devices. For example, sensing station A transmits a sensing signal, and the echo signal obtained after the sensing signal interacts with the surface of the target is received by sensing station B. Bi-static sensing can also be called A-transmitting-B-receiving sensing or self-transmitting-other-receiving sensing. It should be noted that the echo signal of the sensing signal is obtained after the sensing signal passes through the sensing target (e.g., reflection, diffraction, or scattering), and this echo signal can also be understood as the sensing signal. Therefore, in the embodiments of this application, the echo signal obtained after the sensing signal passes through the sensing target (e.g., reflection, diffraction, or scattering) is still described as the sensing signal.

[0135] Existing wireless sensing schemes suffer from limitations such as short sensing range and restricted field of view, resulting in significant limitations in sensing performance and poor applicability and practicality. Therefore, the technical problem this application aims to solve is to provide a sensing method with a large sensing range and high sensing accuracy, thereby addressing the poor applicability and practicality of existing wireless sensing schemes.

[0136] The perception method provided in this application will be explained below in conjunction with the above content.

[0137] Please see Figure 2 , Figure 2 This is a flowchart illustrating a sensing method provided in this application. This sensing method is applicable to... Figure 1 The communication system shown is applicable to situations where a communication system simultaneously includes a first network element and a second network element. In this case, the first network element can be a sensing management function network element or possess some or all of the functions of a sensing management function network element, and the second network element can be a positioning management function network element or possess some or all of the functions of a positioning management function network element. It should be noted that... Figure 2 The sensing method shown is applicable to scenarios involving at least one first terminal device and at least one first network device. For example, there may be only one first terminal device and one first network device; or there may be multiple first terminal devices and one first network device; or there may be multiple first terminal devices and multiple first network devices. Due to these different scenarios,Figure 2 The implementation process of each step in the sensing method shown is similar, therefore Figure 2 Only the first terminal device A1 and the second terminal device A2 in at least one first terminal device, and the first network device B in at least one first network device are shown. Furthermore, for ease of reference later... Figure 2 The explanations of each step shown, and to avoid redundancy, will be uniformly based on the example of at least one first terminal device including first terminal device A1 and second terminal device A2, and at least one first network device including first network device B.

[0138] like Figure 2 As shown, the method may include the following steps:

[0139] S201, the first network element sends sensing assistance data to at least one first network device and at least one terminal device. Correspondingly, at least one first terminal device and at least one second terminal device receive the sensing assistance data.

[0140] In some feasible implementations, after determining the sensing needs of the object to be sensed, the first network element can acquire sensing assistance data and send it to each of the at least one first terminal device and each of the at least one first network device. Correspondingly, each first terminal device and each first network device receives the sensing assistance data from the first network element. At least one first terminal device is managed by at least one first network device, and one first network device can manage one or more first terminal devices. The at least one first network device serves the first network element, or in other words, it is one of the at least one first network devices that the first network element needs to schedule for sensing services. In this embodiment, at least one first network device may include some or all of all network devices serving the first network element.

[0141] It should be noted that the aforementioned sensing auxiliary data can be used for the transmission of sensing signals between at least one first network device and at least one terminal device, and / or for the measurement of sensing signals. Here, the measurement of sensing signals refers to the process by which the receiver of the sensing signals obtains sensing measurement information based on the received sensing signals.

[0142] In the embodiments of this application, the sensing measurement information may include various measurement parameters determined by the receiver of the sensing signal based on the received sensing signal, such as the angle of arrival (AOA), angle of departure (AOD), signal transmission delay (also known as distance information), signal receiving power, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum, etc.

[0143] In one optional implementation, after acquiring the sensing assistance data, the first network element can send the sensing assistance data to the second network element. Then, the second network element can send the sensing assistance data to each first network device and each first terminal device. Correspondingly, each first terminal device and each first network device can receive the sensing assistance data. It should be understood that the second network element can directly send the sensing assistance data to each first network device and each first terminal device. Alternatively, the second network element can also directly send the sensing assistance data to each first network device, and then each first network device can send the sensing assistance data to the first terminal devices it manages, thereby ensuring that each first terminal device can acquire the sensing assistance data.

[0144] It is understood that this implementation method is applicable to scenarios where the first network element cannot communicate directly with at least one first network device and at least one first terminal device (i.e., non-direct connection scenarios).

[0145] As a supplement, in scenarios where the first network element can directly communicate with at least one first network device and at least one first terminal device (i.e., direct connection scenario), the first network element can directly send sensing assistance data to each first network device and each first terminal device. Correspondingly, each first terminal device and each first network device can receive the sensing assistance data sent by the first network element.

[0146] In one optional implementation, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or reporting configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angle, measurement time slots, and encoding information. The reporting configuration information corresponding to the sensing signal may include various configuration information for reporting sensing measurement information obtained based on the sensing signal, such as the configuration information of the reporting mechanism for the sensing measurement information (e.g., periodic, semi-continuous, or aperiodic reporting), and the configuration information of the resources occupied by the reported sensing measurement information.

[0147] S202, at least one first network device transmits a sensing signal. Correspondingly, at least one first terminal device receives the sensing signal.

[0148] In some feasible implementations, each of the at least one first network device, after acquiring sensing assistance data, can transmit a sensing signal based on the sensing assistance data. Correspondingly, each of the at least one first terminal device, after acquiring sensing assistance data, can detect and receive the sensing signals transmitted by each first network device based on the sensing assistance data.

[0149] For example, each first network device can determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, such as the time-frequency resources, antenna port resources, transmission angle, measurement time slot, etc., as mentioned above. Then, each first network device can transmit the sensing signal on the corresponding transmission resources. Correspondingly, each first terminal device can also determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, and receive the sensing signals transmitted by each first network device on the corresponding transmission resources.

[0150] It's important to understand that in actual implementation, each first network device sends a sensing signal, and these signals differ between devices, such as in transmission angle and time-frequency resources. Each first terminal device detects and receives the sensing signal after it has been ejected by the object being sensed, based on the transmission resources available. Because sensing signals may experience loss during transmission, they may not be correctly received. Therefore, some first terminal devices may not correctly receive the sensing signals transmitted by each first network device. However, assuming no abnormal transmission, each first terminal device receives the sensing signal transmitted by each first network device after being ejected by the object being sensed. For example, if there are m first network devices and n first terminal devices, each first terminal device will receive m sensing signals, and the n first terminal devices will receive a total of n*m sensing signals. Here, m and n are positive integers greater than or equal to 1.

[0151] It should be noted that the embodiments of this application take the case of abnormal transmission of sensing signals as an example, that is, it is assumed that each first terminal device receives the sensing signal transmitted by each first network device and ejected by the object to be sensed. Combined with Figure 2 In the example of at least one first terminal device and at least one first network device, in the embodiments of this application, the first network device B will transmit a sensing signal (here assumed to be S1) based on sensing auxiliary data, and the first terminal device A1 and the first terminal device A2 will receive the sensing signal S1 ejected by the object to be sensed based on the sensing auxiliary data.

[0152] S203, at least one first terminal device obtains N1 sensing measurement information based on the received sensing signals.

[0153] In some feasible implementations, after receiving a sensing signal transmitted by at least one first network device, at least one first terminal device can measure N1 sensing measurement information based on the received sensing signal. Here, N1 is a positive integer greater than or equal to 1. The number of sensing measurement information N1 can be equal to the product of the number of first terminal devices and the number of first network devices.

[0154] Combination Figure 2 In the example of at least one first terminal device and at least one first network device, in actual implementation, the first terminal device A1 will measure a sensing measurement information (here assumed to be E1) based on the received sensing signal S1, and the first terminal device A2 will also measure a sensing measurement information (here assumed to be E2) based on the sensing signal S1. In this case, the above N1 sensing measurement information includes sensing measurement information E1 and sensing measurement information E2.

[0155] It should be further noted that the aforementioned sensing auxiliary data may also include relevant information for sensing signal measurement. After receiving the sensing signal, each first terminal device can calculate sensing measurement information based on the aforementioned relevant information for sensing signal measurement. For example, first terminal device A1 can process the received sensing signal S1 based on the relevant information for sensing signal measurement to obtain sensing measurement information E1. Similarly, first terminal device A2 can process the received sensing signal S1 based on the relevant information for sensing signal measurement to obtain sensing measurement information E2.

[0156] It should also be noted that the embodiments of this application do not limit the specific process of obtaining sensing measurement information based on sensing signal processing, as long as the sensing measurement information can be correctly calculated.

[0157] S204, at least one first terminal device sends N1 sensing measurement information to the first network element. Correspondingly, the first network element receives N1 sensing measurement information.

[0158] In some feasible implementations, after acquiring the aforementioned N1 sensing measurement information, at least one first terminal device can send the N1 sensing measurement information to the first network element. Correspondingly, the first network element can receive the N1 sensing measurement information that has been provided to the first terminal device.

[0159] In one feasible implementation, in the scenario described above where at least one first terminal device is directly connected to a first network element, each of the at least one first terminal device sends its determined sensing measurement information to the first network element, so that the first network element can receive N1 sensing measurement information. For example, first terminal device A1 can directly send sensing measurement information E1 to the first network element. First terminal device A2 can also directly send sensing measurement information E2 to the first network element.

[0160] Alternatively, in the scenario described above where at least one first terminal device is not directly connected to the first network element, each of the at least one first terminal device will send its determined sensing measurement information to the second network element, and then the second network element will send N1 sensing measurement information to the first network element. For example, first terminal device A1 can send sensing measurement information E1 to the second network element. First terminal device A2 can send sensing measurement information E2 to the second network element. Then, the second network element can send sensing measurement information E1 and sensing measurement information E2 to the first network element.

[0161] In one feasible implementation, when the sensing auxiliary data includes reporting configuration information, at least one first terminal device can send N1 sensing measurement information to the first network element based on the reporting configuration information. For example, each of the at least one first terminal device can send N1 sensing measurement information to the first network element on the reporting time-frequency resources indicated by the reporting configuration information, according to the reporting mechanism indicated by the reporting configuration information.

[0162] For example, assuming the configuration information reporting instruction adopts a periodic reporting method, and the reporting time-frequency resources are R1 and R2 respectively, then the first terminal device A1 can periodically send the sensing measurement information E1 to the second network element through the time-frequency resource R1. Similarly, the first terminal device A2 can also periodically send the sensing measurement information E2 to the second network element through the time-frequency resource R2.

[0163] S205, the first network element determines the sensing result of the object to be sensed based on N1 sensing measurement information.

[0164] In some feasible implementations, after acquiring N1 sensing measurement information, the first network element can process these N1 sensing measurement information based on a pre-configured sensing reconstruction algorithm to obtain the sensing result of the object to be sensed. Here, the sensing result of the object to be sensed may include the object's position information, velocity information, acceleration information, distance information, attitude information, etc., and this application does not impose any restrictions on this.

[0165] It should be noted that the perception reconstruction algorithm involved in this application is a method for obtaining perception results based on the processing of perception measurement information, and this application does not limit the specific implementation of the perception reconstruction algorithm.

[0166] In the above implementation, the first network element can send sensing auxiliary data to at least one first network device and at least one first terminal device, so that at least one first network device can send sensing signals based on the sensing auxiliary data, and at least one first terminal device can receive sensing signals and measure N1 sensing measurement information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0167] Please see Figure 3 , Figure 3 This is another flowchart illustrating a sensing method provided in this application. For example... Figure 3 As shown, the method may also include the following steps:

[0168] S206, the first network element and the second network element determine at least one first terminal device.

[0169] In some feasible implementations, the first network element and the second network element work together to identify at least one first terminal device. Furthermore, after identifying at least one first terminal device, the first network element can also identify at least one network device that manages the at least one first terminal device, and designate this at least one network device as the at least one first network device. For example, the first network element and the second network element identify the first terminal device A1 and the first terminal device A2. Then, the first network element can query the network device that manages the first terminal device A1 and the first terminal device A2, and designate it as the first network device B.

[0170] In one feasible implementation, please refer to Figure 4 , Figure 4 This is a flowchart of a method for determining at least one first terminal device provided in this application. Figure 4 As shown, step S206 may specifically include the following steps:

[0171] S2061, the first network element sends a first request to the second network element, the first request including indication information of the first filtering conditions. Accordingly, the second network element receives the first request.

[0172] In some feasible implementations, after determining that there is a sensing requirement for the object to be sensed, the first network element may send a first request to the second network element, including indication information of the first selection conditions (which can also be expressed as UE selection conditions). Here, the first request is used to instruct the second network element to select terminal devices based on the first selection conditions. Correspondingly, the second network element may receive the first request and obtain the first selection conditions according to the indication information of the first selection conditions. It should be understood that the first request here may also be called a terminal device information request (i.e., UE information request).

[0173] Optionally, the first network element may be pre-configured with multiple filtering conditions for selecting terminal devices. Upon determining a sensing requirement for an object to be sensed, the first network element may select one of these multiple filtering conditions as the first filtering condition and generate a first request based on the indication information of the first filtering condition. Here, the indication information of the first filtering condition is used to indicate the first filtering condition from the pre-configured multiple filtering conditions for selecting terminal devices. It should be understood that the first network element may randomly select a filtering condition as the first filtering condition. Alternatively, if each filtering condition corresponds to a priority, the first network element may determine the first filtering condition based on the priority. For example, the first network element may use the filtering condition with the highest priority as the aforementioned first filtering condition.

[0174] S2062, the second network element selects N4 second terminal devices from N2 second terminal devices based on the first screening condition.

[0175] In some feasible implementations, after obtaining the aforementioned first filtering condition, the second network element can select N4 second terminal devices from N2 second terminal devices based on the first filtering condition. These N2 second terminal devices are managed by N3 first network devices, which serve the aforementioned first network element. Here, N2, N3, and N4 are positive integers greater than or equal to 1. N4 is less than or equal to N2. It should be understood that the aforementioned N3 first network devices can be some or all of all network devices serving the first network element.

[0176] In one optional manner, after obtaining the aforementioned first filtering condition, the second network element can obtain N3 first network devices serving the first network element. Optionally, these N3 first network devices can be provided to the second network element by the first network element. For example, the first network element can provide all network devices serving it as N3 first network devices to the second network element. Alternatively, the first network element can select N3 from all network devices serving it as the aforementioned N3 first network devices to provide to the second network element. Here, the first network element can select randomly or based on preset information (such as the location information of the network devices, the network status of the network devices, etc.), and this application does not impose any restrictions on this. Then, the second network element can determine all terminal devices managed by these N3 first network devices and identify them as the aforementioned N2 second terminal devices. Then, the first network element can filter the aforementioned N2 second terminal devices based on the first filtering condition to obtain the aforementioned N4 second terminal devices.

[0177] In one optional implementation, the first filtering condition is associated with the location information of the terminal devices. The N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0178] In other words, after obtaining the first filtering condition, the second network element also needs to obtain the location information of each of the N2 second terminal devices. It should be understood that if the second network element does not store the location information of each of the N2 second terminal devices, it can initiate a location service request to the N3 first network devices, enabling the N3 first network devices to obtain the location information of each of the N2 second terminal devices through positioning technology and send the location information of each of the N2 second terminal devices to the second network element.

