Communication method and device

Abstract

The invention discloses a communication method and a communication device, which are used for reducing the feedback overhead of a sensing result in a multi-carrier sensing scene. The method comprises: a first communication device receiving resource configuration information, the resource configuration information being used for configuring a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource in a first carrier, and the second sensing resource being a sensing resource in a second carrier; the first communication device receives a first sensing signal according to the first sensing resource and obtains a first sensing result according to the first sensing signal, and the first sensing result comprises a sensing result of the first object; the first communication device receives a second sensing signal according to the second sensing resource and obtains a second sensing result according to the second sensing signal, and the second sensing result comprises a sensing result of the first object; and the first communication device sends a third perception result, wherein the third perception result is a perception result of the first object obtained according to the first perception result and the second perception result.

Description

Technical Field

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

[0002] With the development of network technology, base stations can utilize communication signals to achieve sensing functions such as detection, positioning, identification, and imaging of target objects. Wireless communication systems composed of base stations and terminals, or base stations and other base stations, can use sensing functions to acquire information about the surrounding environment, intelligently and accurately allocate communication resources, explore potential communication capabilities, and enhance user experience. Taking a communication system composed of base stations and terminals as an example, one possible approach is that the base station transmits sensing signals, and the terminal receives the echo signals reflected from the sensing target. The terminal can then obtain the sensing result of the target based on the received echo signals.

[0003] Currently, in multi-carrier sensing scenarios, reducing the feedback overhead of sensing results is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a communication method and apparatus to reduce the feedback overhead of sensing results in multi-carrier sensing scenarios.

[0005] Firstly, embodiments of this application provide a communication method, which can be executed by a first communication device, or in other words, the method can be applied to a first communication device. Unless otherwise specified, the "first communication device" in this application can refer to the terminal device or base station and other access network equipment itself, or it can be a component within the terminal device or base station and other access network equipment (e.g., a functional module, communication module, processor, circuit, chip, or chip system), or it can be a logic module or software capable of implementing all or part of the functions of the terminal device or access network equipment. The first communication device can be used to obtain a sensing result based on a sensing signal; for example, the first communication device is the receiving end of the echo signal corresponding to the sensing signal. Optionally, the sensing signal can be sent by the first communication device or by a second communication device.

[0006] Taking a first communication device as the executing entity as an example, the method includes: the first communication device receiving resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; the first communication device receiving a first sensing signal based on the first sensing resource, and obtaining a first sensing result based on the first sensing signal, the first sensing result including a sensing result of a first object; the first communication device receiving a second sensing signal based on the second sensing resource, and obtaining a second sensing result based on the second sensing signal, the second sensing result including a sensing result of the first object; and the first communication device sending a third sensing result, the third sensing result being a sensing result of the first object obtained based on the first sensing result and the second sensing result.

[0007] Based on the method shown in the first aspect, the first sensing result corresponding to the first carrier and the second sensing result corresponding to the second carrier both include the sensing result of the first object. The first communication device can send a third sensing result, wherein the third sensing result can be the sensing result of the first object obtained based on the first sensing result and the second sensing result. That is, in the process of the first communication device feeding back the sensing result of the first object, the first communication device only needs to feed back the sensing result of the first object obtained by merging the sensing results of multiple carriers, and does not need to repeatedly send the sensing result of the first object for each carrier, which can reduce the feedback overhead of the sensing result.

[0008] In one possible implementation, the first perception result further includes the perception result of the second object; the first communication device may also send the perception result of the second object, wherein the sending order of the third perception result and the perception result of the second object is determined according to the priority of the perception result of the first object and the priority of the perception result of the second object.

[0009] Based on this method, the first communication device can determine the transmission order of sensing results among multiple objects according to priority. The transmission order can represent the reliability of the sensing results, and correspondingly, the second communication device can determine the reliability of the sensing results based on the transmission order. Therefore, the reliability of the sensing results can be implicitly indicated by the transmission order.

[0010] In one possible implementation, the priority of the perception result of the first object and / or the priority of the perception result of the second object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; the correspondence between the number of carriers corresponding to the object's perception result and priority; and the priority of the first carrier.

[0011] Based on this implementation method, the priority of the perception results of different objects can be reasonably determined in this application according to at least one of the above correspondences.

[0012] In one possible implementation, the priority of the perception result of the first object and the priority of the perception result of the second object are determined according to the correspondence between the number of carriers corresponding to the perception result of the object and the priority, including: if the second perception result does not include the perception result of the second object, and the number of carriers corresponding to the perception result of the object is positively correlated with the priority, then the priority of the perception result of the first object is higher than the priority of the perception result of the second object.

[0013] Based on this implementation, if the sensing results corresponding to both the first and second carriers include the sensing result of the first object, and the sensing result of the first carrier includes the sensing result of the second object, but the sensing result of the second carrier does not include the sensing result of the second object, then it can be determined that the priority of the sensing result of the first object is higher than the priority of the sensing result of the second object. In other words, the transmission order of the first object takes precedence over the transmission order of the second object. It can be considered that the sensing result of an object covered by sensing signals from multiple carriers (such as the sensing result of the first object) has a higher priority than the sensing result of an object covered by sensing signals from only one carrier (such as the sensing result of the second object).

[0014] In one possible implementation, the resource configuration information is used to configure sensing resources within N carriers, the N carriers including the first carrier and the second carrier; the sensing results corresponding to K carriers among the N carriers include the sensing results of the first object, where K is a positive integer greater than or equal to 1, the K carriers including the first carrier and the second carrier, and the third sensing result is obtained based on the sensing results corresponding to the K carriers; the sensing results corresponding to L carriers among the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, the L carriers including the first carrier; when K is greater than L, the priority of the sensing results corresponding to the first object is higher than the priority of the sensing results corresponding to the second object.

[0015] Based on this implementation, it can be assumed that the larger the number of carriers corresponding to the perceived result of an object, the higher the priority or reliability of the perceived result of that object. In other words, when the perceived result of an object is included in the perceived results of sensing signals from more carriers, the perceived result of that object has a higher priority, meaning its reliability is higher.

[0016] In one possible implementation, the second sensing result further includes the sensing result of a third object; the first communication device may also send the sensing result of the third object, wherein the sending order of the third sensing result, the sensing result of the second object, and the sensing result of the third object is determined according to the priority of the sensing result of the first object, the priority of the sensing result of the second object, and the priority of the sensing result of the third object; or, the sending order of the third sensing result and the sensing result of the third object is determined according to the priority of the sensing result of the first object and the priority of the sensing result of the third object; or, the sending order of the sensing result of the second object and the sensing result of the third object is determined according to the priority of the sensing result of the second object and the priority of the sensing result of the third object.

[0017] Based on this implementation, when the sensing results of multiple carriers include sensing results of different objects, the transmission order of the sensing results of different objects can be determined according to the priority, so as to support implicitly indicating the reliability of the sensing results corresponding to different carriers through the transmission order.

[0018] In one possible implementation, the priority of the perception result of the third object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; the correspondence between the number of carriers corresponding to the object's perception result and priority; and the priority of the second carrier.

[0019] Based on this implementation method, the priority of the perception result of the third object can be reasonably determined in this application according to at least one of the above correspondences.

[0020] In one possible implementation, the first communication device may receive first indication information, which is used to determine the priority of the perception result of the first object and the priority of the perception result of the second object. The first indication information is used to indicate at least one of the following: the correspondence between the position information and priority of the object; the correspondence between the speed information and priority of the object; the correspondence between the features and priority of the object; the priority of the first carrier and the priority of the second carrier.

[0021] Based on this implementation, the first communication device can receive the indication information of the above correspondence to obtain the above correspondence. In another implementation, the above correspondence may be pre-configured in the first communication device, for example, the above correspondence may be stored in the factory configuration of the first communication device, or the first communication device may obtain the above correspondence based on a relevant protocol.

[0022] In one possible implementation, the perception result of the first object and / or the perception result of the second object includes at least one of the following: the object's position information; the object's velocity information; and the object's characteristics.

[0023] Based on this implementation, the first communication device can determine the priority of the object's perception results by combining the location information, velocity information, and / or features in the object's perception results with the aforementioned correspondence. The object's features may include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0024] Secondly, embodiments of this application provide a communication method, which can be executed by a second communication device, or in other words, the method can be applied to a second communication device. Unless otherwise specified, the "second communication device" in this application can refer to the terminal device, base station, or other access network equipment, or the core network element itself, or it can be a component (e.g., a functional module, communication module, processor, circuit, chip, or chip system) within the terminal device, access network equipment, or core network element, or it can be a logic module or software capable of implementing all or part of the functions of the terminal device, access network equipment, or core network element. The second communication device can be used to receive sensing results fed back by the first communication device; for example, the second communication device may be the transmitter of a sensing signal, or it may be an access network equipment or core network element that configures sensing resources.

[0025] Taking a second communication device as the executing entity as an example, the method includes: the second communication device sending resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; the second communication device receiving a third sensing result from a first communication device, the third sensing result being a sensing result of a first object obtained based on the first sensing result and the second sensing result, the first sensing result including the sensing result of the first object, the second sensing result including the sensing result of the first object, the first sensing result being obtained based on a first sensing signal, the first sensing signal being received by the first communication device based on the first sensing resource, the second sensing result being obtained based on the second sensing signal, and the second sensing signal being received by the first communication device based on the second sensing resource.

[0026] In one possible implementation, the first sensing result further includes the sensing result of the second object, and the second communication device can also receive the sensing result of the second object. The transmission order of the third sensing result and / or the sensing result of the second object is determined according to the priority of the sensing result of the first object and the priority of the sensing result of the second object.

[0027] In one possible implementation, the priority of the perception result of the first object and / or the priority of the perception result of the second object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; and the correspondence between the number of carriers corresponding to the object's perception result and priority.

[0028] In one possible implementation, the priority of the perception result of the first object and the priority of the perception result of the second object are determined according to the correspondence between the number of carriers corresponding to the perception result of the object and the priority, including: if the second perception result does not include the perception result of the second object, and the number of carriers corresponding to the perception result of the object is positively correlated with the priority, then the priority of the perception result of the first object is higher than the priority of the perception result of the second object.

[0029] In one possible implementation, the resource configuration information is used to configure sensing resources within N carriers, the N carriers including the first carrier and the second carrier; the sensing results corresponding to K carriers among the N carriers include the sensing results of the first object, where K is a positive integer greater than or equal to 1, the K carriers including the first carrier and the second carrier, and the third sensing result is obtained based on the sensing results corresponding to the K carriers; the sensing results corresponding to L carriers among the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, the L carriers including the first carrier; when K is greater than L, the priority of the sensing results corresponding to the first object is higher than the priority of the sensing results corresponding to the second object.

[0030] In one possible implementation, the second sensing result further includes the sensing result of a third object, and the second communication device can also receive the sensing result of the third object. The transmission order of the third sensing result, the sensing result of the second object, and the sensing result of the third object is determined according to the priority of the sensing result of the first object, the priority of the sensing result of the second object, and the priority of the sensing result of the third object; or, the transmission order of the third sensing result and the sensing result of the third object is determined according to the priority of the sensing result of the first object and the priority of the sensing result of the third object; or, the transmission order of the sensing result of the second object and the sensing result of the third object is determined according to the priority of the sensing result of the second object and the priority of the sensing result of the third object.