[0179] Furthermore, the second network element can combine the first screening condition and the location information of each of the N2 second terminal devices to select N4 second terminal devices from the N2 second terminal devices.

[0180] For example, please refer to Table 1-1, which is a filtering condition table provided in this application. Table 1-1 shows various filtering conditions pre-configured by the first network element and associated with the location information of the terminal device, as well as the indication information for each filtering condition. For example, the filtering condition corresponding to indication information X1 is: the distance between the terminal device and the network device managing the terminal device is less than 10 meters. As another example, the filtering condition corresponding to indication information X2 is: the distance between the terminal device and the network device managing the terminal device is less than 20 meters. The other items are similar and will not be explained one by one.

[0181] Table 1-1 A screening criteria table

[0182]

[0183] For example, referring to Table 1-1, assuming the second network element determines the first filtering condition instruction as X2 based on the first request, the first filtering condition can be determined as: the distance between the terminal device and the network device managing the terminal device is less than 20 meters. Further, after acquiring the aforementioned N2 second terminal devices, the second network element can acquire the location information of each second terminal device and the location information of the first network device managing each second terminal device, and then calculate the distance between each second terminal device and the first network device managing each second terminal device. Then, the second network element can filter out the second terminal devices from these N2 second terminal devices whose distance to their respective first network devices is less than 20 meters, thereby obtaining the aforementioned N4 second terminal devices. In this case, the distance between each of the aforementioned N4 second terminal devices and the first network device managing each second terminal device is less than 20 meters.

[0184] For example, please refer to Table 1-2, which is another filtering condition table provided in this application. Table 1-2 also shows various filtering conditions pre-configured by the first network element and associated with the location information of the terminal device, as well as the indication information for each filtering condition. For example, the filtering condition corresponding to indication information Y1 is: the distance between the terminal device and the target object is less than 10 meters. As another example, the filtering condition corresponding to indication information Y2 is: the distance between the terminal device and the target is less than 20 meters. The other items are similar and will not be explained in detail. It should be understood that the target object here can be some stationary object around the aforementioned N3 first network devices, such as buildings, streetlights, etc.

[0185] Table 1-2 Another type of screening criteria table

[0186]

[0187] For example, referring to Table 1-2, assuming the second network element determines the first filtering condition instruction as Y2 based on the first request, then the first filtering condition can be determined as: the distance between the terminal device and the target object is less than 20 meters. Further, after acquiring the aforementioned N2 second terminal devices, the second network element can acquire the location information of each second terminal device and the distance between each second terminal device and the target object. Then, the second network element can filter out the second terminal devices among these N2 second terminal devices whose distance to the target object is less than 20 meters, thereby obtaining the aforementioned N4 second terminal devices.

[0188] It should be understood that Tables 1-1 and 1-2 above are merely illustrative examples of the filtering conditions configured or used by the first network element for terminal device selection. In actual implementation, the first network element may also configure or use other different filtering conditions, and this application does not impose any restrictions on this. Furthermore, in actual implementation, the first network element may configure or use some or all of the filtering conditions shown in Tables 1-1 or 1-2 above, and this application does not impose any restrictions on this either.

[0189] In the above implementation, the second terminal devices are selected by combining the first screening condition and the location information of each of the N2 second terminal devices. The scheme is simple and easy to implement, and can ensure the acquisition efficiency of at least one first terminal device.

[0190] S2063, the second network element sends a first response to the first network element, the first response including device identification information of N4 second terminal devices. Correspondingly, the first network element receives the first response.

[0191] In some feasible implementations, after identifying the aforementioned N4 second terminal devices, the second network element can generate and send a first response containing device identification information of the N4 second terminal devices to the first network element. Correspondingly, the first network element can receive the first response and identify the N4 second terminal devices based on their device identification information.

[0192] S2064, the first network element determines at least one first terminal device based on N4 second terminal devices.

[0193] In some feasible implementations, after determining the N4 second terminal devices, the first network element can determine at least one first terminal device based on the N4 second terminal devices. For example, the first network element can directly determine the N4 second terminal devices as the aforementioned at least one first terminal device.

[0194] It should be understood that Figure 4 The above describes the successful filtering based on the first filtering condition. In actual implementation, there is also a possibility that the second terminal device cannot be filtered out from the N2 second terminal devices based on the first filtering condition; that is, there are also cases where filtering fails based on the first filtering condition. Please refer to the following. Figure 5 , Figure 5 This is a flowchart of another method for determining at least one first terminal device provided in this application. Figure 5 As shown, step S206 may specifically include the following steps:

[0195] S2061, the first network element sends a first request to the second network element, the first request including indication information of the first filtering conditions. Accordingly, the second network element receives the first request.

[0196] For the specific implementation process, please refer to step S2061 described above, which will not be repeated here.

[0197] S2065, the second network element fails to select a second terminal device from N2 second terminal devices based on the first screening condition, and informs the first network element that the screening has failed.

[0198] In some feasible implementations, if the second network element fails to select a second terminal device from N2 second terminal devices based on the first filtering condition, it can inform the first network element that the filtering has failed.

[0199] The following explains the possible ways in which the second network element informs the first network element of the screening failure.

[0200] One possible implementation is that, after determining that the filtering has failed, the second network element may not send the feedback information for the first request to the first network element within a first time period. In other words, the second network element may not send any information to the first network element within the first time period. Correspondingly, the first network element can determine that the filtering has failed if it does not receive the aforementioned first response within the first time period.

[0201] A possible implementation method is that, after determining that the filtering has failed, the second network element can send a second response to the first network element. This second response indicates that the second network element has not found a terminal device based on the first filtering condition. For example, the second response could be a response message corresponding to the first request that does not contain any device identification information.

[0202] It should be understood that in actual implementation, the first network element and the second network element can also use other interaction methods to notify of filtering failure, and this application does not impose specific restrictions on this.

[0203] It should also be understood that the process by which the second network element filters the N2 second terminal devices based on the first filtering condition can be referred to in the corresponding description in step S2062 above, and will not be repeated here.

[0204] S2066, the first network element sends a second request to the second network element, the second request including indication information of the second filtering conditions. The corresponding second network element receives the second request.

[0205] In some feasible implementations, if the first network element determines that the second network element has failed to filter based on the first filtering condition, it can send a second request to the second network element including indication information of the second filtering condition. This second request instructs the second network element to filter the N2 second terminal devices based on the second filtering condition. Here, the second filtering condition and the first filtering condition are two different filtering conditions among a variety of filtering conditions pre-configured by the first network element. The specific process of the first network element determining the second filtering condition can be found in step S2062 above, where the first network element determines the first filtering condition; the difference is that the first and second filtering conditions must be different. To avoid redundancy, this will not be elaborated further here. For example, assuming the indication information of the first filtering condition is X1, the indication information of the second filtering condition can be X2, X3, or X4. Assuming the indication information of the first filtering condition is Y1, the indication information of the second filtering condition can be Y2, Y3, or Y4.

[0206] S2067, the second network element selects N5 second terminal devices from N2 second terminal devices based on the second screening condition.

[0207] In some feasible implementations, after obtaining the second filtering condition, the second network element can further filter the aforementioned N2 second terminal devices based on the second filtering condition, thereby obtaining N5 second terminal devices that meet the second filtering condition. Here, N5 is a positive integer greater than or equal to 1, and N5 is less than or equal to N2.

[0208] Optionally, after obtaining the second filtering condition, the second network element can also obtain all network devices serving the first network element (here, it is assumed to be N7 first network devices, where N7 is a positive integer greater than or equal to 1). It should be understood that since the network devices serving the first network element may change over time, these N7 first network devices may be the same as or different from the N3 first network devices described above. The process by which the second network element obtains the aforementioned N7 first network devices is described above, and will not be repeated here. Then, the second network element can determine all terminal devices managed by these N7 first network devices and identify them as the aforementioned N2 second terminal devices. Then, the first network element can filter the aforementioned N2 second terminal devices based on the first filtering condition to obtain the aforementioned N4 second terminal devices.

[0209] In step S2068, the second network element sends a third response to the first network element. This third response includes device identification information for N5 second terminal devices. Correspondingly, the first network element receives the third response.

[0210] In some feasible implementations, after identifying the aforementioned N5 second terminal devices, the second network element can generate and send a third response containing device identification information of the N5 second terminal devices to the first network element. Correspondingly, the first network element can receive the third response and identify the N5 second terminal devices based on their device identification information.

[0211] S2069, the first network element determines at least one first terminal device based on N5 second terminal devices.

[0212] In some feasible implementations, after determining the N5 second terminal devices, the first network element can determine at least one first terminal device based on the N5 second terminal devices. For example, the first network element can directly determine the N5 second terminal devices as the aforementioned at least one first terminal device.

[0213] In the above implementation, if the first screening condition fails to be successfully screened, the first network element will provide different second screening conditions to trigger the second network element to screen again. This can avoid the problem of not being able to determine at least one first terminal device for a long time due to the unsuitable first screening condition, and improve the efficiency of the sensing method.

[0214] It should be added that, Figure 5 The illustration shows the case where the second network element successfully filters based on the second filtering condition. In actual implementation, the second network element may still fail to filter based on the second filtering condition. In this case, the first network element can continue to provide new filtering conditions, and the second network element can continue to filter based on the new filtering conditions until the first network element identifies at least one first terminal device.

[0215] In an optional implementation, the second request may further include first indication information (i.e., Remeasurement_time_delay, also known as a delay time flag). This first indication information can be used to indicate that the time interval between the second network element's screening of N2 second terminal devices based on the first screening condition and the time the second network element's screening of N2 second terminal devices based on the second screening condition is equal to or greater than a second duration. Alternatively, the first indication information is used to indicate that the time interval between the two screenings performed by the second network element based on the first and second screening conditions should be equal to or greater than the second duration. Accordingly, after receiving the first indication information, the second network device can perform screening based on the second screening condition, ensuring that the time interval between the two screenings based on the first and second screening conditions is equal to or greater than the second duration.

[0216] Combined with the preceding text Figure 4 and Figure 5The process of determining at least one first terminal device by the first network element and the second network element is illustrated by an example. In actual implementation, the first network element may also adopt other implementation methods to determine at least one first terminal device, instead of relying on the second network element to screen terminal devices.

[0217] For example, the first network element can provide the second network element with regional location information corresponding to a target geographical area. The second network element can send the identification information of all terminal devices located within the target geographical area to the first network element. Then, the first network element can identify all terminal devices located within the target geographical area as at least one first terminal device. Here, the aforementioned regional location information can be the location information of a first network device, the location information of a reference point, or the location information of a tracking area or cell; this application does not impose specific limitations on this.

[0218] For example, the first network element can also obtain filtering rules from other devices that do not require the second network element, and filter all terminal devices managed by all network devices serving it based on the filtering rules, thereby obtaining at least one first terminal device.

[0219] For example, the first network element may also identify at least one network device that it will schedule to perform the sensing service, and identify all terminal devices managed by the at least one network device as the at least one first terminal device.

[0220] It should be further explained that in the above implementation, the second network element provides the device identification information of at least one second terminal device obtained through its screening to the first network element, so that the first network element can determine at least one first terminal device based on this device identification information. In another possible implementation, a fixed set of available terminal devices (i.e., available UE SET) can be preset. This set is mainly used to store the device identification information of the second terminal devices obtained through the screening by the second network element. For example, if the second network element obtains the above N4 second terminal devices based on the first screening condition, the device identification information of each of these N4 second terminal devices can be stored in this available terminal device set. For example, in this case, the data format of the available terminal device set is as follows: available UESET = {device identification information 1, device identification information 2, ..., device identification information N4}. If the second network element fails to meet the first screening condition, no device identification information of any terminal device will be stored in this available terminal device set, making the available terminal device set empty. For example, in this case, the data format of the available terminal device set is as follows: available UE SET = {}. Then, the second network element can send the identification information (also called the available terminal device set flag) of the aforementioned set of available terminal devices to the first network element. Upon receiving the identification information, the first network element can determine whether the set of available terminal devices is empty. If the first network element determines that the set of available terminal devices is not empty, it can determine at least one first terminal device based on the N4 second terminal devices indicated by the device identification information contained in the set. If the first network element determines that the set of available terminal devices is empty, it can determine that the first network element's filtering has failed. Similarly, after filtering fails based on the first filtering condition, the second filtering condition can be used for further filtering. If the filtering is successful, the device identification information of each of the N5 second terminal devices is stored in the set of available terminal devices. If the filtering fails, the set of available terminal devices remains empty. Then, the second network element can send the identification information of the aforementioned set of available terminal devices to the first network element again. Upon receiving the identification information of the available terminal devices again, the first network element can determine whether the set of available terminal devices is empty once more. If the first network element determines that the set of available terminal devices is not empty, it can determine at least one first terminal device based on the N5 second terminal devices indicated by the device identification information contained in the set of available terminal devices. If the first network element determines that the set of available terminal devices is empty, it can determine that the first network element has failed to filter again.

[0221] It should be understood that in actual implementation, the first network element and the second network element may also use other possible methods to achieve the interaction of the filtering results obtained based on the filtering conditions, and this application does not impose specific restrictions on this.

[0222] In some feasible implementation methods, such as Figure 3 As shown, before step S203, the method may further include the following steps:

[0223] S207, the first network element sends a sensing information request to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing information request.

[0224] Optionally, after sending the sensing assistance, the first network element may also send a sensing information request to at least one first terminal device. This sensing information request is used to trigger the at least one first terminal device to execute step S203. Accordingly, each of the at least one first terminal device will only obtain its corresponding sensing measurement information based on its received sensing signal after receiving the sensing information request. Here, the first network element can send the sensing information request to each first terminal device through a second network element.

[0225] For example, the first network element can send sensing information requests to the first terminal device A1 and the first terminal device A2 respectively through the second network element. After receiving the sensing information request, the first terminal device A1 measures sensing measurement information E1 based on the received sensing signal S1. Similarly, after receiving the sensing information request, the first terminal device A2 measures sensing measurement information E2 based on the received sensing signal S2.

[0226] It should be noted that, in the embodiments of this application, a request, information, instruction, or message used to trigger an operation can also be described as a request, information, instruction, or message used to request, instruct, enable, or activate an operation. For example, the above-mentioned "sensing information request used to trigger at least one first terminal device to execute the above-mentioned step S203" can also be understood as "sensing information request used to request, instruct, enable, or activate at least one first terminal device to execute the above-mentioned step S203". Similarly, similar expressions below can also be understood in this way, and will not be repeated hereafter.

[0227] In some feasible implementation methods, such as Figure 3 As shown, prior to step S201, the method may further include the following steps:

[0228] S208, the first network element determines the first sensing method.

[0229] In some feasible implementations, the first network element can be pre-configured with multiple different sensing methods. Each sensing method indicates or specifies the sensing initiator, the type of sensing signal, and the specific sensing reconstruction algorithm used. Each sensing method corresponds to different indication information. The difference between different sensing methods lies in at least one of the above three specified items being different. It should be understood that in the embodiments of this application, the sensing initiator can be the first network element or a first terminal device. The type of sensing signal can be an uplink signal or a downlink signal. The sensing reconstruction algorithm is the method used to process the sensing measurement information to obtain the sensing result. Correspondingly, these multiple different sensing methods also correspond to multiple different sensing reconstruction algorithms. Each sensing reconstruction algorithm can indicate or specify the sensing measurement parameters required when reconstructing the sensing result. For example, a certain sensing reconstruction algorithm can specify that the departure angle and signal transmission delay need to be used for sensing reconstruction. Another example is that a certain sensing reconstruction algorithm can specify that the departure angle, arrival angle, and signal transmission delay need to be used for sensing reconstruction. Furthermore, each perception reconstruction algorithm may also indicate or specify that when reconstructing the perception result, it only needs to consider the perception measurement information obtained based on the perception signal received on a single ejection path, or it may specify that when reconstructing the perception result, it needs to consider both the perception measurement information obtained based on the perception signal received on a single ejection path and the perception measurement information obtained based on the perception signal received on a dual ejection path. Here, a single ejection path refers to the perception signal passing only through the object to be perceived during transmission, and only one ejection occurs. A dual ejection path refers to the perception signal passing not only through the object to be perceived but also through another object besides the object to be perceived during transmission, and two ejections occur. It should be understood that this application does not limit the specific implementation of the perception reconstruction algorithm; any algorithm that can complete perception reconstruction and is compatible with the perception method provided in this application can be applied to the perception method provided in this application.

[0230] For example, please refer to Table 1-3. Table 1-3 is a table of sensing methods provided in this application. Table 1-3 shows 12 different sensing methods, with corresponding indication information from Z0 to Z11. At least one of the following is different for each sensing method: the sensing initiator, the sensing signal type, and the specific content of the sensing reconstruction algorithm. For example, the sensing method with indication information Z1 specifies that the sensing initiator is the first network element, the sensing signal type is a downlink signal, and the sensing reconstruction algorithm is based on the departure angle and transmission delay to reconstruct the sensing result, and only considers sensing signals with a single projectile diameter. As another example, the sensing method with indication information Z2 specifies that the sensing initiator is the first network element, the sensing signal type is a downlink signal, and the sensing reconstruction algorithm is based on the arrival angle and transmission delay to reconstruct the sensing result, and only considers sensing signals with a single projectile diameter. The remaining items are similar and will not be described in detail.

[0231] Table 1-3 A Sensing Method

[0232]

[0233]

[0234] It should be understood that in actual implementation, the first network element may be pre-configured with some or all of the sensing methods shown in Table 1-3, and the first network element may also be pre-configured with other sensing methods besides those shown in Table 1-3. This application does not impose any restrictions on this.

[0235] Based on the above, in one possible implementation, the first network element can select a first sensing method from a variety of pre-configured sensing methods according to the current sensing resources of the network. Here, the first sensing method can be defined as the first network element being the sensing initiator, the sensing signal being a downlink signal, and the sensing result being determined based on a first sensing reconstruction algorithm. Specifically, the first network element processes the aforementioned N1 sensing measurement information based on the first sensing reconstruction algorithm to obtain the sensing result of the object to be sensed.

[0236] Furthermore, in this case, the aforementioned sensing auxiliary data may also include second indication information corresponding to the first sensing method. This second indication information can be used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm. The second network element, each of the at least one first terminal device, and each of the at least one first network device can determine the aforementioned first sensing method based on this second indication information.

[0237] Please see Figure 6 , Figure 6 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system does not include a second network element. In this case, the first network element may possess some or all of the functions of a sensing management network element and a positioning management network element. It should be noted that... Figure 2 The sensing method shown is similar. Figure 6 The sensing method shown is applicable to scenarios involving at least one first terminal device and at least one first network device. For example, there may be only one first terminal device and one first network device; or there may be multiple first terminal devices and one first network device; or there may be multiple first terminal devices and multiple first network devices. Due to these different scenarios, Figure 6 The implementation process of each step in the sensing method shown is similar, therefore Figure 6 Only the first terminal device A1 and the second terminal device A2 in at least one first terminal device, and the first network device B in at least one first network device are shown. Furthermore, for ease of reference later...Figure 6 The explanations of each step shown, and to avoid redundancy, will be uniformly based on the example of at least one first terminal device including first terminal device A1 and second terminal device A2, and at least one first network device including first network device B.

[0238] like Figure 6 As shown, the method may include the following steps:

[0239] S601, the first network element sends sensing assistance data to at least one first network device and at least one terminal device. Correspondingly, at least one first terminal device and at least one second terminal device receive the sensing assistance data.

[0240] In some feasible implementations, after determining the sensing needs of the object to be sensed, the first network element can acquire sensing auxiliary data and directly send the sensing auxiliary data to at least one first terminal device and at least one first network device. Correspondingly, each first terminal device and each first network device directly receive the sensing auxiliary data from the first network element. At least one first terminal device is managed by at least one first network device, and one first network device can manage one or more first terminal devices. The aforementioned at least one first network device serves the first network element. Furthermore, at least one first network device may include some or all of all network devices serving the first network element. For a detailed implementation process, please refer to the process described in step S201 above regarding the direct connection scenario, where the first network element sends sensing auxiliary data to at least one first network device and at least one terminal device, and at least one first network device and at least one terminal device receive the sensing auxiliary data; this will not be elaborated upon here.

[0241] In addition, the description of the perception assistance data can be found in the corresponding description in step S201 above, and will not be repeated here.

[0242] S602, at least one first network device transmits a sensing signal. Correspondingly, at least one first terminal device receives the sensing signal.

[0243] For the specific implementation process, please refer to the corresponding description in step S202 above, which will not be repeated here.

[0244] S603, at least one first terminal device obtains N1 sensing measurement information based on the received sensing signals.

[0245] For the specific implementation process, please refer to the corresponding description in step S203 above, which will not be repeated here.

[0246] S604, at least one first terminal device sends N1 sensing measurement information to the first network element. Correspondingly, the first network element receives N1 sensing measurement information.

[0247] For the specific implementation process, please refer to the corresponding description in step S204 above, which describes the scenario where at least one first terminal device is directly connected to the first network element. It will not be repeated here.

[0248] S605, the first network element determines the sensing result of the object to be sensed based on N1 sensing measurement information.

[0249] For the specific implementation process, please refer to the corresponding description in step S205 above, which will not be repeated here.

[0250] In the above implementation, the first network element can send sensing auxiliary data to at least one first network device and at least one first terminal device, enabling at least one first network device to send sensing signals based on the sensing auxiliary data, and enabling at least one first terminal device to receive sensing signals and measure N1 sensing measurement information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve enhanced sensing in terms of sensing coverage, sensing accuracy, and sensing resolution. Therefore, using the sensing method provided in this application in a sensory integration network can solve the problem of limited sensing performance caused by using a single-base sensing mode, improve the sensing performance of the sensory integration network, and thus enhance the practicality of the sensory integration network.

[0251] In some feasible implementation methods, such as Figure 6 As shown, the method may further include the following steps:

[0252] S606, the first network element determines at least one first terminal device.

[0253] Specifically, the first network element can acquire N3 second network devices serving the first network element. Here, N3 is a positive integer greater than or equal to 1. Then, the first network element can filter N2 second terminal devices managed by these N3 second network devices based on a third filtering condition. If N6 second terminal devices satisfying the third filtering condition are obtained from the N2 second terminal devices, the first network element can determine these N6 second terminal devices as at least one of the aforementioned first terminal devices, where N2, N3, and N6 are positive integers greater than or equal to 1. It should be understood that the aforementioned N3 first network devices can be all network devices serving the first network element.

[0254] For example, suppose the first network element obtains first terminal device A1 and first terminal device A2 that meet the third screening condition from N2 second terminal devices. Then, the first network element determines first terminal device A1 and first terminal device A2 as at least one first terminal device. Further, the first network element may also determine the network device managing first terminal device A1 and first terminal device A2 as first network device B.

[0255] It should be added that, in Figure 6 In the sensing method shown, the first network element can also be pre-configured with multiple filtering conditions for selecting terminal devices. Upon determining a sensing requirement for the object to be sensed, the first network element can select one of these multiple filtering conditions as the third filtering condition. It should be understood that the first network element can randomly select a filtering condition as the third filtering condition. Alternatively, if each filtering condition has a corresponding priority, the first network element can determine the third filtering condition based on the priority. For example, the first network element can use the filtering condition with the highest priority as the aforementioned third filtering condition.

[0256] It should also be noted that in actual implementation, the first network element may still fail to filter successfully based on the third filtering condition. In this case, the first network element can continue to select new filtering conditions and filter based on the new filtering conditions until at least one first terminal device is identified.

[0257] In some feasible implementation methods, such as Figure 6 As shown, prior to step S603, the method may further include the following steps:

[0258] S607, the first network element sends a sensing information request to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing information request.

[0259] For the specific implementation process, please refer to the corresponding description in step S207 above, which will not be repeated here.

[0260] In some feasible implementation methods, such as Figure 6 As shown, prior to step S601, the method may further include the following steps:

[0261] S608, the first network element determines the first sensing method.

[0262] For the specific implementation process, please refer to the corresponding description in step S208 above, which will not be repeated here.

[0263] It should be noted that, in Figure 6 In the sensing method shown, the first network element can simultaneously possess... Figure 2The sensing method shown illustrates the functions of the first network element and the second network element. In this context, the first network element can also be referred to as an enhanced network element, an enhanced sensing management function network element, or a positioning sensing merging network element, etc.

[0264] Please see Figure 7 , Figure 7 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system includes a first network element and a second network element. In this case, the first network element can be a sensing management function network element or possess some or all of the functions of a sensing management function network element, and the second network element can be a positioning management function network element or possess some or all of the functions of a positioning management function network element. Similarly, Figure 7 The sensing method shown is applicable to scenarios involving at least one first terminal device and at least one first network device. Figure 7 Only the first terminal device A1 and the second terminal device A2 in at least one first terminal device, and the first network device B in at least one first network device are shown. Furthermore, for ease of reference later... Figure 7 The explanations of each step shown, and to avoid redundancy, will be uniformly based on the example of at least one first terminal device including first terminal device A1 and second terminal device A2, and at least one first network device including first network device B.

[0265] like Figure 7 As shown, the sensing method may include the following steps:

[0266] S701, the first network element sends a sensing information request to at least one first network device. Correspondingly, at least one first network device receives the sensing information request.

[0267] In some feasible implementations, after determining the sensing needs for the object to be sensed, the first network element may send a sensing information request to each of the at least one first network device. Correspondingly, each of the at least one first network device may receive the sensing information request. This sensing information request is used to trigger the at least one first network device to send sensing auxiliary data to at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves the first network element. In embodiments of this application, the at least one first network device may include some or all of all network devices serving the first network element.

[0268] For example, the first network element may send a sensing information request to the first network device B. Correspondingly, the first network device B receives the sensing information request.

[0269] It should be noted that the aforementioned sensing auxiliary data can be used for the transmission of sensing signals between at least one first network device and at least one terminal device, and / or for the measurement of sensing signals. Here, the measurement of sensing signals refers to the process by which the receiver of the sensing signals obtains sensing measurement information based on the received sensing signals.

[0270] In practical implementations, in scenarios where the first network element cannot directly communicate with at least one first network device and at least one first terminal device (i.e., non-direct connection scenarios), the first network element can send sensing information requests to each first network device through the second network element, such as... Figure 7 As shown in the diagram. In a scenario where the first network element can communicate directly with at least one first network device (i.e., a direct connection scenario), the first network element can directly send a sensing information request to each first network device.

[0271] In one optional implementation, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or reporting configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angle, measurement time slots, and encoding information. The reporting configuration information corresponding to the sensing signal may include various configuration information for reporting sensing measurement information obtained based on the sensing signal, such as the configuration information of the reporting mechanism for the sensing measurement information (e.g., periodic, semi-continuous, or aperiodic reporting), and the configuration information of the resources occupied by the reported sensing measurement information.

[0272] S702, at least one first network device sends sensing assistance data to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing assistance data.

[0273] In some feasible implementations, each of the at least one first network device generates sensing assistance data upon receiving the aforementioned sensing information request. Then, the at least one first network device can send the sensing assistance data to at least one first terminal device. That is, the at least one first network device can send sensing assistance data to at least one first terminal device based on the received sensing information request. Correspondingly, each first terminal device can receive the sensing assistance data.

[0274] For example, when the first network device B receives a sensing information request, it can generate sensing auxiliary data and send the sensing auxiliary data to the first terminal device A1 and the first terminal device A2 respectively.

[0275] S703, the first network element sends a sensing activation request to at least one first network device. Correspondingly, at least one first network device receives the sensing activation request.

[0276] In some feasible implementations, the first network element sends a sensing activation request to each of the at least one first network device. Correspondingly, each first network device receives the sensing activation request. The sensing activation request triggers at least one first network device to send sensing signal activation information to at least one first terminal device, and the sensing signal activation information triggers at least one first terminal device to send a sensing signal.

[0277] For example, the first network element may send a sensing activation request to the first network device B. Correspondingly, the first network device B receives the sensing activation request.

[0278] S704, at least one first network device sends sensing signal activation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal activation information.

[0279] In some feasible implementations, after receiving the aforementioned sensing activation request, at least one first network device can generate sensing signal activation information and send the sensing signal activation information to at least one first terminal device to trigger each first terminal device to send a sensing signal.

[0280] For example, after receiving a sensing activation request, the first network device B can generate sensing signal activation information and send the sensing signal activation information to the first terminal device A1 and the first terminal device A2 respectively, so as to trigger the first terminal device A1 and the first terminal device A2 to transmit sensing signals.

[0281] S705, at least one first terminal device transmits a sensing signal. Correspondingly, at least one first network device receives the sensing signal.

[0282] In some feasible implementations, each of the at least one first terminal device, after acquiring the sensing signal activation information, can transmit a sensing signal based on sensing auxiliary data. Correspondingly, each of the at least one first network device can detect and receive the sensing signals transmitted by each first terminal device based on the sensing auxiliary data.

[0283] For example, each first terminal device can determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, such as the time-frequency resources, antenna port resources, transmission angle, measurement time slot, etc., as mentioned above. Then, each first terminal device can transmit the sensing signal on the corresponding transmission resources. Correspondingly, each first network device can also determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, and receive the sensing signals transmitted by each first terminal device on the corresponding transmission resources.

[0284] It's important to understand that in actual implementation, each first terminal device sends a sensing signal, and these signals differ between devices, such as in transmission angle and time-frequency resources. Each first network device detects and receives the sensing signal after it has been ejected by the object to be sensed, based on the transmission resources available. Because sensing signals may experience loss during transmission, they may not be correctly received. Therefore, some first network devices may not correctly receive the sensing signals emitted by each first terminal device. However, assuming no abnormal transmission, each first network device receives the sensing signal emitted by each first terminal device and ejected by the object to be sensed. For example, if there are m first network devices and n first terminal devices, each first network device will receive n sensing signals, and the m devices will receive a total of n*m sensing signals.