[0031] In one possible implementation, the priority of the perception result of the third object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; the correspondence between the number of carriers corresponding to the object's perception result and priority; and the priority of the second carrier.

[0032] In one possible implementation, the second communication device may further transmit first indication information, which is used to determine the priority of the perception result of the first object and the priority of the perception result of the second object. The first indication information is used to indicate at least one of the following: the correspondence between the position information and priority of the object; the correspondence between the speed information and priority of the object; the correspondence between the features and priority of the object; the priority of the first carrier; and the priority of the second carrier.

[0033] In one possible implementation, the perception result of the first object and / or the perception result of the second object includes at least one of the following: the object's position information; the object's velocity information; and the object's characteristics.

[0034] In one possible implementation, the object is characterized by at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0035] The technical effects brought about by the second aspect above and any possible implementation methods can be found in the description of the beneficial effects of the solutions in the first aspect above and the corresponding implementation methods, and will not be repeated here.

[0036] Thirdly, embodiments of this application provide a communication method, which can be executed by a first communication device, as described in the first aspect. Taking the first communication device as the executing entity as an example, the method includes: the first communication device receiving resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; the first communication device receiving a first sensing signal based on the first sensing resource, and obtaining a first sensing result based on the first sensing signal, the first sensing result including a sensing result of a second object; the first communication device receiving a second sensing signal based on the second sensing resource, and obtaining a second sensing result based on the second sensing signal, the second sensing result including a sensing result of a third object; the first communication device sending the sensing result of the second object and the sensing result of the third object, wherein the sending order of the sensing result of the second object and the sensing result of the third object is determined according to the priority corresponding to the sensing result of the second object and the priority corresponding to the sensing result of the third object.

[0037] Based on the third aspect, the first communication device can determine the transmission order of the perception results of the second object and the third object based on the priority of the perception results of the second object and the priority of the perception results of the third object. The transmission order can represent the reliability between the perception results, and correspondingly, the second communication device can determine the reliability of the perception results based on the transmission order. Therefore, the reliability of the perception results can be implicitly indicated by the transmission order.

[0038] In one possible implementation, the priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined based on at least one of the following: the correspondence between the location information and priority of the object; the correspondence between the features and priority of the object; the priority of the first carrier; the priority of the second carrier; and the correspondence between the number and priority of the carriers corresponding to the perception result of the object.

[0039] Based on this implementation method, the priority of the perception result of the second object and the priority of the perception result of the third object can be reasonably determined in this application according to at least one of the above correspondences.

[0040] In one possible implementation, the resource configuration information includes sensing resources within N carriers, where N carriers include the first carrier and the second carrier, and N is a positive integer greater than 1; the sensing results corresponding to L carriers among the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; the sensing results corresponding to M carriers among the N carriers include the sensing results of the second object, where M is a positive integer greater than or equal to 1, and the M carriers include the second carrier; when L is greater than M, the transmission order of the sensing results of the second object is earlier than the transmission order of the sensing results of the third object.

[0041] Based on this implementation, it can be assumed that the larger the number of carriers corresponding to the perceived result of an object, the higher the priority or reliability of the perceived result of that object. In other words, when the perceived result of an object is included in the perceived results of sensing signals from more carriers, the perceived result of that object has a higher priority, meaning its reliability is higher.

[0042] In one possible implementation, the first perception result further includes the perception result of the first object, the second perception result further includes the perception result of the first object, and the first communication device may also send a third perception result, which is the perception result of the first object obtained based on the first perception result and the second perception result.

[0043] Based on this implementation, the first sensing result corresponding to the first carrier and the second sensing result corresponding to the second carrier both include the sensing result of the first object. The first communication device can send the third sensing result without having to repeatedly send the sensing result of the first object for each carrier, thereby reducing the feedback overhead of the sensing result.

[0044] In one possible implementation, the priority of the perception result of the first object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; the correspondence between the number of carriers corresponding to the object's perception result and priority; and the priority of the first carrier.

[0045] Based on this implementation method, the priority of the perception result of the first object can be reasonably determined in this application according to at least one of the above correspondences.

[0046] In one possible implementation, the method further includes: receiving first indication information, the first indication information being used to indicate at least one of the following: a correspondence between the location information and priority of an object; a correspondence between the characteristics and priority of an object; the priority of the first carrier; and the priority of the second carrier.

[0047] Based on this implementation, the first communication device can receive the indication information of the above correspondence to obtain the above correspondence. In another implementation, the above correspondence may be pre-configured in the first communication device, for example, the above correspondence may be stored in the factory configuration of the first communication device, or the first communication device may obtain the above correspondence based on a relevant protocol.

[0048] In one possible implementation, the perception result of the second object and / or the perception result of the third object includes at least one of the following: the object's position information; the object's velocity information; and the object's characteristics.

[0049] Based on this implementation, the first communication device can determine the priority of the object's perception results by combining the location information, velocity information, and / or features in the object's perception results with the aforementioned correspondence. The object's features may include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0050] Fourthly, embodiments of this application provide a communication method, which can be executed by a second communication device, as described in the second aspect. Taking the second communication device as the executing entity as an example, the method includes: the second communication device sending resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; the second communication device receiving a sensing result of a second object and a sensing result of a third object, wherein the sensing result of the second object is included in a first sensing result, the first sensing result including the sensing result of the first object, the first sensing result being obtained based on a first sensing signal corresponding to the first sensing resource, the sensing result of the third object being included in a second sensing result, the second sensing result being obtained based on a second sensing signal corresponding to the second sensing resource, and the sending order of the sensing result of the second object and the sensing result of the third object being determined according to the priority corresponding to the sensing result of the second object and the priority corresponding to the sensing result of the third object.

[0051] In one possible implementation, the priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined based on at least one of the following: the correspondence between the location information and priority of the object; the correspondence between the features and priority of the object; the priority of the first carrier; the priority of the second carrier; and the correspondence between the number and priority of the carriers corresponding to the perception result of the object.

[0052] In one possible implementation, the resource configuration information includes sensing resources within N carriers, where N carriers include the first carrier and the second carrier, and N is a positive integer greater than 1; the sensing results corresponding to L carriers among the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; the sensing results corresponding to M carriers among the N carriers include the sensing results of the second object, where M is a positive integer greater than or equal to 1, and the M carriers include the second carrier; when L is greater than M, the transmission order of the sensing results of the second object is earlier than the transmission order of the sensing results of the third object.

[0053] In one possible implementation, the first perception result further includes the perception result of the first object, the second perception result further includes the perception result of the first object, and the second communication device may also receive a third perception result, which is the perception result of the first object obtained based on the first perception result and the second perception result.

[0054] In one possible implementation, the sending order of the third perception result, the second object's perception result, and the third object's perception result is determined according to the priority of the first object's perception result, the priority of the second object's perception result, and the priority of the third object's perception result.

[0055] In one possible implementation, the priority of the perception result of the first object is determined based on at least one of the following: the correspondence between the object's position information and priority; the correspondence between the object's velocity information and priority; the correspondence between the object's features and priority; the correspondence between the number of carriers corresponding to the object's perception result and priority; and the priority of the first carrier.

[0056] In one possible implementation, the second communication device may further transmit first indication information, which indicates at least one of the following: the correspondence between the location information and priority of an object; the correspondence between the characteristics and priority of an object; the priority of the first carrier; and the priority of the second carrier.

[0057] In one possible implementation, the perception result of the second object and / or the perception result of the third object includes at least one of the following: the object's position information; the object's velocity information; and the object's characteristics.

[0058] Fifthly, a communication device is provided. The device can implement the method described in any possible implementation of any of the first to fourth aspects. The device possesses the functions of the first or second communication device described above. The device is, for example, a terminal device, a functional module within a terminal device, a network device, or a functional module within a network device, etc.

[0059] In one optional implementation, the device may include modules corresponding one-to-one with the methods / operations / steps / actions performed in any possible implementation of any of the first to fourth aspects. These modules may be hardware circuits, software, or a combination of hardware circuits and software. In another optional implementation, the device includes a processing unit (sometimes also called a processing module) and a communication unit (sometimes also called a transceiver module, communication module, etc.). The transceiver unit is capable of both sending and receiving functions. When the transceiver unit performs the sending function, it may be called a sending unit (sometimes also called a sending module); when it performs the receiving function, it may be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit may be the same functional module, referred to as the transceiver unit, which performs both sending and receiving functions; or, the sending unit and the receiving unit may be different functional modules, with the transceiver unit being a collective term for these functional modules.

[0060] For example, when the apparatus is used to perform the method described in any one of the first to fourth aspects, the apparatus may include a communication unit and a processing unit.

[0061] In a sixth aspect, embodiments of this application also provide a communication device, including a processor for executing a computer program (or computer-executable instructions) stored in a memory, which, when executed, causes the device to perform the method as described in any possible implementation of any of the first to fourth aspects.

[0062] In one possible implementation, the processor and memory are integrated together;

[0063] In another possible implementation, the memory is located outside the communication device.

[0064] The communication device also includes a communication interface for communicating with other devices, such as sending or receiving data and / or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0065] A seventh aspect provides a computer-readable storage medium for storing a computer program or instructions that, when executed, enable the implementation of the method described in any possible implementation of any of the first to fourth aspects, and the method shown in any possible implementation of the method described therein.

[0066] Eighthly, a computer program product containing instructions is provided, which, when run on a computer, enables the method described in any possible implementation of any of the first to fourth aspects to be implemented.

[0067] Ninthly, embodiments of this application also provide a communication device for performing the method described in any possible implementation of any of the first to fourth aspects. This communication device may be, for example, a first communication device or a second communication device.

[0068] In a tenth aspect, a chip system is provided, comprising logic circuitry (or, as understood, a processor, which may include logic circuitry, etc.), and further comprising input / output interfaces. The input / output interfaces can be used to input messages or to output messages. The input / output interfaces can be the same interface, i.e., the same interface can implement both sending and receiving functions; or, the input / output interface includes an input interface and an output interface, the input interface being used to implement the receiving function, i.e., to receive messages; and the output interface being used to implement the sending function, i.e., to send messages. The logic circuitry can be used to perform operations other than the sending and receiving functions in any possible implementation of any of the first to fourth aspects described above; the logic circuitry can also be used to transmit messages to the input / output interfaces or to receive messages from other communication devices from the input / output interfaces. The chip system can be used to implement the methods described in any possible implementation of any of the first to fourth aspects described above. The chip system can be composed of chips or can include chips and other discrete devices.

[0069] Optionally, the chip system may also include a memory, which can be used to store instructions, and the logic circuits can call the instructions stored in the memory to implement the corresponding functions.

[0070] Eleventhly, a communication method is provided. As one implementation, the communication method may include the method implemented by a first communication device as shown in the first aspect and any possible implementations thereof, and the method implemented by a second communication device as shown in the second aspect and any possible implementations thereof. Alternatively, the communication method may include the method implemented by the first communication device as shown in the third aspect and any possible implementations thereof, and the method implemented by the second communication device as shown in the fourth aspect and any possible implementations thereof.