[0285] It should be noted that the embodiments in this application take the case of abnormal transmission of sensing signals as an example, without considering the actual situation. Combined with... Figure 7 In an example involving at least one first terminal device and at least one first network device, in this embodiment, first terminal device A1 and first terminal device A2 transmit sensing signals S2 and S3 based on sensing auxiliary data. First network device B receives sensing signals S2 and S3 based on sensing auxiliary data.

[0286] S706, at least one first network device obtains N1 sensing measurement information based on the received sensing signals.

[0287] In some feasible implementations, after receiving a sensing signal transmitted by at least one first terminal device, at least one first network device can measure N1 sensing measurement information based on the received sensing signal. Here, N1 is a positive integer greater than or equal to 1. The number of sensing measurement information N1 can be equal to the product of the number of first terminal devices and the number of first network devices.

[0288] Combination Figure 7 In the example of at least one first terminal device and at least one first network device, in actual implementation, the first network device B will measure two sensing measurement information (here assumed to be E3 and E4) based on the received sensing signals S2 and S3. In this case, the above N1 sensing measurement information includes sensing measurement information E3 and sensing measurement information E4.

[0289] It should be further noted that the aforementioned sensing auxiliary data may also include relevant information for sensing signal measurement. After receiving the sensing signal, each first network device can calculate sensing measurement information based on the aforementioned relevant information for sensing signal measurement. For example, first network device B can process the received sensing signals S2 and S3 based on the relevant information for sensing signal measurement to obtain sensing measurement information E3 and sensing measurement information E4.

[0290] It should also be noted that the embodiments of this application do not limit the specific process of obtaining sensing measurement information based on sensing signal processing, as long as the sensing measurement information can be correctly calculated.

[0291] S707, at least one first network device sends N1 sensing measurement information to the first network element. Correspondingly, the first network element receives N1 sensing measurement information.

[0292] In some feasible implementations, after acquiring the aforementioned N1 sensing measurement information, at least one first network device can send the N1 sensing measurement information to the first network element. Correspondingly, the first network element can receive the N1 sensing measurement information provided by at least the first network device.

[0293] Here, the specific process of at least one first network device sending N1 sensing measurement information to the first network element can be found in step S204 above, which describes the process of at least one first terminal device sending N1 sensing measurement information to the first network element. It will not be repeated here.

[0294] S708, the first network element determines the sensing result of the object to be sensed based on N1 sensing measurement information.

[0295] For details of the process, please refer to the corresponding description in step S205 above, which will not be repeated here.

[0296] In the above implementation, the first network element can trigger at least one first network device to provide sensing auxiliary data to at least one first terminal device. Through a sensing activation request, at least one first terminal device is triggered to send a sensing signal based on the sensing auxiliary data. Furthermore, at least one first network device receives the sensing signal based on the sensing auxiliary data and measures N1 sensing measurement information points, thereby completing the uplink bi-base sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bi-base sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, exhibiting good applicability and practicality.

[0297] Please see Figure 8 , Figure 8 This is another flowchart illustrating a sensing method provided in this application. For example... Figure 8 As shown, the method may also include the following steps:

[0298] S709, the first network element and the second network element determine at least one first terminal device.

[0299] For details of the process, please refer to the corresponding description in step S206 above, which will not be repeated here.

[0300] In some feasible implementation methods, such as Figure 8 As shown, prior to step S701, the method may further include the following steps:

[0301] S710, the first network element determines the second sensing method.

[0302] In some feasible implementations, the first network element can be pre-configured with multiple different sensing methods. Each sensing method indicates or specifies the sensing initiator, the type of sensing signal, and the specific sensing reconstruction algorithm used. For a description of the sensing methods, please refer to step S208 above; it will not be repeated here.

[0303] In one possible implementation, the first network element can select a second sensing method from a variety of pre-configured sensing methods based on the current sensing resources of the network. Here, the second sensing method can be defined as the first network element initiating the sensing, the sensing signal being an uplink signal, and the sensing result being determined based on a second sensing reconstruction algorithm. Specifically, the first network element processes the aforementioned N1 sensing measurement information using the second sensing reconstruction algorithm to obtain the sensing result for the object to be sensed.

[0304] Furthermore, in this case, the aforementioned sensing auxiliary data may also include third indication information corresponding to the first sensing method. This third indication information can be used to indicate at least one of the following: the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on the second sensing reconstruction algorithm. This third indication information can be provided by the first network element to the second network element and at least one first network device. The second network element, each of the at least one first terminal device, and each of the at least one first network device can determine the aforementioned second sensing method based on this third indication information.

[0305] Optional, such as Figure 8 As shown, the method may also include the following steps:

[0306] S711, the first network element sends a sensing deactivation request to at least one first network device. Correspondingly, at least one first network device receives the sensing deactivation request.

[0307] In some feasible implementations, the first network element may send a sensing deactivation request to at least one first network device. Correspondingly, at least one first network device receives the sensing deactivation request. The sensing deactivation request triggers at least one first network device to send sensing signal deactivation information to at least one first terminal device, and the sensing signal deactivation information triggers at least one first terminal device to stop sending sensing signals.

[0308] Here, stopping the transmission of sensing signals can also be described as pausing the transmission of sensing signals, enabling the transmission of sensing signals, or deactivating the transmission of sensing signals. Similarly, similar expressions below can be replaced in this way, and will not be repeated hereafter.

[0309] S712, at least one first network device sends a sensing signal deactivation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal deactivation information.

[0310] In some feasible implementations, upon receiving the aforementioned sensing activation request, at least one first network device may generate sensing signal deactivation information and send the sensing signal deactivation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal deactivation information and stops sending sensing signals.

[0311] Please see Figure 9 , Figure 9 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system does not include a second network element. In this case, the first network element can possess some or all of the functions of a sensing management network element and a positioning management network element. Similarly, Figure 9 The sensing method shown is applicable to scenarios involving at least one first terminal device and at least one first network device. Figure 9 Only the first terminal device A1 and the second terminal device A2 in at least one first terminal device, and the first network device B in at least one first network device are shown. Furthermore, for ease of reference later... Figure 9 The explanations of each step shown, and to avoid redundancy, will be uniformly based on the example of at least one first terminal device including first terminal device A1 and second terminal device A2, and at least one first network device including first network device B.

[0312] like Figure 9 As shown, the sensing method may include the following steps:

[0313] S901, the first network element sends a sensing information request to at least one first network device. Correspondingly, at least one first network device receives the sensing information request.

[0314] In some feasible implementations, after determining the sensing needs for the object to be sensed, the first network element can directly send a sensing information request to each of the at least one first network device. Correspondingly, each of the at least one first network device can directly receive the sensing information request. This sensing information request is used to trigger the at least one first network device to send sensing auxiliary data to at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves the first network element. In the embodiments of this application, the at least one first network device may include some or all of all network devices serving the first network element. For a detailed implementation process, please refer to the process described in step S701 above regarding the direct connection scenario where the first network element sends a sensing information request to at least one first network device; it will not be repeated here.

[0315] In addition, the description of the perception assistance data can be found in the corresponding description in step S701 above, and will not be repeated here.

[0316] S902, at least one first network device sends sensing assistance data to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing assistance data.

[0317] For the specific process, please refer to the corresponding description in step S702 above, which will not be repeated here.

[0318] S903, the first network element sends a sensing activation request to at least one first network device. Correspondingly, at least one first network device receives the sensing activation request.

[0319] In some feasible implementations, the first network element can directly send a sensing activation request to each of the at least one first network device. Correspondingly, each first network device receives the sensing activation request. For details, please refer to the process described in step S703 above regarding the process of the first network element sending a sensing activation request to each of the at least one first network device in a direct connection scenario; it will not be repeated here.

[0320] S904, at least one first network device sends sensing signal activation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal activation information.

[0321] For the specific process, please refer to the corresponding description in step S704 above, which will not be repeated here.

[0322] S905, at least one first terminal device transmits a sensing signal. Correspondingly, at least one first network device receives the sensing signal.

[0323] For the specific process, please refer to the corresponding description in step S705 above, which will not be repeated here.

[0324] S906, at least one first network device obtains N1 sensing measurement information based on the received sensing signals.

[0325] For the specific process, please refer to the corresponding description in step S706 above, which will not be repeated here.

[0326] S907, at least one first network device sends N1 sensing measurement information to the first network element. Correspondingly, the first network element receives N1 sensing measurement information.

[0327] In some feasible implementations, after acquiring the aforementioned N1 sensing measurement information items, at least one first network device can directly send these N1 sensing measurement information items to the first network element. Correspondingly, the first network element can receive the N1 sensing measurement information items provided by at least the first network device.

[0328] Here, the specific process of at least one first network device sending N1 sensing measurement information to the first network element can be found in step S707 above, which describes the process of at least one first network device sending N1 sensing measurement information to the first network element in a direct connection scenario. It will not be repeated here.

[0329] S908, the first network element determines the sensing result of the object to be sensed based on N1 sensing measurement information.

[0330] For details of the process, please refer to the corresponding description in step S708 above, which will not be repeated here.

[0331] In the above implementation, the first network element can trigger at least one first network device to provide sensing auxiliary data to at least one first terminal device. Through a sensing activation request, at least one first terminal device is triggered to send a sensing signal based on the sensing auxiliary data. At least one first network device then receives the sensing signal based on the sensing auxiliary data and measures N1 sensing measurement information points, thereby completing the uplink bistatic sensing initiated by the first network element for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve enhanced sensing in terms of sensing coverage, sensing accuracy, and sensing resolution. Therefore, using the sensing method provided in this application in a sensory integration network can solve the problem of limited sensing performance caused by using a single-base sensing mode, improve the sensing performance of the sensory integration network, and thus enhance its practicality.

[0332] Optional, such as Figure 9 As shown, the method may also include the following steps:

[0333] S909, the first network element and the second network element determine at least one first terminal device.

[0334] For details, please refer to the corresponding description in step S709 above, which will not be repeated here.

[0335] Optional, such as Figure 9 As shown, prior to step S901, the method may further include the following steps:

[0336] S910, the first network element determines the second sensing method.

[0337] For the specific process, please refer to the corresponding description in step S710 above, which will not be repeated here.

[0338] Optional, such as Figure 9 As shown, the method may also include the following steps:

[0339] S911, the first network element sends a sensing deactivation request to at least one first network device. Correspondingly, at least one first network device receives the sensing deactivation request.

[0340] In some feasible implementations, the first network element may send a sensing deactivation request to at least one first network device. Correspondingly, at least one first network device receives the sensing deactivation request. The sensing deactivation request triggers at least one first network device to send sensing signal deactivation information to at least one first terminal device, and the sensing signal deactivation information triggers at least one first terminal device to stop sending sensing signals.

[0341] S912, at least one first network device sends a sensing signal deactivation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal deactivation information.

[0342] In some feasible implementations, upon receiving the aforementioned sensing activation request, at least one first network device may generate sensing signal deactivation information and send the sensing signal deactivation information to at least one first terminal device. Correspondingly, at least one first terminal device receives the sensing signal deactivation information and stops sending sensing signals.

[0343] Please see Figure 10 , Figure 10 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1The communication system shown is applicable to situations where the communication system includes a first network element and a second network element, and there is only one first terminal device and one first network device. In this case, the first network element can be a sensing management function network element or have some or all of the functions of a sensing management function network element, and the second network element can be a positioning management function network element or have some or all of the functions of a positioning management function network element.

[0344] like Figure 10 As shown, the sensing method may include the following steps:

[0345] S101, the first terminal device sends a sensing auxiliary data request to the first network element. Correspondingly, the first network element receives the sensing auxiliary data request.

[0346] In some feasible implementations, when the first terminal device has a sensing requirement for the object to be sensed, it can generate and send a sensing auxiliary data request to the first network element. Correspondingly, the first network element receives the sensing auxiliary data request. The sensing auxiliary data request can be used to trigger the first network element to provide sensing auxiliary data. The first terminal device can be managed by a first network device, and the first network device serves the first network element.

[0347] It should be noted that the aforementioned sensing auxiliary data can be used for the transmission of sensing signals between the first network device and the first terminal device, and / or for the measurement of sensing signals. Here, the measurement of sensing signals refers to the process by which the receiver of the sensing signals obtains sensing measurement information based on the received sensing signals.

[0348] In one alternative implementation, the first terminal device can send a sensing auxiliary data request to the second network element, which then forwards it to the first network element. This implementation is suitable for scenarios where the first network element and the first terminal device cannot communicate directly (i.e., non-direct connection scenarios).

[0349] As a supplement, in scenarios where the first network element and the first terminal device can communicate directly (i.e., direct connection scenarios), the first terminal device can directly send a sensing auxiliary data request to the first network element.

[0350] In one optional implementation, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or, reporting configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angle, measurement time slots, encoding information, etc. In this case, the sensing auxiliary data may not include reporting configuration information. Alternatively, when reporting configuration information is included, this information can be used by the first terminal device to send a sensing information response to the first network device. Furthermore, it is understood that when the sensing signal is sent by the first network device and received by the first terminal device, the first network device can send the sensing signal on the resources indicated by the resource configuration information in the sensing auxiliary data, and correspondingly, the first terminal device can receive the sensing signal on the resources indicated by the resource configuration information in the sensing auxiliary data. In this case, the sensing auxiliary data may not include reporting configuration information. Alternatively, when reporting configuration information is included, this information can be used by the first terminal device to send a sensing information response to the first network device.

[0351] S102, the first network element sends sensing auxiliary data to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the sensing auxiliary data.

[0352] In some feasible implementations, after receiving a sensing auxiliary data request, the first network element can acquire sensing auxiliary data and send it to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the sensing auxiliary data from the first network element.

[0353] Optionally, in scenarios where the first network element cannot communicate directly with the first terminal device and the first network device (i.e., non-direct connection scenarios), the first network element can send the sensing auxiliary data to the second network element, which in turn sends it to the first terminal device and the first network device.

[0354] In scenarios where the first network element can communicate directly with the first terminal device and the first network device (i.e., direct connection scenarios), the first network element can directly send sensing auxiliary data to the first terminal device and the first network device.

[0355] S103, the first network device sends a sensing signal. Correspondingly, the first terminal device receives the sensing signal.

[0356] In some feasible implementations, after acquiring the sensing assistance data, the first network device can transmit a sensing signal based on the sensing assistance data. Correspondingly, after acquiring the sensing assistance data, the first terminal device can detect and receive the sensing signal sent by the first network device based on the sensing assistance data.

[0357] For example, the first network device can determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, such as the time-frequency resources, antenna port resources, transmission angle, measurement time slot, etc., as mentioned above. Then, the first network device can transmit the sensing signal on the corresponding transmission resources. Correspondingly, the first terminal device can also determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, and receive the sensing signal transmitted by the first network device on the corresponding transmission resources.

[0358] In this embodiment of the application, it is assumed that the first network device will transmit a sensing signal S4 based on sensing auxiliary data, and the first terminal device will receive the sensing signal S4 ejected by the object to be sensed based on the sensing auxiliary data.

[0359] S104, the first terminal device obtains sensing measurement information based on the received sensing signal.

[0360] In some feasible implementations, after receiving the sensing signal, the first terminal device can measure and obtain sensing measurement information based on the received sensing signal.

[0361] Based on the above assumptions, the first terminal device will measure a sensing measurement information (here, let's assume it's E5) based on the received sensing signal S4. It should be further noted that the aforementioned sensing auxiliary data may also include relevant information for sensing signal measurement. After receiving the sensing signal, each first terminal device can calculate the sensing measurement information based on the relevant information from the sensing signal measurement. For example, the first terminal device can process the received sensing signal S4 based on the relevant information from the sensing signal measurement to obtain the sensing measurement information E5. It should also be noted that the embodiments of this application do not limit the specific process of obtaining the sensing measurement information based on the sensing signal processing, as long as the sensing measurement information can be correctly calculated.

[0362] S105, the first terminal device determines the perception result of the object to be perceived based on the perception measurement information.

[0363] In some feasible implementations, after acquiring the sensing measurement information, the first terminal device can process the sensing measurement information based on a pre-configured sensing reconstruction algorithm to obtain the sensing result of the object to be sensed. Here, the sensing result of the object to be sensed may include the object's position information, velocity information, acceleration information, distance information, attitude information, etc., and this application does not limit this. For example, the first terminal device can process the sensing measurement information E5 based on the pre-configured sensing reconstruction algorithm to obtain the sensing result of the object to be sensed.

[0364] It should be noted that the perception reconstruction algorithm involved in this application is a method for obtaining perception results based on the processing of perception measurement information, and this application does not limit the specific implementation of the perception reconstruction algorithm.

[0365] In the above implementation, the first network element can provide sensing auxiliary data to the first terminal device and the first network device according to the sensing auxiliary data request provided by the first terminal device. This enables the first network device to send sensing signals based on the sensing auxiliary data, and enables the first terminal device to receive sensing signals and measure sensing measurement information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first terminal device for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0366] Optional, please see Figure 11 , Figure 11 This is another flowchart illustrating a sensing method provided in this application. For example... Figure 11 As shown, the method may also include the following steps:

[0367] S106, the first terminal device sends a sensing information response to the first network element.

[0368] In some feasible implementations, the first terminal device can generate and send a sensing information response to the first network element. This sensing information response includes the sensing result of the object to be sensed.

[0369] Optionally, in scenarios where the first network element and the first terminal device are not directly connected, the first terminal device can send the sensing information response to the second network element, which then sends it back to the first network element. In scenarios where the first network element and the first terminal device are directly connected, the first terminal device can directly send the sensing information response to the first network element.

[0370] Optional, such as Figure 11 As shown, the method may also include the following steps:

[0371] S107, the first network element determines the third sensing method.

[0372] In some feasible implementations, the first network element can be pre-configured with multiple different sensing methods. Each sensing method indicates or specifies the sensing initiator, the type of sensing signal, and the specific sensing reconstruction algorithm used. For a description of the sensing methods, please refer to step S208 above; it will not be repeated here.

[0373] In one possible implementation, the first network element can select a third sensing method from a variety of pre-configured sensing methods based on the current sensing resources of the network. Here, the third sensing method can specify that the first terminal device is the sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. Specifically, the first terminal device processes the aforementioned sensing measurement information based on the third sensing reconstruction algorithm to obtain the sensing result for the object to be sensed.

[0374] Furthermore, in this case, the aforementioned sensing auxiliary data may also include fourth indication information corresponding to the third sensing method. This fourth indication information can be used to indicate at least one of the following: the first terminal device is the sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the third sensing reconstruction algorithm. The second network element, the first terminal device, or the first network device can determine the aforementioned third sensing method based on this fourth indication information.

[0375] Please see Figure 12 , Figure 12 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system does not include a second network element, and there is only one first terminal device and one first network device. In this case, the first network element may possess some or all of the functions of a sensing management function network element and a positioning management function network element.

[0376] like Figure 12 As shown, the sensing method may include the following steps:

[0377] S121, the first terminal device sends a sensing auxiliary data request to the first network element. Correspondingly, the first network element receives the sensing auxiliary data request.

[0378] In some feasible implementations, when the first terminal device has a sensing requirement for the object to be sensed, it can generate and directly send a sensing auxiliary data request to the first network element. Correspondingly, the first network element receives the sensing auxiliary data request from the first terminal device. The sensing auxiliary data request can be used to trigger the first network element to provide sensing auxiliary data. The first terminal device can be managed by a first network device, and the first network device serves the first network element.

[0379] For a description of the perception-assisted data, please refer to the description in step S101 above, which will not be repeated here.

[0380] S122, the first network element sends sensing auxiliary data to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the sensing auxiliary data.

[0381] In some feasible implementations, after receiving a request for sensing auxiliary data, the first network element can directly send sensing auxiliary data to the first terminal device and the first network device.

[0382] S123, the first network device sends a sensing signal. Correspondingly, the first terminal device receives the sensing signal.

[0383] For the specific implementation process, please refer to the description in step S103 above, which will not be repeated here.

[0384] S124, the first terminal device obtains sensing measurement information based on the received sensing signal.

[0385] For the specific implementation process, please refer to the description in step S104 above, which will not be repeated here.

[0386] S125, the first terminal device determines the perception result of the object to be perceived based on the perception measurement information.

[0387] For the specific implementation process, please refer to the description in step S105 above, which will not be repeated here.

[0388] In the above implementation, the first network element can provide sensing auxiliary data to the first terminal device and the first network device according to the sensing auxiliary data request provided by the first terminal device. This enables the first network device to send sensing signals based on the sensing auxiliary data, and enables the first terminal device to receive sensing signals and measure sensing measurement information based on the sensing auxiliary data, thereby completing the downlink bistatic sensing initiated by the first terminal device for the object to be sensed. Since the sensing method provided in this application is based on bistatic sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicality.

[0389] Optional, such as Figure 12 As shown, the method may also include the following steps:

[0390] S126, the first terminal device sends a sensing information response to the first network element.

[0391] In some feasible implementations, the first terminal device can generate and directly send a sensing information response to the first network element. This sensing information response includes the sensing result of the object to be sensed.

[0392] Optional, such as Figure 12 As shown, the method may also include the following steps:

[0393] S127, the first network element determines the third sensing method.

[0394] For the specific implementation process, please refer to the description in step S107 above, which will not be repeated here.

[0395] Please see Figure 13 , Figure 13 This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system includes a first network element and a second network element, and there is only one first terminal device and one first network device. In this case, the first network element can be a sensing management function network element or have some or all of the functions of a sensing management function network element, and the second network element can be a positioning management function network element or have some or all of the functions of a positioning management function network element.

[0396] like Figure 13 As shown, the sensing method may include the following steps:

[0397] S131, the first terminal device sends a sensing service request to the first network element. Correspondingly, the first network element receives the sensing service request.

[0398] In some feasible implementations, when the first terminal device has a sensing requirement for the object to be sensed, it can generate and send a sensing service request to the first network element. The sensing service request is used to cause the first network element to send a sensing information request to the first network device. The sensing information request is used to trigger the first network device to provide sensing auxiliary data to the first terminal device.

[0399] It should be noted that the aforementioned sensing auxiliary data can be used for the transmission of sensing signals between the first network device and the first terminal device, and / or for the measurement of sensing signals. Here, the measurement of sensing signals refers to the process by which the receiver of the sensing signals obtains sensing measurement information based on the received sensing signals.

[0400] In one optional implementation, the first terminal device can send the sensing service request to the second network element, which then forwards it to the first network element. This implementation is suitable for scenarios where the first network element and the first terminal device are not directly connected. As a supplement, in scenarios where the first network element and the first terminal device are directly connected, the first terminal device can directly send the sensing service request to the first network element.

[0401] In one optional implementation, the sensing auxiliary data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angle, measurement time slot, encoding information, etc. The reported configuration information can be used by the first network device to send sensing measurement information to the first terminal device.

[0402] S132, the first network element sends a sensing information request to the first network device. Correspondingly, the first network device receives the sensing information request.

[0403] In some feasible implementations, after receiving the aforementioned sensing service request, the first network element can generate and send a sensing information request to the first network device. Correspondingly, the first network device can receive the sensing information request. The sensing information request is used to trigger the first network device to send sensing auxiliary data to the first terminal device.

[0404] In one optional implementation, the first network element can send the sensing information request to the second network element, which then forwards it to the first network element. This implementation is suitable for scenarios where the first network element and the first network device are not directly connected. As a supplement, in scenarios where the first network element and the first network device are directly connected, the first network element can directly send the sensing information request to the first terminal device.

[0405] S133, the first network device sends sensing assistance data to the first terminal device. Correspondingly, the first terminal device receives the sensing assistance data.

[0406] In some feasible implementations, after receiving the aforementioned sensing information request, the first network device can generate sensing assistance data. Then, the first network device can send the sensing assistance data to the first terminal device. That is, the first network device can send sensing assistance data to the first terminal device based on the received sensing information request. Correspondingly, the first terminal device can receive the sensing assistance data.

[0407] S134, the first network element sends a sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request.

[0408] In some feasible implementations, the first network element may send a sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request. The sensing activation request triggers the first network device to send sensing signal activation information to the first terminal device, and the sensing signal activation information triggers the first terminal device to send a sensing signal.

[0409] S135, the first network device sends a sensing signal activation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal activation information.

[0410] In some feasible implementations, after receiving the aforementioned sensing activation request, the first network device can generate sensing signal activation information and send the sensing signal activation information to the first terminal device to trigger the first terminal device to send a sensing signal. Correspondingly, the first terminal device receives the sensing signal activation information.

[0411] S136, the first terminal device sends a sensing signal. Correspondingly, the first network device receives the sensing signal.

[0412] In some feasible implementations, after acquiring the sensing signal activation information, the first terminal device can transmit a sensing signal based on sensing auxiliary data. Correspondingly, the first network device can detect and receive the sensing signal transmitted by the first terminal device based on the sensing auxiliary data.

[0413] For example, the first terminal device can determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, such as the time-frequency resources, antenna port resources, transmission angle, measurement time slot, etc., as mentioned above. Then, the first terminal device can transmit the sensing signal on the corresponding transmission resources. Correspondingly, the first network device can also determine the transmission resources corresponding to the sensing signal based on the resource configuration information in the sensing auxiliary data, and receive the sensing signal transmitted by the first terminal device on the corresponding transmission resources.

[0414] S137, the first network device obtains sensing measurement information based on the received sensing signal.

[0415] In some feasible implementations, after receiving the sensing signal transmitted by the first terminal device and after it has passed through the object to be sensed, the first network device can measure the sensing measurement information based on the received sensing signal.

[0416] It should be further noted that the aforementioned sensing auxiliary data may also include relevant information for sensing signal measurement. After receiving the sensing signal, the first network device can calculate the sensing measurement information based on the aforementioned relevant information for sensing signal measurement. It should also be noted that the embodiments of this application do not limit the specific process of obtaining sensing measurement information based on sensing signal processing, as long as the sensing measurement information can be correctly calculated.

[0417] S138, the first network device sends sensing measurement information to the first terminal device. Correspondingly, the first terminal device receives the sensing measurement information.

[0418] In some feasible implementations, after acquiring the sensing measurement information, the first network device can send the sensing measurement information to the first terminal device. Correspondingly, the first terminal device can receive the sensing measurement information sent by the first network device.

[0419] In one feasible implementation, when the sensing auxiliary data includes reporting configuration information, the first network device can send sensing measurement information to the first terminal device based on the reporting configuration information. For example, the first network device can send sensing measurement information to the first terminal device on the reporting time-frequency resources indicated by the reporting configuration information, according to the reporting mechanism indicated by the reporting configuration information.

[0420] S139, the first terminal device determines the perception result of the object to be perceived based on the perception measurement information.

[0421] In some feasible implementations, after acquiring the sensing measurement information, the first terminal device can process the sensing measurement information based on a pre-configured sensing reconstruction algorithm to obtain the sensing result of the object to be sensed. Here, the sensing result of the object to be sensed may include the object's position information, velocity information, acceleration information, distance information, attitude information, etc., and this application does not limit this. For example, the first terminal device can process the sensing measurement information E5 based on the pre-configured sensing reconstruction algorithm to obtain the sensing result of the object to be sensed.

[0422] It should be noted that the perception reconstruction algorithm involved in this application is a method for obtaining perception results based on the processing of perception measurement information, and this application does not limit the specific implementation of the perception reconstruction algorithm.

[0423] In the above implementation, the first network element can trigger the first network device to provide sensing service data to the first terminal device based on the sensing service request provided by the first terminal device. Furthermore, through a sensing activation request, the first network instructs the first terminal device to send a sensing signal, thereby completing the uplink bi-base sensing initiated by the first terminal device for the object to be sensed. Since the sensing method provided in this application is based on bi-base sensing, it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution, exhibiting good applicability and practicality.

[0424] Optional, please see Figure 14 , Figure 14 This is another flowchart illustrating a sensing method provided in this application. For example... Figure 14 As shown, the method may also include the following steps:

[0425] S140, the first terminal device sends a sensing information response to the first network element. Correspondingly, the first network element receives the sensing information response.

[0426] For details, please refer to the description in step S106 above, which will not be repeated here.

[0427] Optional, such as Figure 14 As shown, the method may also include the following steps:

[0428] S141, the first network element determines the fourth sensing method.

[0429] In some feasible implementations, the first network element can be pre-configured with multiple different sensing methods. Each sensing method indicates or specifies the sensing initiator, the type of sensing signal, and the specific sensing reconstruction algorithm used. For a description of the sensing methods, please refer to step S208 above; it will not be repeated here.

[0430] In one possible implementation, the first network element can select a fourth sensing method from a variety of pre-configured sensing methods based on the current sensing resources of the network. Here, the fourth sensing method can specify that the first terminal device is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a fourth sensing reconstruction algorithm. Specifically, the first terminal device processes the aforementioned sensing measurement information based on the fourth sensing reconstruction algorithm to obtain the sensing result for the object to be sensed.

[0431] Furthermore, in this case, the aforementioned sensing auxiliary data may also include fifth indication information corresponding to the fourth sensing method. This fourth indication information can be used to indicate at least one of the following: the first terminal device is the sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the fourth sensing reconstruction algorithm. The second network element, the first terminal device, or the first network device can determine the aforementioned fourth sensing method based on this fifth indication information.

[0432] Optional, such as Figure 14 As shown, the method may also include the following steps:

[0433] S142, the first network element sends a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request.

[0434] In some feasible implementations, the first network element may send a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request. The sensing deactivation request triggers the first network device to send sensing signal deactivation information to the first terminal device, and the sensing signal deactivation information triggers the first terminal device to stop sending sensing signals.

[0435] S143, the first network device sends a sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information.