[0071] In a twelfth aspect, a communication system is provided. As one implementation, the communication system may include a first communication device and a second communication device. The first communication device may be used to implement the method shown in the first aspect and any possible implementation thereof, and the second communication device may be used to implement the method shown in the second aspect and any possible implementation thereof. Alternatively, the first communication device may be used to implement the method shown in the third aspect and any possible implementation thereof, and the second communication device may be used to implement the method shown in the fourth aspect and any possible implementation thereof.

[0072] The technical effects brought about by aspects five through twelfth above can be found in the descriptions of the beneficial effects of the corresponding solutions in aspects one through four above, and will not be repeated here. Attached Figure Description

[0073] Figure 1 This application provides a schematic diagram of the architecture of a wireless communication system.

[0074] Figure 2 This application provides a schematic diagram of the architecture of a wireless communication system in an O-RAN scenario.

[0075] Figure 3 This is a schematic diagram of another wireless communication system architecture in an O-RAN scenario provided in an embodiment of this application;

[0076] Figure 4 This is a schematic diagram of another wireless communication system architecture in an O-RAN scenario provided in an embodiment of this application;

[0077] Figure 5A A schematic diagram of a perception architecture provided in an embodiment of this application;

[0078] Figure 5B A schematic diagram of another sensing architecture provided in an embodiment of this application;

[0079] Figure 6 A schematic diagram of another sensing architecture provided in an embodiment of this application;

[0080] Figure 7 A schematic diagram of a sensing mode provided in an embodiment of this application;

[0081] Figure 8 This is a schematic diagram of a carrier aggregation method provided in an embodiment of this application;

[0082] Figure 9 A flowchart illustrating a communication method provided in an embodiment of this application;

[0083] Figure 10 This application provides a schematic diagram illustrating the overlap relationship of inter-carrier sensing results in an embodiment.

[0084] Figure 11 A flowchart illustrating another communication method provided in an embodiment of this application;

[0085] Figure 12 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0086] Figure 13 This is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0087] The specific implementations of this application are described below with reference to the accompanying drawings in the embodiments. However, the implementations of this application may also include combining these embodiments without departing from the spirit or scope of this application, such as using other embodiments and making structural changes. Therefore, the detailed description of the following embodiments should not be understood in a limiting sense. The terminology used in the embodiment section of this application is only used to explain the specific embodiments of this application and is not intended to limit this application.

[0088] The embodiments of 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, worldwide interoperability for microwave access (WIMAX) communication systems, 5G systems or new radio (NR) systems, or to future communication systems or other similar communication systems, or ultra-wideband (UWB) systems, or wireless fidelity (WiFi) systems.

[0089] Figure 1 A possible, non-limiting system schematic diagram is shown. For example... Figure 1As shown, the communication system 1000 includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include an Internet 300. The wireless access network 100 may include at least one wireless access network device (such as...). Figure 1 110a and 110b in the above), may also include at least one terminal (such as Figure 1 (Referring to 120a-120j in the original text). Terminals connect wirelessly to the wireless access network (WLAN) equipment, which in turn connects to the core network via wireless or wired connections. The core network equipment and the WLAN equipment can be independent physical devices, or they can integrate the functions of the core network equipment and the logical functions of the WLAN equipment onto the same physical device. Alternatively, a single physical device can integrate some of the functions of both the core network equipment and the WLAN equipment. Terminals and WLAN equipment can be interconnected via wired or wireless connections. Figure 1 This is just an illustration; the communication system may also include other network devices, such as wireless repeaters and wireless backhaul devices. Figure 1 It is not shown in the middle.

[0090] Radio access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. Radio access network equipment can also be open RAN (O-RAN or ORAN) equipment or cloud radio access network (CRAN) equipment. Radio access network equipment can also be a communication system integrating two or more of the above systems. Radio access network equipment can be a macro base station (such as...) Figure 1 110a in the text), can also be a micro base station or an indoor station (such as... Figure 1 110b in the context can also be a relay node or a donor node, etc.

[0091] Furthermore, the wireless access network equipment can also be a module or unit that performs some of the functions of a base station. For example, it can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. 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.

[0092] The embodiments of this application do not limit the specific technology or device form used in the wireless access network equipment. For ease of description, the wireless access network equipment will be referred to as an access network equipment below. It is understood that the access network equipment can also be called a communication device. For example, an access network equipment can be understood as a device with access network equipment functions. For example, a device with access network equipment functions can be an access network equipment, or some components in an access network equipment, such as CU, DU, etc. It can also be a device that can support the access network equipment to realize this function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in the access network equipment or can be used in conjunction with the access network equipment. In the embodiments of this application, the chip system can be composed of chips or can include chips and other discrete devices.

[0093] A terminal can also be called a terminal device, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, MTC, 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, etc.

[0094] The embodiments of this application do not limit the specific technology or device form used in the terminal. It is understood that a terminal can be referred to as a communication device. For example, a terminal can be understood as a device with terminal functions. For example, a device with terminal functions can be a terminal itself; it can also be a device capable of supporting the terminal in implementing that function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in a terminal or can be used in conjunction with a terminal.

[0095] Figure 2 An example diagram of an O-RAN system is shown. It should be understood that an O-RAN system may also include... Figure 3 Other components besides those shown are not specifically limited here. For example... Figure 2 As shown, access network devices can communicate with the core network (CN) via a backhaul link and with terminal devices via an air interface. For example, an access network device may include a baseband unit (BBU) and a radio unit (RU). The BBU includes at least one control unit (CU) and at least one distribution unit (DU), which can communicate via at least one midhaul link. The BBU communicates with the core network via the backhaul link, and the RU communicates with at least one terminal device via an air interface. The BBU also communicates with at least one RU via a fronthaul link. The BBU and RU may or may not be co-located.

[0096] Figure 3 This diagram illustrates the network element functional division and protocol layer structure of an O-RAN device. It should be noted that... Figure 3 The configuration of CU and DU shown is just an example; the functions of CU and DU can also be configured as needed.

[0097] In some examples, the CU is a logical node carrying the radio resource control (RRC) layer, service data adaptation protocol (SDAP) layer, packet data convergence protocol (PDCP) layer, and other control functions of the access network equipment. The CU connects to network nodes such as the core network through interfaces, which can be interfaces such as E2 interfaces. Optionally, the CU may have some core network functions. The CU (e.g., PDCP layer and higher layers) connects to the DU (e.g., RLC layer and lower layers) through interfaces, which can be interfaces such as F1 interfaces. In some examples, these interfaces (e.g., F1 interfaces) can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, UE context management, RRC message transmission, etc.). F1AP is the application protocol of the F1 interface, defining the F1 signaling procedures in some examples. The F1 interface supports control plane F1-C and user plane F1-U.

[0098] In some examples, the CU can be split into CU-CP (control unit-control plane) and CU-UP (control unit-user plane). CU-CP is a logical node carrying the RRC layer and PDCP-C (control plane part of PDCP) layer, used to implement the CU's control plane functions. CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements in the core network can be access and mobility function (AMF) network elements, such as the access and mobility management function (AMF) in a 5G system. The AMF network element is responsible for mobility management in the mobile network, such as terminal device location updates, terminal device registration with the network, and terminal device handover. CU-UP is a logical node carrying the SDAP layer and PDCP-U (user plane part of PDCP) layer, used to implement the CU's user plane functions. CU-UP can interact with network elements in the core network used to implement user plane functions. These network elements in the core network, such as the UPF (user plane function) in a 5G system, are responsible for data forwarding and receiving in terminal devices. The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0099] In some examples, a DU is a logical node that carries the radio link control (RLC) layer, medium access control (MAC) layer, higher physical layer (PHY) layer, and other functions. In some examples, a DU can control at least one RU. The DU connects to the RU through interfaces, which can be fronthaul interfaces. In some examples, the higher physical layer includes parts of the PHY layer processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation.

[0100] In some examples, the RU is a logical node carrying both lower physical layer (PHY) and radio frequency (RF) processing. In some examples, the RU can be a 3GPP transmission reception point (TRP), a remote radio head (RRH), or other similar entities. In some examples, the lower physical layer includes portions of the PHY processing, such as fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more UEs via a radio link.

[0101] The DU and RU may or may not be co-located. The DU and RU exchange control plane and user plane information via a fronthaul link through a lower-layer split CUS-plane (LLS-CUS) interface. The LLS-CUS may include LLS-C and LLS-U interfaces, respectively providing the control plane (C-Plane) and user plane (U-Plane). In some examples, the control plane (C-Plane) refers to real-time control between the DU and RU. The DU and RU exchange management information via an LLS-M interface on the fronthaul link; the management plane (M-Plane) refers to non-real-time management operations between the DU and RU.

[0102] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0103] Figure 4 This diagram illustrates a common RAN chip architecture. It should be noted that... Figure 4 The RAN chip architecture shown is just an example and can be configured as needed.

[0104] For example, RAN chips are commonly divided into CU, DU, and RU. The CU is a platform that performs upper-layer L2 and L3 functions. The midhaul and backhaul links are used to carry traffic between the CU and DU, as well as between the CU and the core network. The DU performs L1 and some L2 functions, while the RU performs L1 computation and RF digital functions. The fronthaul and backhaul links are used to carry traffic between the RU and DU, as well as between the CU and DU. An integrated DU includes the functions of both the DU and RU.

[0105] The CU / DU hardware includes a chassis platform, motherboard, peripherals, and cooling system. The motherboard contains processing units, memory, internal I / O interfaces, and external connection ports. Its hardware accelerator is designed with interfaces, and hardware functional components include: storage for software, hardware, and system debugging interfaces, and a single-board management controller.

[0106] DU systems are typically implemented using multi-core processors and one or more hardware accelerators. Parts of the DU protocol stack can be implemented in software running on the multi-core processor, while computationally intensive L1 and L2 functions can be offloaded to a field-programmable gate array (FPGA) / graphics processing unit (GPU)-based hardware accelerator; alternatively, all L1 functions can be offloaded to an FPGA / GPU-based hardware accelerator, while other protocol stack components are implemented in software running on the processor; or the entire protocol stack can be implemented in software running on the processor. The hardware accelerator supports interconnection with x86 or non-x86 processors. Similarly, the accelerator has a multi-channel high-speed serial computer expansion bus standard (PCIe) interface pointing to the CPU and external connections via GbE.

[0107] The RU consists of three parts: the O-RAN processing unit (OPU), the digital processing unit (DPU) of the O-RU, and the RF processing unit of the O-RU.

[0108] The OPU receives enhanced common public radio interface (eCPRI) frames from the O-RAN fronthaul and performs fronthaul interface operations, the lowest level L1 (coding, scrambling, modulation, layer mapping, precoding), synchronization, beamforming, and resource unit mapping. The OPU can be implemented as a CPU, FPGA, or application-specific integrated circuit (ASIC).

[0109] The DPU performs synchronization, digital downconversion (DDC) (in UL), digital upconversion (DUC) (in DL), crest factor reduction (CFR), and digital pre-distortion (DPD) to improve power amplifier efficiency by reducing the peak-to-average power ratio (PAPR) / adjacent channel leakage ratio (ACLR) of the RF front end. The DPU can be implemented as an FPGA or ASIC.