[0436] In some feasible implementations, after receiving the aforementioned sensing activation request, the first network device can generate sensing signal deactivation information and send the sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information and stops sending sensing signals.

[0437] Please see Figure 15 , Figure 15This is another flowchart illustrating a sensing method provided in this application. This sensing method is applicable to… Figure 1 The communication system shown is applicable to situations where the communication system does not include a second network element, and there is only one first terminal device and one first network device. In this case, the first network element may possess some or all of the functions of a sensing management function network element and a positioning management function network element.

[0438] like Figure 15 As shown, the sensing method may include the following steps:

[0439] S151, the first terminal device sends a sensing service request to the first network element. Correspondingly, the first network element receives the sensing service request.

[0440] In some feasible implementations, when the first terminal device has a sensing requirement for the object to be sensed, it can generate and directly send a sensing service request to the first network element. The sensing service request is used to cause the first network element to send a sensing information request to the first network device. The sensing information request is used to trigger the first network device to provide sensing auxiliary data to the first terminal device.

[0441] For a description of the perception-assisted data, please refer to step S131 above, which will not be repeated here.

[0442] S152, the first network element sends a sensing information request to the first network device. Correspondingly, the first network device receives the sensing information request.

[0443] In some feasible implementations, after receiving the aforementioned sensing service request, the first network element can generate and directly send a sensing information request to the first network device. Correspondingly, the first network device can receive the sensing information request. The sensing information request is used to trigger the first network device to send sensing auxiliary data to the first terminal device.

[0444] S153, the first network device sends sensing assistance data to the first terminal device. Correspondingly, the first terminal device receives the sensing assistance data.

[0445] The specific process can be found in the description of step S133 above, and will not be repeated here.

[0446] S154, the first network element sends a sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request.

[0447] In some feasible implementations, the first network element can directly send a sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request. The sensing activation request triggers the first network device to send sensing signal activation information to the first terminal device, and the sensing signal activation information triggers the first terminal device to send a sensing signal.

[0448] S155, the first network device sends a sensing signal activation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal activation information.

[0449] The specific process can be found in the description of step S135 above, and will not be repeated here.

[0450] S156, the first terminal device sends a sensing signal. Correspondingly, the first network device receives the sensing signal.

[0451] The specific process can be found in the description of step S136 above, and will not be repeated here.

[0452] S157, the first network device obtains sensing measurement information based on the received sensing signal.

[0453] The specific process can be found in the description of step S137 above, and will not be repeated here.

[0454] S158, the first network device sends sensing measurement information to the first terminal device. Correspondingly, the first terminal device receives the sensing measurement information.

[0455] The specific process can be found in the description of step S138 above, and will not be repeated here.

[0456] S159, the first terminal device determines the perception result of the object to be perceived based on the perception measurement information.

[0457] The specific process can be found in the description of step S139 above, and will not be repeated here.

[0458] Optional, such as Figure 15 As shown, the method may also include the following steps:

[0459] S160, the first terminal device sends a sensing information response to the first network element. Correspondingly, the first network element receives the sensing information response.

[0460] In some feasible implementations, after acquiring the sensing result, the first terminal device can generate and directly send a sensing information response containing the sensing result to the first network element. Correspondingly, the first network element can receive the sensing information response.

[0461] Optional, such as Figure 15As shown, the method may also include the following steps:

[0462] S161, the first network element determines the fourth sensing method.

[0463] For details, please refer to the description in step S141 above, which will not be repeated here.

[0464] Optional, such as Figure 15 As shown, the method may also include the following steps:

[0465] S162, the first network element sends a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request.

[0466] In some feasible implementations, the first network element can directly send a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request. The sensing activation request triggers the first network device to send sensing signal activation information to the first terminal device, and the sensing signal activation information triggers the first terminal device to send a sensing signal.

[0467] S163, the first network device sends a sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information.

[0468] For details, please refer to the description in step S143 above, which will not be repeated here.

[0469] It should be added that, in Figures 2-15 In the sensing method shown, after one device sends a request to another device, if the receiver confirms that it has received the request, it can return a response to the sender to inform the sender that it has received the request. For example, in... Figure 2 In the method shown, after receiving N1 sensing measurement information items, the first network element can send a response to the first terminal device A1 and the first terminal device A2 to inform them that it has correctly received the N1 sensing measurement information items. For example, in... Figure 7 In the sensing method shown, after the first network device B determines that it has received a sensing activation request from the first network element, it can send a response to the first network element to inform it that it has correctly received the sensing activation request. Similar situations exist in other steps, and will not be listed here. Furthermore, whether the recipient of the request should reply with a response can be determined according to actual application requirements; this application does not impose any restrictions on this.

[0470] It should also be noted that the sensing method provided in this application can be applied to various types of communication systems or communication networks with sensing needs, and this application does not impose any limitations on it.

[0471] For example, this sensing method can be applied to integrated sensing and communication (ISAC) network elements. In an integrated sensing and communication network, the base station not only has communication capabilities but also sensing capabilities. The integrated sensing and communication network combines communication and sensing functions, providing users with more comprehensive and intelligent information acquisition and processing capabilities. Existing integrated sensing and communication networks mainly use single-base sensing to perceive targets. However, due to the limited sensing range and accuracy of single-base sensing, the sensing performance of the integrated sensing and communication network is limited, thus affecting its applicability and practicality. Since the sensing method provided in this application is based on bi-static sensing (also known as self-transmitting and receiving sensing), it can achieve improvements in sensing coverage, sensing accuracy, and sensing resolution. Therefore, using the sensing method provided in this application to replace the existing single-base sensing scheme in an integrated sensing and communication network can solve the problem of limited sensing performance caused by using single-base sensing, improve the sensing performance of the integrated sensing and communication network, and thus improve its practicality and applicability.

[0472] The above, combined with Figures 2 to 15 The sensing method provided in the embodiments of this application is described in detail below. The following will combine... Figures 16 to 18 The communication device provided in the embodiments of this application is described in detail. It should be understood that the description of the embodiments of this communication device corresponds to the description of the embodiments of the sensing method; therefore, any parts not described in detail can be referred to the foregoing method embodiments.

[0473] Please see Figure 16 , Figure 16 This is a schematic diagram of the structure of a communication device provided in this application. Figure 16 As shown, the communication device 160 may include a transceiver unit 161 and a processing unit 162. Here, the transceiver unit 161 may also be referred to as a transceiver module, and the processing unit 162 may also be referred to as a processing module.

[0474] In some feasible implementations, the communication device 160 can correspond to Figures 2 to 6 The first network element shown, or a component (such as a circuit, processor, chip, or chip system) configured in the first network element. The communication device 160 may include implementations of... Figures 2 to 6 The module, unit, or means corresponding to the method executed by the first network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0475] In a specific implementation, transceiver unit 161 is used to send sensing auxiliary data to at least one first terminal device and at least one first network device. This sensing auxiliary data can be used for the transmission and / or measurement of sensing signals. The at least one first terminal device is managed by the at least one first network device, and this at least one first network device serves the first network element. Transceiver unit 161 is used to receive N1 sensing measurement information from the at least one first terminal device. The N1 sensing measurement information can be obtained based on the sensing signals. The sensing signals can be sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1. Processing unit 162 is used to determine the sensing result of the object to be sensed based on the N1 sensing measurement information.

[0476] For example, the transceiver unit 161 is used to send a first request to the second network element. The first request may include indication information for a first filtering condition. This first request can be used to instruct the second network element to filter N2 second terminal devices based on the first filtering condition. Here, the N2 second terminal devices are managed by N3 first network devices, which serve the aforementioned first network element. Here, N2 and N3 are positive integers greater than or equal to 1.

[0477] For example, the transceiver unit 161 is used to receive a first response corresponding to the first request. The first response may include device identification information for N4 second terminal devices. These N4 second terminal devices can be selected by the second network element from N2 second terminal devices based on a first filtering condition, where N4 is a positive integer greater than or equal to 1. These N4 second terminal devices can be used by the first network element to determine at least one of the aforementioned first terminal devices.

[0478] For example, the first filtering condition mentioned above is associated with the location information of the terminal device. The aforementioned N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0479] For example, processing unit 162 is configured to trigger transceiver unit 161 to send a second request to the second network element when it is determined that the second network element has failed to filter based on the first filtering condition. The second request may include indication information of the second filtering condition. The second request is used to instruct the second network element to filter N2 second terminal devices based on the second filtering condition. Transceiver unit 161 is configured to receive a third response corresponding to the second request. The third response may include device identification information of N5 second terminal devices, which can be obtained by the second network element from the N2 second terminal devices based on the second filtering condition. N5 is a positive integer greater than or equal to 1. These N5 second terminal devices can be used by the first network element to determine at least one of the aforementioned first terminal devices.

[0480] For example, determining that the second network element failed to filter based on the first filtering condition may specifically include: the first network element determining that it did not receive the first response within a first time period. Alternatively, the first network element receives a second response indicating that no terminal device was filtered based on the first filtering condition.

[0481] For example, the second request also includes first indication information. This first indication information is used to indicate that the time interval between the time when the N2 second terminal devices are filtered based on the first filtering condition and the time when the N2 second terminal devices are filtered based on the second filtering condition is equal to or greater than a second duration.

[0482] For example, processing unit 162 is configured to acquire N3 second network devices serving the first network element. Here, N3 is a positive integer greater than or equal to 1. Processing unit 162 is further configured to, if N6 second terminal devices satisfying a third filtering condition are acquired from N2 second terminal devices, determine N6 third terminal devices as at least one of the aforementioned first terminal devices, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1. It should be understood that the aforementioned N3 first network devices may be some or all of all network devices serving the first network element.

[0483] For example, the transceiver unit 161 is configured to send a sensing information request to at least one first terminal device. The sensing information request is used to trigger or instruct the at least one first terminal device to acquire the N1 sensing measurement information items.

[0484] For example, the sensing assistance data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0485] For example, the sensing auxiliary data also includes second indication information determined by the first network element. This second indication information indicates at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm.

[0486] In one possible implementation, the communication device 160 can correspond to Figures 2 to 5 The second network element shown, or a component (such as a circuit, chip, or chip system) configured in the second network element. The communication device 160 may include implementations of... Figures 2 to 5 The module, unit, or means corresponding to the method executed by the second network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0487] In a specific implementation, transceiver unit 161 is used to send sensing auxiliary data to at least one first terminal device and at least one first network device. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. At least one first terminal device is managed by at least one first network device, and at least one first network device serves a first network element. Transceiver unit 161 is used to send N1 sensing measurement information items to the first network element. These N1 sensing measurement information items are used to determine the sensing result of the object to be sensed. These N1 sensing measurement information items are obtained based on sensing signal measurements. The sensing signal is sent by at least one first network device and received by at least one first terminal device. N1 is a positive integer greater than or equal to 1.

[0488] For example, the second network element receives a first request from the first network element. This first request includes indication information for a first filtering condition. If N4 second terminal devices satisfying the first filtering condition are found from N2 second terminal devices, the second network element sends a first response to the first network element. This first response includes identification information for the N4 second terminal devices, which can be used by the first network element to identify at least one of the aforementioned first terminal devices. These N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0489] For example, the first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0490] For example, the method further includes: if the processing unit 162 does not find any second terminal device based on the first filtering condition, it triggers the transceiver unit 161 to indicate the situation to the first network element.

[0491] For example, if no second terminal device is found based on the first filtering condition, the transceiver unit 161 may not send the first response to the first network element, or the transceiver unit 161 may send a second response corresponding to the first request to the first network element, wherein the second response is used to indicate that the first network element has not found a second terminal device based on the first filtering condition.

[0492] For example, the transceiver unit 161 is configured to receive a second request from a first network element. The second request may include indication information for a second filtering condition. This second request can be used to instruct the second network element to filter N2 second terminal devices based on the second filtering condition.

[0493] For example, after successful filtering based on the filtering conditions, the processing unit 162 can trigger the transceiver unit 161 to send a third response corresponding to the second request to the first network element. The third response may include device identification information for N5 second terminal devices. These N5 second terminal devices can be used by the first network element to identify at least one first terminal device. These N5 second terminal devices can be selected by the second network element from the aforementioned N2 second terminal devices based on the second filtering conditions. N5 is a positive integer greater than or equal to 1.

[0494] For example, the second request described above also includes first indication information. This first indication information is used to indicate that the time interval between the moment when the second network element filters N2 second terminal devices based on the first filtering condition and the moment when it filters N2 second terminal devices based on the second filtering condition should be equal to or greater than the second duration. In other words, this first indication information can be used to inform the second network element that the time interval between any two adjacent filtering operations should be equal to or greater than the second duration.

[0495] For example, the transceiver unit 161 is configured to send a sensing information request from a first network element to at least one first terminal device. This sensing information request is used to trigger at least one first terminal device to acquire N1 sensing measurement information items.

[0496] In one possible implementation, the communication device 160 can correspond to Figures 2 to 6 The first terminal device shown, or a component (such as a circuit, chip, or chip system) configured in the first terminal device. The communication device 160 may include implementations of... Figures 2 to 6The modules, units, or means corresponding to the method executed by the first terminal device shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0497] In a specific implementation, the transceiver unit 161 is used to receive sensing auxiliary data from the first network element. This sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The transceiver unit 161 is also used to send sensing measurement information to the first network element. This sensing measurement information is used to determine the sensing result of the object to be sensed. The sensing signal is sent by the first network device that manages the first terminal device and received by the first terminal device; the first network device serves the first network element.

[0498] For example, the transceiver unit 161 is configured to receive a sensing information request from the first network element. This sensing information request can be used to trigger the first terminal device to acquire sensing measurement information.

[0499] For example, the sensing assistance data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0500] For example, the sensing auxiliary data also includes second indication information determined by the first network element. This second indication information indicates at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm.

[0501] In one possible implementation, the communication device 160 can correspond to Figures 7 to 9 The first network element shown, or a component (such as a circuit, chip, or chip system) configured in the first network element. The communication device 160 may include implementations of... Figures 7 to 9 The module, unit, or means corresponding to the method executed by the first network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0502] In a specific implementation, transceiver unit 161 is used to send a sensing information request to at least one first network device. This sensing information request triggers at least one first network device to send sensing auxiliary data to at least one first terminal device. The at least one first network device manages at least one first terminal device and serves a first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. Transceiver unit 161 is also used to send a sensing activation request to at least one first network device. This sensing activation request triggers at least one first network device to send sensing signal activation information to at least one first terminal device, which in turn triggers at least one first terminal device to send a sensing signal. Transceiver unit 161 is used to receive N1 sensing measurement information from at least one first network device. The N1 sensing measurement information is obtained by at least one first network device based on sensing signals. The sensing signals are sent by at least one first terminal device and received by at least one first network device. N1 is a positive integer greater than or equal to 1. Processing unit 162 is used to determine the sensing result of the object to be sensed based on the N1 sensing measurement information.

[0503] For example, the transceiver unit 161 is configured to send a sensing deactivation request to at least one network device. The sensing deactivation request triggers at least one first network device to send sensing signal deactivation information to at least one first terminal device. This sensing signal deactivation information instructs or triggers N1 first terminal devices to stop sending sensing signals.