[0110] The O-RU's RF processing unit includes a transceiver module, up / down converters, power amplifiers, low-noise amplifiers, and Tx / Rx filters. All conversions between the analog and digital domains (digital-to-analog converters and analog-to-digital converters) (e.g., RF sampling, frequency conversion using RF, local oscillator, and intermediate frequency mixing during up-conversion and down-conversion) are performed within the transceiver module. Note that physical and logical partitions within the RF processing unit do not require specific boundaries.

[0111] It is understood that the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0112] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches may also be used. Additionally, in the embodiments of this application, words such as "exemplarily," "for example," etc., are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the term "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding / relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0113] In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX. "Send information" can include direct transmission or indirect transmission through other communication devices, communication apparatuses, units, or modules. "Receive information from YY" can be understood as the source of the information being YY. "Receive information" can include direct reception from YY or indirect reception from YY through other communication devices, communication apparatuses, units, or modules. Furthermore, "send" can also be understood as the "output" of a chip interface, and "receive" can be understood as the "input" of a chip interface. In other words, "send" or "receive" can occur between devices, such as network devices and terminals transmitting or receiving data via an air interface. "Send" or "receive" can also occur within a device, such as transmitting or receiving data between components, modules, chips, software modules, or hardware modules within a device via a bus, wiring, or interface.

[0114] In this application, "for indicating" can include both direct and indirect indication. When describing "information" for indicating A, it can include whether the information directly indicates A or indirectly indicates A, but does not necessarily mean that the information carries A.

[0115] The information indicated by a given piece of information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as, but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or its index. It can also be indirectly indicated by indicating other information, where there is a relationship between the other information and the information to be indicated. It can also indicate only a part of the information to be indicated, while the other parts are known or pre-agreed upon. For example, the indication of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing the indication overhead to some extent. At the same time, common parts of various pieces of information can be identified and indicated uniformly to reduce the indication overhead caused by individually indicating the same information.

[0116] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0117] The information to be indicated can be sent as a whole or divided into multiple sub-information messages, and the sending period and / or timing of these sub-information messages can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device. Taking the configuration of the UE by the access network device as an example, the configuration information can include, for example but not limited to, one or a combination of at least two of RRC signaling (or RRC messages), MAC layer signaling, and physical layer signaling. MAC layer signaling includes, for example, MAC control elements (CE). Physical layer signaling includes, for example, downlink control information (DCI) and other signaling or messages carried on the physical downlink control channel (PDCCH), and may also include downlink data (e.g., data transmitted on the physical downlink shared channel (PDSCH)).

[0118] "Preset," "predefined," or "preconfigured" can be implemented by pre-storing corresponding codes, tables, or other means of indicating relevant information in the device (e.g., including terminals and network devices), or by pre-defining them in a protocol. This application does not limit the specific implementation method. "Stored" can refer to storing in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or communication device. Alternatively, some memories can be separate installations, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0119] The following is a brief description of the technical concepts involved in this application:

[0120] 1. Perceiving the object

[0121] The sensing object can also be called the sensing target, sensing point, unit point, or reflection point, etc. In this application, the sensing object can be simply referred to as the object. The sensing object can be a static object, such as the physical environment around it, such as buildings, etc. The sensing object can also be a dynamic object, such as a drone or a car, etc., and this application does not limit it in this regard.

[0122] 2. Sensing signals

[0123] The sensing signal is a signal used for sensing, and it can be a signal whose initial amplitude and phase can be known by the receiver. Optionally, the sensing signal can be a reference signal, such as CSI-RS or a sounding reference signal (SRS), and the initial amplitude and phase information of the sensing signal can be pre-configured to the receiver by means of a configuration sequence, etc. The sensing signal can also be a data signal, and the receiver can calculate the initial amplitude and phase of each data signal by means of a known modulation method such as data verification. The sensing signal can also be any other signal whose initial amplitude and phase can be known by the receiver. This application does not limit the presentation form of the sensing signal.

[0124] 3. Perception Results

[0125] The sensing result, also known as sensing data or sensing information, refers to the relevant information of the sensed object acquired by the receiving end through sensing signals. For example, the sensing result can be a distance-angle spectrum or a point cloud. This application does not limit the specific form of the sensing result.

[0126] The distance-angle spectrum refers to a two-dimensional matrix or spectrum, for example, with time delay as the horizontal axis and angle as the vertical axis, and the energy-to-interference-plus-noise ratio (SNR) ratio of each point as an element in the distance-angle spectrum.

[0127] Point clouds, or point cloud data, are datasets of points in space that can represent three-dimensional shapes or perceived objects. The position of each point in a point cloud is described by a set of Cartesian coordinates, and some may contain information such as the intensity of the object's reflective surface and its velocity.

[0128] In the fifth generation mobile communication system (the 5 th In the evolution from 5G (first generation, 5G) to 5G-advanced (5G-A) technology, integrated communication and sensing technology is considered one of the key technologies for expanding the service capabilities of mobile communication networks. The core idea of ​​this technology is to add sensing capabilities to the mobile communication network, building the ability to detect, track, and image objects, thereby integrating communication and sensing capabilities into a single network to achieve harmonious coexistence and even mutual benefit.

[0129] The technical principles of sensing differ somewhat from those of communication. In communication, the transmitting end modulates information onto radio waves and sends it to the receiving end, which then demodulates the signal to obtain the information. Sensing, however, requires the transmitting end to send radio waves in a specific direction. When these radio waves strike the surface of an object, they are reflected, and the receiving end receives and processes these reflected waves to obtain information such as the object's position, speed, and type.

[0130] Sensing can generally be divided into two modes: single-site sensing and dual-site sensing. In single-site sensing, the transmitting and receiving ends of the sensing signal are the same device. From the perspective of the sensing signal flow, this sensing station both transmits and receives the signal reflected from the object's surface (also known as the echo signal). Therefore, single-site sensing mode is also called self-transmitting and self-receiving mode. Figure 5A As shown. In dual-station sensing, the transmitting and receiving ends of the sensing signal are two different devices. From the sensing signal flow perspective, after sensing station A transmits the sensing signal, the signal reflected from the object's surface is received by sensing station B. Therefore, dual-station sensing mode is also called A-transmit B-receive mode, as shown. Figure 5B As shown.

[0131] The application scenarios of this application include, but are not limited to, integrated communication and sensing scenarios. Figure 6As shown, a possible, non-limiting integrated communication and sensing scenario is illustrated, in which access network devices and terminals in the communication network can sense objects that do not have communication capabilities while communicating.

[0132] like Figure 7 The diagram illustrates several possible sensing modes. Sensing mode (1) is a scenario where the base station transmits and receives signals independently; sensing mode (2) is a scenario where the UE transmits and receives signals independently; sensing mode (3) is a scenario where base station A transmits and base station B receives signals; sensing mode (4) is a scenario where UE A transmits and UE B receives signals; sensing mode (5) is a scenario where the base station transmits and the UE receives signals; and sensing mode (6) is a scenario where the UE transmits and the base station receives signals. Here, "transmit" can be understood as "sending sensing signals," and "receive" can be understood as "receiving echo signals." This application can be applied to one or more of these sensing modes, and can also be applied to... Figure 7 Other than the perception modes, this application does not specifically limit them.

[0133] In LTE and 5G NR systems, carrier aggregation (CA) is also defined. Based on CA, multiple carriers can be aggregated together to serve a single terminal device. The terminal device can also transmit and receive signals on multiple carriers simultaneously. Among the multiple carriers, one carrier is called the primary component carrier (PCC), and the cell corresponding to the PCC is called a PCell. The remaining carriers are called secondary component carriers (SCCs), and the cell corresponding to the SCC is called an SCell. CA can be classified according to whether the CCs participating in the aggregation belong to the same frequency band and whether they are continuous in the frequency domain:

[0134] i. Continuous CA within a frequency band: CC belongs to the same frequency band and is continuous in the frequency domain. For example... Figure 8 As shown, the aggregation of two consecutive CCs within frequency band A can be used as an example of consecutive CAs within the frequency band.

[0135] ii. Non-contiguous CA within a frequency band: CC belongs to the same frequency band, but is not continuous in the frequency domain. For example... Figure 8 As shown, the aggregation of two discontinuous CCs within frequency band A can serve as an example of a discontinuous CA within the frequency band.

[0136] iii. Inter-band CA: CC belongs to different frequency bands. For example... Figure 8 As shown, the aggregation of CCs within frequency band A and CCs within frequency band B can serve as an example of inter-band CA.

[0137] Based on CA (Cognitive Awareness), terminal devices can transmit and / or receive signals on multiple carriers. Specifically, if the terminal device supports receiving sensing signals (or echo signals of sensing signals) on multiple carriers, then the terminal device can perform sensing on multiple carriers. Similarly, network devices such as base stations can also perform sensing on multiple carriers.

[0138] However, in current multi-carrier sensing scenarios, how to reduce the reporting overhead of sensing results is a technical problem that urgently needs to be solved.

[0139] Among them, sensing based on multiple carriers can be divided into coherent sensing and incoherent sensing. Coherent sensing refers to the process where the terminal device or base station jointly determines the sensing result based on the sensing signals of multiple carriers, that is, the sensing signals of multiple carriers yield one (or a set) sensing result. Incoherent sensing, on the other hand, refers to the process where the terminal device or base station performs sensing on multiple carriers separately, obtaining multiple (or sets) sensing results.

[0140] Currently, in incoherent sensing scenarios, terminal devices or base stations report multiple sensing results separately after obtaining them. However, since the coverage areas of multiple carriers may overlap, the sensing results corresponding to the multiple carriers may contain overlapping objects or overlapping areas. If the sensing results corresponding to the multiple carriers are reported separately, there may be duplicate reporting of overlapping areas or overlapping objects, resulting in excessive reporting overhead.

[0141] In this application, the reporting of perception results can refer to any one or more of the following situations:

[0142] Case 1, for Figure 7 In the self-transmitting and self-receiving modes such as sensing mode (1) and sensing mode (2), the terminal equipment or base station acts as the transmitter of the sensing signal and the receiver of the echo signal, and can obtain the sensing result based on the echo signal. Furthermore, the terminal equipment or base station needs to report the sensing result to the core network element, such as the sensing function (SF) network element.

[0143] Scenario 2, for Figure 7 In scenarios where the receiving and transmitting ends are inconsistent, such as in sensing modes (3) to (6), the receiving end can report the sensing results to the transmitting end. The receiving end can be a terminal device or a network device, and the transmitting end can be a terminal device or a network device. Furthermore, it is also possible for the transmitting end to report the sensing results to core network elements such as sensing function network elements.

[0144] To reduce the overhead of reporting perception results, this application provides a communication method. The following describes this method in conjunction with... Figure 9 The flowchart shown introduces this method.

[0145] In this application, the implementation entities are described using a first communication device and a second communication device as examples. The first communication device can be understood as a device that determines the sensing result based on the echo signal. Specifically, it can be a terminal, a module or chip within a terminal, or an access network device such as a base station, or a module or chip within an access network device. The first communication device can send the sensing result to the second communication device. The second communication device can specifically be a terminal, a module or chip within a terminal, or an access network device such as a base station, or a module or chip within an access network device, or a core network element or a module or chip within a core network element, such as a sensing network element.

[0146] The actions performed by the first communication device can also be replaced by the terminal, access network equipment, modules or chips in the terminal, or modules or chips in the access network equipment. Similarly, the actions performed by the second network device can be replaced by the terminal, access network equipment, core network equipment, modules or chips in the terminal, modules or chips in the access network equipment, or modules or chips in the core network element.

[0147] like Figure 9 As shown, a communication method provided in this application embodiment may include the following steps:

[0148] S101: The second communication device sends resource configuration information.

[0149] Correspondingly, the first communication device receives resource configuration information.

[0150] Resource configuration information can be used to configure multiple sensing resources. Resource configuration information refers to the configuration information of sensing resources. Sensing resources can also be called measurement resources or sensing signal resources, etc.

[0151] In this application, the sensing resource can be a receiving resource for the echo signal. Specifically, the sensing resource can include both time-domain and frequency-domain resources for the echo signal. In some cases, the sensing resource can also be a transmitting resource for the sensing signal. For example, in scenarios involving self-transmission and self-reception, the transmitting resource for the sensing signal and the receiving resource for the echo signal can be the same. In other cases, the transmitting resource for the sensing signal can be different from the receiving resource for the echo signal. Accordingly, the first communication device can receive the echo signal within this sensing resource.

[0152] The resource configuration information configures multiple sensing resources that can correspond to multiple carriers. For example, these multiple sensing resources can be echo signal receiving resources within multiple carriers. Multiple carriers may include at least two carriers from a first carrier, a second carrier, or a third carrier, and may also include other carriers. A carrier can also be referred to as a carrier unit. A carrier can also be replaced by a frequency band or beam. Figure 8As shown, any two carriers can be multiple consecutive carriers in the same frequency band, multiple discontinuous carriers within the frequency band, or different carriers between multiple frequency bands.

[0153] Sensing resources correspond to carriers; that is, sensing resources are sensing resources within a carrier. Multiple sensing resources can reside on at least two carriers. This application does not limit the correspondence between multiple sensing resources and at least two carriers. For example, multiple sensing resources can correspond one-to-one with at least two carriers. Furthermore, among multiple sensing resources, at least two sensing resources can correspond to the same carrier.

[0154] As an example, resource configuration information can be used to configure sensing resources across N carriers, where N is an integer greater than 1. The N carriers can include a first carrier, a second carrier, or a third carrier, etc.

[0155] In S101, the resource configuration information can be used to configure the first sensing resource and the second sensing resource.

[0156] Here, the first sensing resource refers to the sensing resource within the first carrier, that is, the first sensing resource corresponds to the first carrier. It can be considered that the first carrier may contain one or more sensing resources, and these one or more sensing resources may include the first sensing resource.

[0157] The second sensing resource is the sensing resource within the second carrier, meaning the second sensing resource corresponds to the second carrier. It can be considered that the second carrier may contain one or more sensing resources, and these one or more sensing resources may include the second sensing resource.

[0158] It is understandable that, as a way of indicating sensing resources, resource configuration information can include the time-frequency resource information of the sensing resource, as well as carrier information such as carrier index. The resource configuration information can also implicitly indicate the relationship between the sensing resource and the carrier through the frequency domain resource information of the sensing resource. For example, if the frequency domain resource of a certain sensing resource is located within the frequency domain resource of the carrier, it can mean that the sensing resource is a sensing resource within that carrier.

[0159] Alternatively, this resource configuration information can be used to configure sensing resources across N carriers, where N is a positive integer greater than 1. Optionally, N can also be greater than 2, for example, configuring sensing resources across the first, second, and third carriers.

[0160] S102: The first communication device receives the first sensing signal according to the first sensing resource, and obtains the first sensing result according to the first sensing signal.

[0161] The first perception result includes the perception result of the first object. In this application, the object may also be referred to as a target, a perception target, or a perception object, etc.

[0162] The first sensing result can be understood as one or a set of sensing results determined by the first communication device based on the first sensing signal. In this application, a sensing result may refer to the sensing result corresponding to a location information, and a set of sensing results may include multiple sensing results. For example, a set of sensing results may include sensing results corresponding to multiple location information.

[0163] The first sensing signal here can be considered as the echo signal of the sensing signal sent by the transmitting end of the sensing signal according to the first sensing resource. S102 can also be described as: the first communication device receives the echo signal of the first sensing signal according to the first sensing resource. The transmitting end of the sensing signal can be the first communication device, the second communication device, or other communication devices, without specific limitation.

[0164] Specifically, the first sensing result can be considered as the sensing result determined based on the first sensing signal within the coherent processing time. The coherent processing time is a period much longer than the transmission period of the sensing signal. Within the coherent processing time, the transmitting end of the sensing signal transmits multiple sensing signals in the same beam direction, and the receiving end receives the echo signal of each sensing signal. The echo signals of all sensing signals within the coherent processing time are then coherently combined, and the distance and velocity of the target are measured based on the combined signal. The coherent combining of echo signals can be achieved by performing matched filtering and Fourier transform on all echo signals within this time period. In multi-carrier sensing, each carrier is configured with a sensing resource within a certain coherent processing time. One or a set of sensing results can be obtained based on the echo signals within the coherent processing time. The first sensing result can be one or a set of sensing results obtained based on the first sensing signal within the coherent processing time. The coherent processing time can be pre-configured, for example, it can be defined in the sensing-related protocol or in the factory configuration; the coherent processing time can also be indicated by the sensing function network element or the second communication device to the first communication device, which is not specifically limited in this application.

[0165] It is understandable that if the sensing result corresponding to a certain carrier contains the sensing result of a certain object, it can be said that the object can be detected by the sensing signal within that carrier.

[0166] In this application, the perception result may include point cloud data. For example, the first perception result may be a collection of one or more point cloud data. As described above, point cloud data is a dataset of points in space and can represent a three-dimensional shape or object. Specifically, point cloud data may include position information, velocity information, or features, etc.

[0167] The location information may include angle information or coordinates. Angle information may include, for example, the azimuth of arrival (AOA) or the zenith angle of arrival (ZOA). Coordinates may include, for example, three-dimensional coordinates or other forms of second coordinates.

[0168] Velocity information can include Doppler values, velocity values, phase changes, and other information.

[0169] Features may include information such as received power, radar cross section, or object size. Received power includes, for example, reference signal receiving power (RSRP) and per-path RSRP (RSRPPP).

[0170] In addition, point cloud data or features may also include information such as latency information or reliability information of sensing results. Latency information includes, for example, time of arrival (TOA), time difference of arrival (TDOA), or Rx-Tx timing difference. Reliability information, also known as confidence information, can be used to display and indicate the reliability of point cloud data.

[0171] In this application, the object corresponding to the perception result can be determined based on location information. Specifically, if the location information of multiple point cloud data points falls within a certain location range, these multiple point cloud data points can be merged into a perception result for the same object. Conversely, if the location information of multiple point cloud data points does not fall within the same location range, these multiple point cloud data points can be used as perception results for different objects respectively.

[0172] Optionally, the location range can be pre-configured, such as being defined by a perception-related protocol or in the factory configuration; the location range can also be indicated by the perception function network element or the second communication device to the first communication device, and this application does not specifically limit it. Therefore, one or more objects corresponding to the perception result can be determined based on the location information of the point cloud data, and the first object can be one of the one or more objects corresponding to the first perception result. The first communication device can merge multiple point cloud data within the location range of the same object (such as the first object) based on the location information of the point cloud data to obtain the perception result of the object.

[0173] Referring to the description of point cloud data, the perception results of an object can include its position information, velocity information, or features. For example, the object's position information can be represented by the vertex coordinates of the position range or by the center coordinates of the position range. Furthermore, the velocity information of multiple point cloud datasets can be merged to obtain the object's velocity information. Specifically, the velocity information of multiple point cloud datasets can be merged using the maximum likelihood estimation method. Alternatively, the features of multiple point cloud datasets can be merged to obtain the object's features; for example, the maximum likelihood estimation method can be used to merge the features of multiple point cloud datasets to obtain the object's features.

[0174] It can be assumed that the positional information of different objects is not repeated, so different objects can be distinguished by their positional information. Specifically, the positional information of an object can be the regional information of the object's corresponding positional range. For example, the perception result of an object can be obtained by merging point cloud data within its positional range. This positional range can represent the object's positional information; for instance, the positional information can be represented by the vertex coordinates of the positional range, or by the center position of the positional range.

[0175] The above describes a method for obtaining object perception data by merging multiple point cloud datasets based on location information and location range. Depending on the perception requirements, multiple point cloud datasets can also be merged based on velocity information and velocity range to obtain object perception data. For example, multiple point cloud datasets whose velocity information belongs to a certain velocity range can be merged into the perception data of the same object. Alternatively, multiple point cloud datasets can be merged based on features and feature ranges to obtain object perception data.

[0176] Alternatively, point cloud data can be merged based on multiple factors, including location information, velocity information, and features. For example, based on feature information and velocity information, multiple point cloud data points belonging to a certain velocity range within a specific location range can be merged to obtain perceptual data for the same object.

[0177] Optionally, in addition to the perception result of the first object, the first perception result may also include the perception results of other objects, such as the perception result of the second object. The perception result of the second object can be found in the description of the perception result of the first object. It can be understood that the perception result of the second object and the perception result of the first object correspond to the perception results of objects at different locations.

[0178] S103: The first communication device receives the second sensing signal based on the second sensing resource and obtains the second sensing result based on the second sensing signal.

[0179] The second perception result includes the perception result of the first object.

[0180] The second sensing result can be referred to in the explanation of the first sensing result. However, unlike the first sensing result, the second sensing result is obtained based on the echo signal of the second sensing signal corresponding to the second sensing resource.

[0181] Figure 9 In the process, the second sensing result can include the sensing result of the first object; that is, both the first and second sensing results can include the sensing result of the first object. Specifically, the first sensing result can include the sensing results of one or more objects, the second sensing result can include the sensing results of one or more objects, and the first and second sensing results can include the sensing results of one or more identical objects. The first object can be one of these one or more identical objects. This indicates that the first object is sensed by both the sensing signal corresponding to the sensing resource on the first carrier and the sensing signal corresponding to the sensing resource on the second carrier.

[0182] Optionally, in addition to the perception result of the first object, the second perception result may also include the perception results of other objects, such as the perception result of the third object.

[0183] S104: The first communication device sends a third perception result to the second communication device, wherein the third perception result is the perception result of the first object determined based on the first perception result and the second perception result.

[0184] Correspondingly, the second communication device receives the third sensing result.

[0185] The third sensing result is the sensing result of the first object. Alternatively, it can be considered that the third sensing result is determined based on the sensing results of the first object in both the first and second sensing results. Specifically, the third sensing result is obtained by merging the sensing results of the first object in both the first and second sensing results. In other words, when multiple carriers contain sensing results of the same object, the first communication device can feed back the merged sensing result of that object, instead of feeding back the sensing result of that object separately for each carrier. This avoids redundant feedback of the object's sensing result and reduces feedback overhead.

[0186] Specifically, the third perception result can be the combined perception result of the first object in the first perception result and the perception result of the first object in the second perception result.