[0504] For example, the transceiver unit 161 is used to send a first request to the second network element. The first request may include indication information for a first filtering condition. This first request can be used to instruct the second network element to filter N2 second terminal devices based on the first filtering condition. Here, the N2 second terminal devices are managed by N3 first network devices, which serve the aforementioned first network element. Here, N2 and N3 are positive integers greater than or equal to 1.

[0505] For example, the transceiver unit 161 is used to receive a first response corresponding to the first request. The first response may include device identification information for N4 second terminal devices. These N4 second terminal devices can be selected by the second network element from N2 second terminal devices based on a first filtering condition, where N4 is a positive integer greater than or equal to 1. These N4 second terminal devices can be used by the first network element to determine at least one of the aforementioned first terminal devices.

[0506] For example, the first filtering condition mentioned above is associated with the location information of the terminal device. The aforementioned N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0507] For example, if the processing unit 162 determines that the second network element has failed to filter based on the first filtering condition, it triggers the transceiver unit 161 to send a second request to the second network element. The second request may include indication information for the second filtering condition. This second request instructs the first network element to filter N2 second terminal devices based on the second filtering condition. Further, the transceiver unit 162 receives a third response corresponding to the second request. The third response may include device identification information for N5 second terminal devices, which can be obtained by the second network element from the N2 second terminal devices based on the second filtering condition. N5 is a positive integer greater than or equal to 1. These N5 second terminal devices can be used by the first network element to determine at least one of the aforementioned first terminal devices.

[0508] For example, determining that the second network element failed to filter based on the first filtering condition may specifically include: the processing unit 162 determining that it did not receive the first response within a first time period. Alternatively, the transceiver unit 161 receives a second response indicating that N4 second terminal devices were not filtered based on the first filtering condition.

[0509] For example, the second request also includes first indication information. This first indication information indicates that the interval between the time when the N2 second terminal devices are filtered based on the first filtering condition and the time when the N2 second terminal devices are filtered based on the second filtering condition is equal to or greater than a second duration. Alternatively, the first indication information indicates that the time interval between the two filtering operations performed by the first network element based on the first and second filtering conditions should be equal to or greater than the second duration.

[0510] For example, processing unit 162 is configured to acquire N3 second network devices serving the first network element. Here, N3 is a positive integer greater than or equal to 1. Processing unit 162 is configured to, when acquiring N6 second terminal devices from N2 second terminal devices that satisfy a third filtering condition, determine N6 third terminal devices as at least one of the aforementioned first terminal devices, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

[0511] For example, the sensing assistance data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0512] For example, the sensing auxiliary data also includes third indication information determined by the first network element. This third indication information indicates at least one of the following: the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on the second sensing reconstruction algorithm. Furthermore, the aforementioned third indication information can also be understood as identification information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0513] In one possible implementation, the communication device 160 can correspond to Figures 7 to 8 The second network element shown, or a component (such as a circuit, chip, or chip system) configured in the second network element. The communication device 160 may include implementations of... Figures 7 to 8 The module, unit, or means corresponding to the method executed by the second network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0514] In a specific implementation, transceiver unit 161 sends a sensing information request from a first network element to at least one first network device. This sensing information request triggers at least one first network device to send sensing auxiliary data to at least one first terminal device. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. At least one first terminal device is managed by at least one first network device, and at least one first network device serves the first network element. Transceiver unit 161 sends a sensing activation request from the first network element to at least one first network device. This sensing activation request triggers at least one first network device to send sensing signal activation information to at least one first terminal device, and the sensing signal activation information instructs at least one first terminal device to send a sensing signal. Transceiver unit 161 sends N1 sensing measurement information from at least one first network device to the first network element. The N1 sensing measurement information is used to determine the sensing result of the object to be sensed, and the N1 sensing measurement information is obtained based on sensing signals. The sensing signals are received by at least one first network device. N1 is a positive integer greater than or equal to 1.

[0515] For example, transceiver unit 161 receives a first request from a first network element. The first request includes indication information for a first filtering condition. Processing unit 162 is configured to trigger transceiver unit 161 to send a first response to the first network element if N4 second terminal devices satisfying the first filtering condition are obtained from N2 second terminal devices. The first response includes identification information for the N4 second terminal devices, which can be used by the first network element to identify at least one of the aforementioned first terminal devices. These N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0516] For example, the first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices can be obtained by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0517] For example, the method further includes: if the processing unit 162 does not find any second terminal device based on the first filtering condition, it triggers the transceiver unit 161 to indicate the situation to the first network element.

[0518] For example, if no second terminal device is found based on the first filtering condition, the transceiver unit 161 may not send the first response to the first network element, or the transceiver unit 161 may send a second response corresponding to the first request to the first network element, wherein the second response is used to indicate that the first network element has not found a second terminal device based on the first filtering condition.

[0519] For example, the transceiver unit 161 is configured to receive a second request from a first network element. The second request may include indication information for a second filtering condition. This second request can be used to instruct the second network element to filter N2 second terminal devices based on the second filtering condition.

[0520] For example, after successful filtering based on the filtering conditions, the processing unit 162 can trigger the transceiver unit 161 to send a third response corresponding to the second request to the first network element. The third response may include device identification information for N5 second terminal devices. These N5 second terminal devices can be used by the first network element to identify at least one first terminal device. These N5 second terminal devices can be selected by the second network element from the aforementioned N2 second terminal devices based on the second filtering conditions. N5 is a positive integer greater than or equal to 1.

[0521] For example, the second request described above also includes first indication information. This first indication information is used to indicate that the time interval between the moment when the second network element filters N2 second terminal devices based on the first filtering condition and the moment when it filters N2 second terminal devices based on the second filtering condition should be equal to or greater than the second duration. In other words, this first indication information can be used to inform the second network element that the time interval between any two adjacent filtering operations should be equal to or greater than the second duration.

[0522] For example, the transceiver unit 161 is configured to send a sensing deactivation request from a first network element to at least one first network device. The sensing deactivation request triggers at least one first network device to send sensing signal deactivation information to at least one first terminal device, which instructs the at least one first terminal device to stop sending sensing signals.

[0523] For example, the sensing assistance data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0524] For example, the sensing auxiliary data also includes third indication information determined by the first network element. This third indication information indicates at least one of the following: the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on the second sensing reconstruction algorithm. Furthermore, the aforementioned third indication information can also be understood as identification information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0525] In one possible implementation, the communication device 160 can correspond to Figures 7 to 9 The first network device shown, or a component (such as a circuit, chip, or chip system) configured in the first network device. The communication device 160 may include implementations of... Figures 7 to 9 The method executed by the first network device shown herein has corresponding modules, units, or means, which can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0526] In a specific implementation, transceiver unit 161 is used to receive a sensing information request, and processing unit 162 is used to trigger transceiver unit 161 to send sensing auxiliary data to the first terminal device according to the sensing information request. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device can be any one of at least one first terminal device described in the fourth or fifth aspect above. Transceiver unit 161 is used to receive a sensing activation request and send sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information is used to instruct the first terminal device to send a sensing signal. Transceiver unit 161 is used to send sensing measurement information. The sensing measurement information is used to determine the sensing result of the object to be sensed; this sensing measurement information is obtained based on sensing signal measurements, and the sensing signal is received by the first network device.

[0527] For example, the transceiver unit 161 is configured to receive a sensing deactivation request and send sensing signal deactivation information to the first terminal device according to the sensing deactivation request. The sensing signal deactivation information is used to instruct the first terminal device to stop sending sensing signals.

[0528] For example, the sensing assistance data may include resource configuration information corresponding to the sensing signal, and / or, reported configuration information.

[0529] For example, the sensing auxiliary data also includes third indication information determined by the first network element. This third indication information indicates at least one of the following: the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on the second sensing reconstruction algorithm. Furthermore, the aforementioned third indication information can also be understood as identification information for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0530] In one possible implementation, the communication device 160 can correspond to Figures 10 to 12 The first network element shown, or a component (such as a circuit, chip, or chip system) configured in the first network element. The communication device 160 may include implementations of... Figures 10 to 12 The module, unit, or means corresponding to the method executed by the first network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0531] In a specific implementation, transceiver unit 161 is used to receive a sensing auxiliary data request from the first terminal device. The sensing auxiliary data request triggers the first network element to provide sensing auxiliary data. Transceiver unit 161 is used to send sensing auxiliary data to the first terminal device and the first network device according to the sensing auxiliary data request. The first terminal device is managed by the first network device, which serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals.

[0532] For example, the transceiver unit 161 is used to receive a sensing information response from the first terminal device. The sensing information response includes a sensing result of the object to be sensed, which is determined based on sensing measurement information, which is obtained based on sensing signals. The sensing signals are sent by the first network device and received by the first terminal device.

[0533] For example, the perception assistance data includes resource configuration information corresponding to the perception signal, and / or, reported configuration information.

[0534] For example, the sensing auxiliary data further includes fourth indication information, which indicates at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. Here, the fourth indication information can also be understood as a marker for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0535] In one possible implementation, the communication device 160 can correspond to Figures 10 to 12 The first terminal device shown, or a component (such as a circuit, chip, or chip system) configured in the first terminal device. The communication device 160 may include implementations of... Figures 10 to 12 The modules, units, or means corresponding to the method executed by the first terminal device shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0536] In specific implementation, the transceiver unit 161 is used to send a sensing auxiliary data request to the first network element and receive sensing auxiliary data from the first network element. The sensing auxiliary data request is used to trigger the first network element to provide sensing auxiliary data. This sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The processing unit 162 is used to determine the sensing result of the object to be sensed based on the sensing measurement information. The sensing measurement information is obtained based on sensing signals, which are sent by the first network device and received by the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element.

[0537] For example, the transceiver unit 161 is used to send a sensing information response to the first network element. The sensing information response includes the sensing result of the object to be sensed.

[0538] For example, the perception assistance data includes resource configuration information corresponding to the perception signal, and / or, reported configuration information.

[0539] For example, the sensing auxiliary data further includes fourth indication information, which indicates at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. Here, the fourth indication information can also be understood as a marker for another sensing method. For a detailed explanation of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect; it will not be repeated here.

[0540] In one possible implementation, the communication device 160 can correspond to Figures 13 to 15 The first network element shown, or a component (such as a circuit, chip, or chip system) configured in the first network element. The communication device 160 may include implementations of... Figures 13 to 15 The module, unit, or means corresponding to the method executed by the first network element shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0541] In a specific implementation, transceiver unit 161 receives a sensing service request from a first terminal device and sends a sensing information request to a first network device based on the sensing service request. The sensing information request triggers the first network device to send sensing auxiliary data to the first terminal device. The first terminal device is managed by the first network device, which serves a first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. Transceiver unit 161 also sends a sensing activation request to the first network device. This sensing activation request triggers the first network device to send sensing signal activation information to the first terminal device. The sensing signal activation information instructs the first terminal device to send a sensing signal. This sensing signal can be received by the first network device. This sensing signal can be used to measure sensing measurement information, and the sensing measurement signal can be used to determine the sensing result of the object to be sensed.

[0542] For example, the transceiver unit 161 is configured to receive a sensing information response from the first terminal device. The sensing information response includes a sensing result, which is determined by the first terminal device based on sensing measurement information provided by the first network device.

[0543] For example, the transceiver unit 161 is configured to send a sensing deactivation request to the first network device. The sensing deactivation request triggers the first network device to send sensing signal deactivation information to the first terminal device, which instructs the first terminal device to stop sending sensing signals.

[0544] For example, the perception assistance data includes resource configuration information corresponding to the perception signal, and / or, reported configuration information.

[0545] For example, the perception assistance data also includes fifth indication information, which is used to indicate at least one of the following: the first terminal device is the perception initiator, the perception signal is an uplink signal, and the perception result is determined based on the third perception reconstruction algorithm.

[0546] In one possible implementation, the communication device 160 can correspond to Figures 13 to 15 The first terminal device involved, or a component (such as a circuit, chip, or chip system) configured in the first terminal device. The communication device 160 may include implementations... Figures 13 to 15 The modules, units, or means corresponding to the method executed by the first terminal device shown can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0547] In a specific implementation, transceiver unit 161 is used to send a sensing service request to the first network element, so that the first network element sends a sensing information request to the first network device. This sensing information request triggers the first network device to provide sensing auxiliary data to the first terminal device. The first terminal device is managed by the first network device, which serves the first network element. The sensing auxiliary data is used for the transmission and / or measurement of sensing signals. The first terminal device receives the sensing auxiliary data sent by the first network device. Transceiver unit 161 is used to receive sensing signal activation information from the first network device and send sensing signals based on the sensing auxiliary data. Transceiver unit 161 is also used to receive sensing measurement information from the first network device. This sensing measurement information is obtained based on sensing signal measurements. Processing unit 612 is used to determine the sensing result of the object to be sensed based on the sensing measurement information.

[0548] For example, the transceiver unit 161 is used to send a sensing information response to the first network element. The sensing information response includes the aforementioned sensing result.

[0549] For example, the transceiver unit 161 is used to receive sensing signal deactivation information from the first network device and stop sending sensing signals.

[0550] For example, the perception assistance data includes resource configuration information corresponding to the perception signal, and / or, reported configuration information.

[0551] For example, the perception assistance data also includes fifth indication information, which is used to indicate at least one of the following: the first terminal device is the perception initiator, the perception signal is an uplink signal, and the perception result is determined based on the third perception reconstruction algorithm.

[0552] In one possible implementation, the communication device 160 can correspond to Figures 13 to 15 The first network device involved, or a component (such as a circuit, chip, or chip system) configured in the first network device. The communication device 160 may include implementations... Figures 13 to 15 The method executed by the first network device shown herein has corresponding modules, units, or means, which can be implemented in hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the aforementioned functions.

[0553] In specific implementation, transceiver unit 161 is used to receive a sensing information request from a first network element and send sensing auxiliary data to a first terminal device according to the sensing information request. The first terminal device is managed by a first network device, which serves the first network element. The sensing service request triggers the first network device to send sensing auxiliary data to the first terminal device. The aforementioned sensing auxiliary data is used for the transmission and / or measurement of sensing signals. Transceiver unit 161 is used to receive a sensing activation request from the first network element and send sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information instructs the first terminal device to send a sensing signal. Transceiver unit 161 is used to receive a sensing signal from the first terminal device and measure sensing measurement information based on the sensing signal. This sensing measurement information is used to determine the sensing result of the object to be sensed. Transceiver unit 161 is used to send the sensing measurement information to the first terminal device.

[0554] For example, the transceiver unit 161 is configured to receive a sensing deactivation request from the first network element and send sensing signal deactivation information to the first terminal device. The sensing signal deactivation information is used to instruct the first terminal device to stop sending sensing signals.

[0555] For example, the perception assistance data includes resource configuration information corresponding to the perception signal, and / or, reported configuration information.