[0187] For example, the perception result of the first object in the first perception result is denoted as L1(x1,y1,z1), the perception result of the first object in the second perception result is denoted as L2(x2,y2,z2), and the third perception result can be denoted as L. In an exemplary merging method, L1(x1,y1,z1) and L2(x2,y2,z2) can be merged using the maximum likelihood estimation method to obtain L. Then, L, L1(x1,y1,z1), and L2(x2,y2,z2) satisfy the following relationship:

[0188]

[0189] in, These are the detection signal-to-noise ratio or detection signal-to-dryness ratio at the two detection positions L1(x1,y1,z1) and L2(x2,y2,z2), respectively.

[0190] It is understandable that the first communication device in S104 can serve as the receiving end of the echo signal, and the second communication device can serve as the transmitting end of the sensing signal. The first communication device can be a terminal, an access network device, or a module or chip within the terminal, or a module or chip within the access network device. Similarly, the second communication device can be a terminal, an access network device, or a module or chip within the terminal, or a module or chip within the access network device.

[0191] Alternatively, the first communication device can serve as both the transmitter and receiver of the echo signal, while the second communication device can function as a sensing network element or other core network element. The first communication device can be a terminal, access network equipment, or a module or chip within a terminal or access network equipment. The second communication device can be a core network element or a module or chip within a core network element. This core network element can be used to provide sensing configuration; for example, resource configuration information can be determined based on the sensing configuration.

[0192] In one possible embodiment, in addition to transmitting the third sensing result via S104, the first communication device may also obtain and / or transmit other sensing results besides the sensing result of the first object. Other sensing results may include, for example, the sensing results of objects other than the first object. These other sensing results may be obtained according to S102 and / or S103, or they may be sensing results obtained from sensing resources other than the first and second sensing resources; this application does not specifically limit this. For example, the sensing results of other objects may include the sensing results of the second object in the first sensing results and / or the sensing results of the third object in the second sensing results.

[0193] In other words, the first communication device can send perception results of multiple objects, wherein sending perception results of multiple objects includes sending a third perception result via S104. Sending perception results of multiple objects may also include sending perception results of other objects besides the perception result of the first object.

[0194] In this embodiment, when sending the perception results of multiple objects, the first communication device can determine the sending order of the perception results of multiple objects based on their priorities. For example, when sending the third perception result in S104, the first communication device can determine the sending order between the third perception result and the perception results of other objects based on the priority of the first object's perception result and the priorities of the perception results of other objects, and send the third perception result and the perception results of other objects according to this sending order.

[0195] In this application, the transmission order of multiple sensing results can refer to the order in which the sensing results are reported. For example, if multiple sensing results are carried in the same message (or information, field, or information element, etc.), the transmission order can refer to the order in which the sensing results are arranged within that message. For instance, if a sensing result has a higher priority, it is transmitted first, and correspondingly, its position in the message is earlier. If a sensing result has a lower priority, it is transmitted later, and correspondingly, its position in the message is later. Furthermore, if multiple sensing results are carried in multiple messages (or information, field, or information element, etc.), the transmission order can refer to the order in which the message carrying the sensing result is placed within the multiple messages. For instance, if a sensing result has a higher priority, it is transmitted first, and correspondingly, the message carrying the sensing result is placed earlier within the multiple messages. If a sensing result has a lower priority, it is transmitted later, and correspondingly, the message carrying the sensing result is placed later within the multiple messages.

[0196] It can be assumed that the priority of a sensing result is related to its reliability, with higher priority indicating higher reliability. The first communication device can implicitly indicate the reliability of multiple sensing results through their transmission order. Correspondingly, the second communication device can determine the reliability ranking of multiple received sensing results (e.g., sensing results for multiple objects) based on their transmission order. The earlier a sensing result is transmitted, the higher its reliability. For example, if the second communication device receives sensing results for a first object and sensing results for a second object, and the first object's sensing result is transmitted earlier than the second object's, then the second communication device can determine that the reliability of the first object's sensing result is higher than that of the second object's sensing result.

[0197] Furthermore, the sensing results (or features within the sensing results) received by the second communication device in this application may also include reliability information for displaying the reliability of the indication. That is, for the same sensing result, implicit and explicit reliability indications can coexist. The reliability determined by the second communication device based on the transmission order can be understood as coarse-grained reliability, such as a reliability range, or as the relative reliability of multiple sensing results. The reliability of the display indication can be fine-grained reliability, such as quantified reliability.

[0198] The following section introduces the methods for prioritizing the perception results of multiple objects.

[0199] In this application, the priority of the perception results of multiple objects can be related to one or more of the following information, that is, the priority among the perception results of multiple objects can be determined based on one or more of the following information:

[0200] (1) The correspondence between the location information and priority of an object.

[0201] In this application, there can be a correspondence between the object's location information and its priority; for example, different location information corresponds to different priorities. After obtaining the perception result of the object, the priority of that perception result can be determined based on the object's location information and this correspondence. Alternatively, it can be described as the priority of the perceived object (such as the first object) being related to the object's location information, or the object's priority being determined based on the object's location information.

[0202] The correspondence between location information and priority is shown in Table 1.

[0203] Table 1

[0204] Location information Priority; a higher value indicates higher priority. Location #1 3 Position #2, Position #3 2 …… ……

[0205] Table 1 is merely an example of the correspondence between location information and priority, and is not intended to limit the specific nature of the correspondence. In Table 1, location information can specifically be coordinates or a location range, etc. A location range can be represented, for example, by the vertex coordinates or center coordinates of the location range.

[0206] Once the first communication device determines the location information of an object, it can query the correspondence between location information and priority as shown in Table 1 to determine the priority of the perception result corresponding to the object. For example, if the location information of the first object is location #1, or if the location information of the first object indicates that the location of the first object belongs to the location range corresponding to location #1, then the priority of the perception result of the first object can be determined as 3 according to Table 1. Specifically, when the first communication device determines the perception result of the first object and the perception results of other objects, it can query the priority of the perception result of the first object and the priority of the perception results of other objects through the correspondence shown in Table 1.

[0207] Furthermore, Table 1 uses the example of a higher priority value representing a higher priority. For instance, priority 3 has a higher priority than priority 2, meaning the perception results of priority 3 are sent before those of priority 2. Conversely, a higher priority value can also represent a lower priority. For example, priority 3 has a lower priority than priority 2, meaning the perception results of priority 2 are sent before those of priority 3.

[0208] As one possible implementation, the mapping between location information and priority can be pre-configured, for example, defined in a second factory configuration of the first communication device or defined in a protocol. For instance, the first communication device may locally store the mapping between location information and priority, meaning the first communication device can retrieve this mapping locally.

[0209] As another possible implementation, the correspondence between location information and priority can be configured by the second communication device, sensing function network element, or other network element or network device to the first communication device. Taking the configuration of this correspondence by the second communication device as an example, the second communication device can send indication information of the correspondence to the first communication device. This indication information can be used, for example, to indicate the correspondence between location information and priority.

[0210] (2) The correspondence between the speed information and priority of an object.

[0211] In this application, there can be a correspondence between the speed information of an object and its priority; for example, different speed information corresponds to different priorities. After obtaining the perception result of the object, the priority of that perception result can be determined based on the object's speed information and this correspondence. Alternatively, it can be described that the priority of an object (such as the first object) is related to the object's speed information, or that the object's priority is determined based on the object's speed information.

[0212] The correspondence between speed information and priority is shown in Table 2.

[0213] Table 2

[0214] Speed ​​information Priority; a higher value indicates higher priority. Speed ​​#1 3 Speed ​​#2, Speed ​​#3 2 …… ……

[0215] Table 2 is merely an example of the correspondence between speed information and priority, and is not intended to limit the specific nature of the correspondence. In Table 2, the speed information can specifically refer to the object's movement speed or movement speed range.

[0216] Once the first communication device determines the speed information of an object, it can query the correspondence between speed information and priority as shown in Table 2 to determine the priority of the perception result corresponding to the object. For example, if the speed information of the first object is speed #1, or if the speed information of the first object indicates that the speed of the first object belongs to the speed range corresponding to speed #1, then the priority of the perception result of the first object can be determined as 3 according to Table 2. Specifically, when the first communication device determines the perception result of the first object and the perception results of other objects, it can query the priority of the perception result of the first object and the priority of the perception results of other objects through the correspondence shown in Table 2.

[0217] Furthermore, Table 2 uses the example of a higher priority value representing a higher priority. For instance, priority 3 has a higher priority than priority 2, meaning the perception results of priority 3 are sent before those of priority 2. Conversely, a higher priority value can also represent a lower priority; for example, priority 3 has a lower priority than priority 2, meaning the perception results of priority 2 are sent before those of priority 3.

[0218] As one possible implementation, the correspondence between speed information and priority can be pre-configured, for example, defined in the factory configuration of the first communication device or defined in the protocol. For instance, the first communication device may locally store the correspondence between speed information and priority, meaning the first communication device can obtain the correspondence locally.

[0219] As another possible implementation, the correspondence between speed information and priority can be configured by the second communication device, sensing function network element, or other network element or network device to the first communication device. Taking the configuration of this correspondence by the second communication device as an example, the second communication device can send indication information of the correspondence to the first communication device. This indication information can be used, for example, to indicate the correspondence between speed information and priority.

[0220] (3) The correspondence between the characteristics and priorities of an object.

[0221] In this application, there can be a correspondence between the characteristics of an object and its priority; for example, different characteristics may correspond to different priorities. After obtaining the perception result of an object, the priority of that perception result can be determined based on the object's characteristics and this correspondence. Alternatively, it can be described as follows: the priority of an object (such as a first object) is related to the object's characteristics, or the object's priority is determined based on the object's characteristics.

[0222] The correspondence between features and priorities is shown in Table 3.

[0223] Table 3

[0224] feature Priority; a higher value indicates higher priority. Feature #1 3 Feature #2, Feature #3 2 …… ……

[0225] Table 3 is merely an example of the correspondence between features and priorities, and is not intended to limit the specific nature of the correspondence. In Table 3, features can specifically be information such as the received power, radar cross section, or object size. For example, feature #1 represents a certain received power or range of received power, and feature #2 represents another received power or range of received power. Similarly, feature #1 represents a certain radar cross section or range of radar cross sections, and feature #2 represents a certain received power or range of received power.

[0226] Once the first communication device determines the characteristics of an object, it can use the feature-priority correspondence shown in Table 3 to determine the priority of the perception result corresponding to the object. For example, if the characteristics of the first object include feature #1, or if the characteristics of the first object indicate that the characteristics of the first object belong to the speed range corresponding to speed #1, then the priority of the perception result of the first object can be determined as 3 according to Table 2. Specifically, when the first communication device determines the perception result of the first object and the perception results of other objects, it can use the correspondence shown in Table 3 to query the priority of the perception result of the first object and the priority of the perception results of other objects.

[0227] Furthermore, Table 3 uses the example of a higher priority value representing a higher priority. For instance, priority 3 has a higher priority than priority 2, meaning the perception results of priority 3 are sent before those of priority 2. Conversely, a higher priority value can also represent a lower priority. For example, priority 3 has a lower priority than priority 2, meaning the perception results of priority 2 are sent before those of priority 3.