[0556] For example, the perception assistance data also includes fifth indication information, which is used to indicate at least one of the following: the first terminal device is the perception initiator, the perception signal is an uplink signal, and the perception result is determined based on the third perception reconstruction algorithm.

[0557] Please see Figure 17 , Figure 17 This is a schematic diagram of another communication device provided in this application. The communication device 170 can be used... Figures 2 to 15 The operations performed by the first network element, the second network element, the first terminal device, or the first network device in the shown sensing method. Alternatively, the communication device 170 can be... Figures 2 to 15 The sensing method shown includes a first network element, a second network element, a first terminal device, or a first network device. The communication device 170 includes a processor 171.

[0558] Optionally, the communication device may also include a memory 172.

[0559] Memory 172 is used to store related instructions and data. Memory 172 stores the following elements: executable modules or data structures, or subsets thereof, or extended sets thereof:

[0560] Operation instructions: This includes various operation instructions used to perform various operations.

[0561] Operating system: includes various system programs used to implement various basic business functions and handle hardware-based tasks.

[0562] Figure 17 Only one memory is shown in the image; of course, multiple memory can be configured as needed.

[0563] Optionally, the communication device 170 may further include a transceiver 174. The transceiver 174 may be a communication module or a transceiver circuit. In the embodiments of this application, the transceiver 174 is used to perform the above-described... Figures 2 to 15 The method described herein involves the sending and receiving of messages or information.

[0564] Processor 171 may be a controller, a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Processor 171 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0565] Optionally, the communication device may also include a bus system 173. In specific applications, the various components of the communication device 170 are coupled together via the bus system 173, which, in addition to a data bus, may also include a power bus, a control bus, and a status signal bus, etc. However, for the sake of clarity, in... Figure 17 The various buses are all labeled as Bus System 173. For ease of representation, Figure 17 The image shown is only schematic.

[0566] In specific implementation, the communication device 170 can perform... Figures 2 to 15 The steps of the sensing method shown are executed by the first network element, the second network element, the first terminal device, or the first network device. Specifically, when the communication device 170 is used to implement the above... Figures 2 to 15 In the sensing method shown, when each step is performed by the first network element, the second network element, the first terminal device, or the first network device, the processor 171 can implement the function of the processing unit 162, and the transceiver 174 is used to implement the function of the transceiver unit 161.

[0567] It should be noted that in practical applications, the processor in the embodiments of this application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiments can be completed by the integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0568] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0569] This application also provides a computer-readable medium having a computer program stored thereon, which, when executed by a computer, performs the above-described functions. Figures 2 to 15 The steps of the sensing method shown are executed by the first network element, the second network element, the first terminal device, or the first network device.

[0570] This application also provides a computer program product that, when executed by a computer, performs the above-described functions. Figures 2 to 15 The steps of the sensing method shown are executed by the first network element, the second network element, the first terminal device, or the first network device.

[0571] This application also provides a chip, which includes at least a processor. The processor is used to execute computer execution instructions to cause a device on which the chip is mounted to perform the above-described functions. Figures 2 to 15 The steps of the sensing method shown are executed by the first network element, the second network element, the first terminal device, or the first network device.

[0572] Optionally, the chip may also include interface circuitry. This interface circuitry is used to receive computer execution instructions and transmit them to the processor.

[0573] This application also provides a chip system including a processor for supporting the implementation of the above-described embodiments by means of a device mounted on the chip system. Figures 2 to 15 The steps of the sensing method shown, performed by a first network element, a second network element, a first terminal device, or a first network device, include, for example, generating or processing the data and / or information involved in the above method. In one possible design, the chip system further includes a memory for storing program instructions and data necessary for the data transmitting device. The chip system may be composed of chips or may include chips and other discrete devices.

[0574] Please see Figure 18 , Figure 18 This is a schematic diagram of another communication device provided in this application. The communication device 180 may include a processor 181 and an interface circuit 182. The interface circuit 182 can be used to receive signals from other communication devices besides the communication device 180 and transmit them to the processor, or to send signals from the processor to other communication devices besides the communication device 180. The processor 181 can be used to implement the sensing method described in the preceding embodiments through logic circuits or by executing computer programs or instructions.

[0575] In some possible designs, the communication device 180 can be Figures 2 to 15 The first network element, second network element, first terminal device, or first network device in the sensing method described herein, or a device including the first network element, second network element, first terminal device, or first network device mentioned above, or a device contained in the first network element, second network element, first terminal device, or first network device mentioned above, such as a chip system.

[0576] This application also provides a communication system. The communication system includes at least one first terminal device, at least one first network device, and a first network element as described above. Optionally, it may also include a second network element. These entities work together to implement the sensing method described in the preceding embodiments.

[0577] In the above method embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0578] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0579] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0580] The above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A perception method, comprising: The method is suitable for a first network element or a device in the first network element, and the method comprises: sending sensing assistance data to at least one first terminal device and at least one first network device, wherein the sensing assistance data is used for transmission and / or measurement of a sensing signal, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; receiving N1 pieces of sensing measurement information from the at least one first terminal device, wherein the N1 pieces of sensing measurement information are obtained based on measurement of the sensing signal, the sensing signal is sent by the at least one first network device and received by the at least one first terminal device, and N1 is a positive integer greater than or equal to 1; determining a sensing result of a to-be-sensed object according to the N1 pieces of sensing measurement information.

2. The method of claim 1, wherein, The method further comprises: sending a first request to a second network element; wherein the first request comprises indication information of a first screening condition, and the first request is used to instruct the second network element to perform screening of terminal devices based on the first screening condition.

3. The method of claim 2, wherein, The method further comprises: receiving a first response corresponding to the first request; wherein the first response comprises device identification information of N4 pieces of second terminal devices, the N4 pieces of second terminal devices are used to determine the at least one first terminal device, the N4 pieces of second terminal devices are screened from N2 pieces of second terminal devices based on the first screening condition, the N2 pieces of second terminal devices are managed by N3 pieces of second network devices serving the first network element, and N2, N3 and N4 are positive integers greater than or equal to 1.

4. The method of claim 3, wherein, The first screening condition is associated with location information of terminal devices, and the N4 pieces of second terminal devices are screened from the N2 pieces of second terminal devices based on the first screening condition and location information of each second terminal device in the N2 pieces of second terminal devices.

5. The method according to claim 3 or 4, characterized in that, The method further comprises, in a case where the first response is not received within a first time length, or in a case where a second response corresponding to the first request is received; sending a second request to the second network element, wherein the second response is used to indicate that no second terminal device is screened based on the first screening condition, the second request comprises indication information of a second screening condition, and the second request is used to instruct the first network element to screen the N2 pieces of second terminal devices based on the second screening condition; receiving a third response corresponding to the second request; wherein the third response comprises device identification information of N5 pieces of second terminal devices, the N5 pieces of second terminal devices are used to determine the at least one first terminal device, the N5 pieces of second terminal devices are screened from the N2 pieces of second terminal devices based on the second screening condition, and N5 is a positive integer greater than or equal to 1.

6. The method of claim 5, wherein, The second request further includes first indication information, the first indication information being used to indicate a time point of screening the N2 second terminal devices based on the first screening condition, and an interval between the time point of screening the N2 second terminal devices based on the first screening condition and a time point of screening the N2 second terminal devices based on the second screening condition being equal to or greater than a second time length.

7. The method of claim 1, wherein, The method further includes: obtaining N3 second network devices serving the first network element, where N3 is a positive integer greater than or equal to 1; in a case where N6 second terminal devices meeting a third screening condition are obtained from the N2 second terminal devices, the N6 second terminal devices are determined as the at least one first terminal device, where the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: sending a perception information request to the at least one first terminal device, where the perception information request is used to trigger the at least one first terminal device to obtain the N1 perception measurement information.

9. A perception method comprising: The method is suitable for a second network element or a device in the second network element, and the method includes: sending perception assistance data to the at least one first terminal device and the at least one first network device, where the perception assistance data is used for transmission and / or measurement of a perception signal, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; sending N1 perception measurement information to the first network element, where the N1 perception measurement information is used to determine a perception result of a to-be-perceived object, the N1 perception measurement information is obtained based on measurement of the perception signal, the perception signal is sent by the at least one first network device and received by the at least one first terminal device, and N1 is a positive integer greater than or equal to 1.

10. The method of claim 9, wherein, The method further includes: receiving a first request from the first network element, where the first request includes indication information of a first screening condition; in a case where N4 second terminal devices meeting the first screening condition are obtained from the N2 second terminal devices, sending a first response to the first network element, where the first response includes identification information of the N4 second terminal devices, the N4 second terminal devices are used to determine the at least one first terminal device, the N2 second terminal devices are managed by N3 second network devices, the N3 second network devices serve the first network element, and N2 and N3 are positive integers greater than or equal to 1.

11. The method of claim 10, wherein, The first screening condition is associated with location information of a terminal device, and the N4 second terminal devices are screened from the N2 second terminal devices based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

12. The method according to claim 10 or 11, characterized in that, The method further includes: In a case where no second terminal device is screened out based on the first screening condition, the first response is not sent to the first network element, or a second response corresponding to the first request is sent to the first network element, where the second response is used to indicate that no second terminal device is screened out based on the first screening condition.

13. The method of claim 12, wherein, The method further includes: receiving a second request from the first network element, where the second request includes indication information of a second screening condition, and the second request is used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition; sending, to the first network element, a third response corresponding to the second request, where the third response includes device identification information of N5 second terminal devices, the N5 second terminal devices are used to determine the at least one first terminal device, the N5 second terminal devices are screened from the N2 second terminal devices based on the second screening condition, N5 is a positive integer greater than or equal to 1.

14. The method of claim 13, wherein, The second request further includes first indication information, and the first indication information is used to indicate a time interval between a time of screening the N2 second terminal devices based on the first screening condition and a time of screening the N2 second terminal devices based on the second screening condition, and the time interval is equal to or greater than a second time length.

15. A perception method comprising: The method is applicable to a first terminal device or a device in the first terminal device, and the method includes: receiving perception assistance data from a first network element, where the perception assistance data is used for transmission and / or measurement of a perception signal; sending, to the first network element, perception measurement information, where the perception measurement information is used to determine a perception result of a to-be-perceived object, the perception signal is sent by a first network device managing the first terminal device and received by the first terminal device, and the first network device serves the first network element.

16. The method of claim 15, wherein, The method further includes: receiving a perception information request from the first network element, where the perception information request is used to trigger the first terminal device to acquire the perception measurement information.

17. The method according to any one of claims 1 to 16, characterized in that, The perception assistance data includes resource configuration information corresponding to the perception signal and / or reporting configuration information.

18. The method according to any one of claims 1 to 17, characterized in that, The perception assistance data further includes second indication information determined by the first network element, and the second indication information is used to indicate at least one of the following: the first network element is a perception initiator, the perception signal is a downlink signal, and the perception result is determined based on a first perception reconstruction algorithm.

19. A perception method comprising: The method is applicable to a first network element or a device in the first network element, and the method includes: sending, to at least one first network device, a perception information request, where the perception information request is used to trigger the at least one first network device to send perception assistance data to at least one first terminal device, the at least one first network device manages the at least one first terminal device, the at least one first network device serves the first network element, and the perception assistance data is used for transmission and / or measurement of a perception signal; sending a sensing activation request to the at least one first network device, wherein the sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to trigger the at least one first terminal device to send the sensing signal; receiving N1 sensing measurement information from the at least one first network device, wherein the N1 sensing measurement information is based on the sensing signal measurement, the sensing signal is sent by the at least one first terminal device and received by the at least one first network device, and N1 is a positive integer greater than or equal to 1; determining a sensing result of a to-be-sensed object according to the N1 sensing measurement information.

20. The method of claim 19, wherein The method further comprises: sending a sensing deactivation request to the at least one network device, wherein the sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to instruct the N1 first terminal devices to stop sending the sensing signal.

21. A perception method comprising: The method is applicable to a second network element or a device in the second network element, and the method comprises: sending a sensing information request from the first network element to at least one first network device, wherein the sensing information request is used to trigger the at least one first network device to send sensing assistance data to at least one first terminal device, the sensing assistance data is used for transmission and / or measurement of a sensing signal, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; sending a sensing activation request from the first network element to the at least one first network device, wherein the sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to instruct the at least one first terminal device to send the sensing signal; sending N1 sensing measurement information from the at least one first network device to the first network element, wherein the N1 sensing measurement information is used to determine a sensing result of a to-be-sensed object, the N1 sensing measurement information is based on the sensing signal measurement, the sensing signal is received by the at least one first network device, and N1 is a positive integer greater than or equal to 1.

22. The method of claim 21, wherein, The method further comprises: sending a sensing deactivation request from the first network element to the at least one first network device, wherein the sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to instruct the at least one first terminal device to stop sending the sensing signal.

23. A perception method comprising: The sensing method is applicable to a first network device or a device in the first network device, and the method comprises: receive a sensing information request, and send sensing assistance data to a first terminal device according to the sensing information request, wherein the sensing assistance data is used for transmission and / or measurement of a sensing signal; receive a sensing activation request, and send sensing signal activation information to the first terminal device according to the sensing activation request, wherein the sensing signal activation information is used for instructing the first terminal device to send a sensing signal; send sensing measurement information, wherein the sensing measurement information is used for determining a sensing result of an object to be sensed, and the sensing measurement information is obtained based on a sensing signal received by the first network device.

24. The method of claim 23, wherein, The method further comprises: receive a sensing deactivation request, and send sensing signal deactivation information to the first terminal device according to the sensing deactivation request, wherein the sensing signal deactivation information is used for instructing the first terminal device to stop sending a sensing signal.

25. The method of any one of claims 19-24, wherein, The sensing assistance data comprises resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

26. The method of any one of claims 19-25, wherein, The sensing assistance data further comprises third indication information determined by the first network element, and the third indication information is used for indicating at least one of the following: the first network element is a sensing initiator, the sensing signal is an uplink signal, or the sensing result is determined based on a second sensing reconstruction algorithm.

27. A communications device, characterized by The communication device comprises units for implementing the sensing method according to any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26.

28. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program is executed, the sensing method according to any one of claims 1-8, or 9-14, or 15-18, or 19-20, or 21-22, or 23-26 is implemented.

29. A chip system, characterized by comprise a processor; The processor is configured to execute computer execution instructions to enable a device installed with the chip system to perform the sensing method according to any one of claims 1-8, or 9-14, or 15-18, or 19-20, or 21-22, or 23-26.

30. The chip system of claim 29, wherein, The chip system further comprises an interface circuit configured to receive the computer execution instructions and transmit the computer execution instructions to the processor.

31. A computer program product, the computer program product being configured to execute the sensing method according to any one of claims 1-8, or 9-14, or 15-18, or 19-20, or 21-22, or 23-26.

32. A communications device, characterized by comprise: at least one processor and a memory; The memory is configured to store a computer program; The processor is configured to execute the computer program stored in the memory, so that the communication device performs the perception method according to any one of claims 1-8, or claims 9-14, or claims 15-18, or claims 19-20, or claims 21-22, or claims 23-26.

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