[0228] As one possible implementation, the correspondence between features and priorities can be pre-configured, for example, defined in the factory configuration of the first communication device or defined in the protocol. For instance, the first communication device may locally store the correspondence between features and priorities, meaning the first communication device can obtain the correspondence locally.

[0229] As another possible implementation, the correspondence between features and priorities can be configured by the second communication device, sensing function network element, or other network element or network device to the first communication device. Taking the configuration of this correspondence by the second communication device as an example, the second communication device can send indication information of the correspondence to the first communication device. This indication information can be used, for example, to indicate the correspondence between features and priorities.

[0230] (4) The correspondence between the number and priority of carriers corresponding to the perception results of the object.

[0231] The number of carriers corresponding to the perception result of a certain object can indicate the number of carriers among multiple carriers indicated by the resource configuration information, and the number of carriers containing the perception result of that object in the perception result. Specifically, the first perception result receives the echo signal based on the carrier corresponding to the perception result of a certain object, and the obtained perception result includes the perception result of that object.

[0232] Taking the configuration information used to configure sensing resources within N carriers as an example, the carrier corresponding to the sensing result of the first object is the carrier among the N carriers that includes the sensing result of the first object.

[0233] As a method for determining the number of carriers corresponding to the sensing result of the first object, the first communication device can sense all sensing resources of N carriers and determine the sensing results corresponding to each of the N carriers. If the sensing results corresponding to K of the N carriers include the sensing result corresponding to the first object, then the number of carriers corresponding to the sensing result of the first object can be determined to be K.

[0234] Similarly, the carrier corresponding to the perceived result of other objects (such as the second or third object) is one of N carriers, including the carrier of the perceived result of the other object. For example, if the other object is the second object, the number of carriers corresponding to the perceived result of the second object can be denoted as L, where L is a non-negative integer less than or equal to N. As another example, if the other object is the third object, the number of carriers corresponding to the perceived result of the third object can be denoted as M, where M is a non-negative integer less than or equal to N.

[0235] In this application, there can be a correspondence between the number of carriers corresponding to the perception result of an object and their priority. That is, the first communication device can determine the priority of the perception result of an object based on the number of carriers corresponding to the perception result of that object. For example, the larger the number of carriers, the higher the priority of the perception result of the object, or in other words, the transmission order of the perception result of the object is more prioritized, or it can be said that there is a positive correlation between the number of carriers corresponding to the perception result of an object and its priority. It can be considered that the perception result of an object detected by multiple carriers is more accurate, therefore the perception result of an object detected by multiple carriers can have a higher priority.

[0236] As an example, if the number of carriers corresponding to the perception result of one object is less than the number of carriers corresponding to the perception result of another object, then the perception result of the object with a larger number of carriers has a higher priority. In other words, the perception result of the object with a larger number of carriers is transmitted first, and the perception result of the object with a smaller number of carriers has a lower priority. For instance, taking the first object and the second object as examples, if K > L, and there is a positive correlation between the number of carriers corresponding to the perception result of an object and its priority, then the perception result of the first object has a higher priority than the perception result of the second object. In other words, the perception result of the first object is transmitted before the perception result of the second object.

[0237] For example, if the resource configuration information is used to configure the first sensing resource within the first carrier and the second sensing resource within the second carrier, the first communication device obtains the first sensing result and the second sensing result respectively based on the first sensing resource and the second sensing resource. Both the first sensing result and the second sensing result include the sensing result of the first object. In addition, the first sensing result also includes the sensing result of the second object, and the second sensing result does not include the sensing result of the second object. That is, the carriers corresponding to the sensing result of the first object are the first carrier and the second carrier, with a quantity of 2, and the carriers corresponding to the sensing result of the second object are the first carrier, with a quantity of 1. When there is a positive correlation between the quantity and priority of the carriers corresponding to the sensing result of the object, the first communication device can determine that the priority of the sensing result of the first object is higher than the priority of the sensing result of the second object, and / or that the transmission order of the sensing result of the first object is earlier than the transmission order of the sensing result of the second object.

[0238] As one possible implementation, the correspondence between the number of carriers and their priorities corresponding to the perceived results of an object can be pre-configured, for example, defined in the factory configuration of the first communication device or defined in the protocol. For instance, the first communication device may locally store the correspondence between the number of carriers and their priorities corresponding to the perceived results of the object, meaning the first communication device can obtain this correspondence locally. For example, the first communication device may default to a higher priority for the perceived results of the object as the larger the number of carriers corresponding to the perceived results.

[0239] As another possible implementation, the correspondence between the number of carriers and their priority corresponding to the perceived result of an object can be configured by the second communication device, the sensing function network element, or other network elements or devices to the first communication device. Taking the configuration of this correspondence by the second communication device as an example, the second communication device can send indication information of this correspondence to the first communication device. This indication information can, for example, indicate the correspondence between the number of carriers and their priority corresponding to the perceived result of an object. For instance, the second communication device can send indication information to the first communication device to indicate that the larger the number of carriers corresponding to the perceived result of an object, the higher the priority of the perceived result of the object.

[0240] (5) The correspondence between the carrier and priority of the object's perception result.

[0241] In this application, there can be a correspondence between the carrier wave corresponding to the perception result of an object and its priority. That is, the first communication device can determine the priority of the perception result of an object based on the carrier wave corresponding to the perception result of that object. For example, when the first object corresponds to a different carrier wave than other objects, the priority of the perception result of the first object and the priority of the perception result of other objects can be determined based on the priorities of the carrier waves corresponding to the first object and other objects respectively.

[0242] The perception results of other objects include the perception results of a third object, the carrier corresponding to which the perception result of the third object is the second carrier.

[0243] Optionally, if the carrier corresponding to the perception result of a certain object is multiple carriers, the correspondence between the carrier and priority of the perception result of the first object can be the correspondence between the carrier with the highest priority among the multiple carriers and its priority. That is, when the perception results of multiple carriers all include the perception result of the object, the priority of the perception result of the object can be the highest priority among the multiple carriers.

[0244] For example, the carriers corresponding to the first object are carrier #1 and carrier #2, and the carriers corresponding to other objects are carrier #3 and carrier #4. If the priority of carrier #1 is higher than the priority of carrier #2, the priority of carrier #3 is higher than the priority of carrier #4, and the priority of carrier #1 is higher than the priority of carrier #3, then the priority of the perception result of the first object is higher than the priority of the perception result of other objects.

[0245] Furthermore, the priority between the perception results of other objects can also be determined based on the correspondence. For example, if the carrier corresponding to the perception result of the second object is the first carrier, and the carrier corresponding to the perception result of the third object is the second carrier, then the priority between the perception results of the second and third objects can be determined based on the priority of the first carrier and the priority of the second carrier. Additionally, the carrier corresponding to the perception result of the first object includes both the first carrier and the second carrier.

[0246] As one possible implementation, the correspondence between the carrier and priority corresponding to the object's perception result can be pre-configured, for example, defined in the factory configuration of the first communication device or defined in the protocol. For example, the first communication device locally stores the correspondence between the number and priority of carriers corresponding to the object's perception result, meaning the first communication device can obtain this correspondence locally.

[0247] As another possible implementation, the correspondence between the carrier and priority corresponding to the object's perception result can be configured by the second communication device, the sensing function network element, or other network elements or network devices to the first communication device. Taking the configuration of this correspondence by the second communication device as an example, the second communication device can send indication information of this correspondence to the first communication device. This indication information can, for example, be used to indicate the correspondence between the number and priority of the carriers corresponding to the object's perception result.

[0248] As an example of indicating the correspondence between carriers and priorities, the second communication device can indicate the correspondence between carriers and priorities for each carrier in the resource configuration information. One possible implementation is that when indicating a sensing resource or the sensing resource of a carrier to which a sensing resource belongs in the resource configuration information, the second communication device can add a field indicating the priority of that carrier (or sensing resource). Taking a priority level of four as an example, the configuration corresponding to each carrier can carry a 2-bit newly added field. The specific values ​​and meanings of the newly added field are shown in Table 4.

[0249] Table 4

[0250] Value meaning Value meaning 00 The carrier priority is 1. 10 The carrier priority is 3. 01 The carrier priority is 2. 11 The carrier priority is 4.

[0251] Table 4 above is merely an example of the values ​​and meanings of fields used to indicate carrier priority, and is not intended as a specific limitation. Furthermore, when the priority includes other numbers besides 4, the length of the newly added field can be changed in the manner described above to support indicating different numbers of priority levels.

[0252] Optionally, two different carriers may correspond to the same or different priorities, which is not specifically limited in this application.

[0253] The correspondence between carriers and priorities can also be carried in other information or messages besides resource configuration information, and this application does not specifically limit this. For example, a second communication device can send indication information to a first communication device, which includes a carrier index and a priority. For example, the indication information can include {carrier index #1, 00}, where 00 represents priority 1, and this indication information can be used to indicate that the priority of the carrier with index #1 is 1.

[0254] Furthermore, different priorities can be set for different sensing resources within each carrier, meaning there can be a correspondence between sensing resources and priorities. For example, the bit values ​​in Table 4 represent the priority of each sensing resource. Accordingly, after determining the sensing result of an object, the first communication device can determine the priority of the object's sensing result based on the correspondence between the sensing resource and the priority of the object. Specifically, when the sensing result of an object is determined based on the echo signal received from a certain sensing resource, that sensing resource can be called the sensing resource corresponding to that object. The method for determining the priority of the object's sensing result in this case can refer to the method for determining the priority of the object's sensing result based on the correspondence between the carrier and the priority, and will not be elaborated further.

[0255] At least one of the following correspondences—the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the object's perception result and priority, and the correspondence between the carriers corresponding to the object's perception result and priority—may be indicated by a second communication device or other network element or communication device to a first communication device. Taking the indication from a second communication device as an example, the second communication device may send first indication information to the first communication device. This first indication information can be used to indicate at least one of the following correspondences: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the object's perception result and priority, and the correspondence between the carriers corresponding to the object's perception result and priority.

[0256] In summary, the first communication device can determine the priority among the sensing results of multiple objects based on at least one of the following: the correspondence between location information and priority; the correspondence between speed information and priority; the correspondence between the number of carriers corresponding to the sensing results of an object and their priority; and the correspondence between the carriers corresponding to the sensing results of an object and their priority. The multiple objects may include one or more of a first object, a second object, and a third object, or may include other objects besides the first, second, and third objects, without specific limitation. The first communication device can also determine the transmission order of the sensing results based on the priority among the sensing results of multiple objects, and transmit the sensing results of multiple objects according to this transmission order.

[0257] For example, when the perception results of multiple objects include the perception results of a first object (e.g., point perception results) and the perception results of other objects, the first communication device can determine the priority and / or transmission order between the perception results of the first object and the perception results of other objects based on at least one of the following: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the perception results of an object and priority, and the correspondence between carriers corresponding to the perception results of an object and priority. Alternatively, the priority of the perception results of the first object and / or the second object is determined based on the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the perception results of an object and priority, and the correspondence between carriers and priority.

[0258] For example, when the perception results of other objects include the perception results of the second object and the perception results of the third object, the priority and / or transmission order between the perception results of the second object and the third object can be determined based on at least one of the following: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the perception results of the object and priority, and the correspondence between carriers corresponding to the perception results of the object and priority. In other words, the priority of the perception results of the third object can be determined based on the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the perception results of the object and priority, and the correspondence between carriers and priority. The above correspondences and the method of determining the priority of the perception results of the third object based on these correspondences can be referred to the explanation for determining the priority of the first object based on the above correspondences, and will not be repeated here.

[0259] If the transmission order of the perception results of the second object and the transmission order of the perception results of the third object are determined according to the correspondence between the number and priority of the carriers corresponding to the perception results of the objects, wherein the resource configuration information includes perception resources within N carriers, the perception results corresponding to L of the N carriers include the perception results of the second object, and the perception results corresponding to M of the N carriers include the perception results of the second object, and when L > M, and there is a positive correlation between the number and priority of the carriers corresponding to the perception results of the objects, the priority of the perception results of the second object is higher than the priority of the perception results of the third object, or in other words, the transmission order of the perception results of the second object is earlier than the transmission order of the perception results of the third object.

[0260] The following is based on Figure 10 This example illustrates one method for determining the priority among the sensing results of multiple objects in a multi-carrier sensing scenario. Figure 10 In the diagram, numbers ① to ⑦ represent different objects. Furthermore, each circular area represents the coverage area of ​​a carrier. The coverage areas of different carriers overlap, and some objects are located within the overlapping areas; that is, the sensing results for some objects correspond to multiple carriers. For example, object ④ is located within the overlapping area of ​​carrier #1 and carrier #2. This means that the sensing results obtained by the first communication device based on the echo signal received from sensing resources within carrier #1, and the sensing results obtained based on the echo signal received from sensing resources within carrier #2, can both include the sensing results for object ④. Similarly, the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #1 and the sensing results obtained based on the echo signals received from the sensing resources in carrier #3 can both include the sensing results of object ⑤; the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #2 and the sensing results obtained based on the echo signals received from the sensing resources in carrier #3 can both include the sensing results of object ⑥; furthermore, the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #1, the sensing results obtained based on the echo signals received from the sensing resources in carrier #2, and the sensing results obtained based on the echo signals received from the sensing resources in carrier #3 can all include the sensing results of object ⑦. In addition, the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #1 include the sensing results of object ①; the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #2 include the sensing results of object ②; and the sensing results obtained by the first communication device based on the echo signals received from the sensing resources in carrier #3 include the sensing results of object ③.

[0261] Understandable. Figure 10Any one of carriers #1 to #3 in S101 can be used as the carrier where the sensing resource configured in the resource configuration information in S101 is located. As an example, the resource configuration information in S101 can be used to configure sensing resources within carrier #1, sensing resources within carrier #2, and sensing resources within carrier #3. Additionally, any one of objects ④ to ⑦ can be used as... Figure 9 This is an example of the first object in the illustrated process. For instance, if object ④ is the first object, carrier #1 and carrier #2 can be considered as... Figure 9 The first and second carriers in the process.

[0262] based on Figure 10 In the scenario shown, if the priority of the perception result of each object from object ① to object ⑦ is determined according to the correspondence between the number and priority of the carriers corresponding to the perception result of the object, then we can obtain the following: the priority of the perception result of object ⑦ is higher than the priority of the perception result of object ④, the priority of the perception result of object ⑤, and the priority of the perception result of object ⑥. In addition, the priority of the perception result of object ④, the priority of the perception result of object ⑤, and the priority of the perception result of object ⑥ are higher than the priority of the perception result of object ①, the priority of the perception result of object ②, and the priority of the perception result of object ③.

[0263] Alternatively, if the transmission order of the perception results of each of objects ① to ⑦ is determined based on the correspondence between the number and priority of the carriers corresponding to the perception results of the objects, then we can obtain the following: the transmission order of the perception results of object ⑦ is before the transmission order of the perception results of object ④, object ⑤, and object ⑥. In addition, the transmission order of the perception results of object ④, object ⑤, and object ⑥ is before the transmission order of the perception results of object ①, object ②, and object ③.

[0264] If we determine the priority of an object based on the correspondence between the number and priority of carriers corresponding to the object's perception result, and based on the correspondence between carriers and priorities, where carrier #1 has a higher priority than carrier #2, and carrier #2 has a higher priority than carrier #1, then we can conclude that: the priority of object ⑦'s perception result is higher than the priority of object ④'s perception result; the priority of object ④'s perception result is higher than the priority of object ⑤'s perception result; the priority of object ⑤'s perception result is higher than the priority of object ①'s perception result; the priority of object ①'s perception result is higher than the priority of object ⑥'s perception result; the priority of object ⑥'s perception result is higher than the priority of object ②'s perception result; and the priority of object ②'s perception result is higher than the priority of object ③'s perception result.

[0265] Alternatively, if the transmission order of the perception results of each object from object ① to object ⑦ is determined based on the correspondence between the number and priority of carriers corresponding to the perception results of the objects, and the correspondence between carriers and priorities, then the following can be obtained: the transmission order of the perception results of object ⑦ is before the transmission order of the perception results of object ④; the transmission order of the perception results of object ④ is before the transmission order of the perception results of object ⑤; the transmission order of the perception results of object ⑤ is before the transmission order of the perception results of object ①; the transmission order of the perception results of object ① is before the transmission order of the perception results of object ⑥; the transmission order of the perception results of object ⑥ is before the transmission order of the perception results of object ②; and the transmission order of the perception results of object ② is before the transmission order of the perception results of object ③.

[0266] It is understood that the method for determining the priority of the perception results of the above objects is an exemplary method and should not be construed as a limitation on the method for determining priority.

[0267] like Figure 11 As shown, this application provides another communication method for transmitting the perception results of an object according to the priority of the perception results. The priority of the perception results can represent the reliability of the perception results; that is, the higher the priority of the perception results, the higher the reliability of the perception results. Correspondingly, the second communication device can determine the reliability of the perception results based on the priority of the received perception results. Figure 11 The process will still be described using the example of the first communication device and the second communication device as the executing entities. The first communication device and / or the second communication device can be referred to... Figure 9 The relevant descriptions will not be repeated.

[0268] like Figure 11 As shown, the communication method may include the following steps:

[0269] S201: The second communication device sends resource configuration information.

[0270] Correspondingly, the first communication device receives resource configuration information.

[0271] Referring to the explanation in S101, the resource configuration information can be used to configure multiple sensing resources. For example, this resource configuration information can specifically be used to configure a first sensing resource and a second sensing resource. The first sensing resource is a sensing resource within a first carrier, and the second sensing resource is a sensing resource within a second carrier. Alternatively, this resource configuration information can be considered to be used to configure sensing resources within N carriers, where N is a positive integer greater than 1.

[0272] S202: The first communication device receives the first sensing signal according to the first sensing resource, and obtains the first sensing result according to the first sensing signal.

[0273] S202 can be referred to in the description of S102. The difference between S202 and S102 is that the first sensing result includes the sensing result of the second object; optionally, the first sensing result may also include the sensing result of the first object. That is, the carrier corresponding to the sensing result of the second object includes the first carrier.

[0274] The perception results of the first sensing resource, the first object, and the second object can be found in the description in S102.

[0275] S203: The first communication device receives the second sensing signal based on the second sensing resource and obtains the second sensing result based on the second sensing signal.

[0276] S203 can be referred to in the description of S103. The difference between S203 and S103 is that the second sensing result includes the sensing result of the third object; optionally, the second sensing result may also include the sensing result of the first object. That is, the carrier corresponding to the sensing result of the third object includes the first carrier.

[0277] S204: The first communication device sends the perception results of the second object and the perception results of the third object to the second communication device.

[0278] The order in which the perception results of the first object and the second object are sent is determined based on the priority of the perception results of the second object and the priority of the perception results of the third object. For example, the higher the priority of the perception result, the higher the priority of its sending order.

[0279] The methods for determining the priority of the perception results of the second object and the third object can be found in [reference needed]. Figure 9 This section explains the prioritization of sensing results within the process. For example, the priority of the sensing results for the second object and the third object can be determined based on at least one of the following correspondences: the correspondence between position information and priority, the correspondence between velocity information and priority, the correspondence between the number of carriers corresponding to the object's sensing result and priority, and the correspondence between carriers and priority. The correspondences between position information and priority, velocity information and priority, the correspondence between the number of carriers corresponding to the object's sensing result and priority, and the correspondence between carriers and priority can be found in [reference needed]. Figure 9The details of the process will not be repeated here. Alternatively, the transmission order of the sensing results for the second object and the third object can be determined based on at least one of the following correspondences: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the sensing results of the object and their priority, and the correspondence between carriers and their priority.

[0280] Optional, Figure 11 In the process shown, if both the first perception result and the second perception result contain the perception result of the first object, then referring to the description in S104, the first communication device can also send a third perception result to the second communication device. The third perception result can be the perception result of the first object obtained based on the first perception result and the second perception result.

[0281] refer to Figure 9 The process description states that the first communication device can determine the transmission order of the third sensing result and other sensing results based on the priority of the sensing result of the first object and the priority of other sensing results. In other words, the transmission order of the third sensing result can be determined based on the priority of the sensing result of the first object (also referred to as the priority of the third sensing result). Specifically, the priority of the sensing result of the first object can be determined based on at least one of the following correspondences: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the sensing result of the object and priority, and the correspondence between carriers and priority. Alternatively, the transmission order of the third sensing result can be described as being determined based on at least one of the following correspondences: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the sensing result of the object and priority, and the correspondence between carriers and priority. The aforementioned correspondences can be found in [reference needed]. Figure 9 The corresponding descriptions in the process will not be repeated.

[0282] Specifically, the first communication device can determine the priorities of the third sensing result, the second object's sensing result, and the third object's sensing result based on at least one of the following correspondences: the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the object's sensing result and their priority, and the correspondence between carriers and priorities. It then determines the transmission order of the sensing results based on these priorities and transmits the third sensing result, the second object's sensing result, and the third object's sensing result according to this transmission order. Alternatively, the first communication device can determine the transmission order of the third sensing result, the second object's sensing result, and the third object's sensing result based on at least one of the following correspondences, without needing to first determine the priorities of the third sensing result, the second object's sensing result, and the third object's sensing result.

[0283] Alternatively, S204 can be replaced by: the first communication device sending at least two of the following to the second communication device: the third perception result, the perception result of the second object, and the perception result of the third object.

[0284] If the first communication device sends the third sensing result and the second object's sensing result, the sending order of the third sensing result and the second object's sensing result is determined according to the priority of the first object's sensing result and the priority of the second object's sensing result. If the first communication device sends the third sensing result and the third object's sensing result, the sending order of the third sensing result and the third object's sensing result is determined according to the priority of the first object's sensing result and the priority of the third object's sensing result. If the first communication device sends the third sensing result, the second object's sensing result, and the third object's sensing result, the sending order of the third sensing result, the second object's sensing result, and the third object's sensing result is determined according to the priority of the first object's sensing result, the priority of the second object's sensing result, and the priority of the third object's sensing result. The priority of the first object's sensing result, the priority of the second object's sensing result, and the priority of the third object's sensing result can be referred to the description in this application, and will not be repeated here.

[0285] This application can also skip determining the priority of the sensing results for each object, and instead determine the transmission order of the sensing results based on the correspondence between location information and priority, the correspondence between speed information and priority, the correspondence between the number of carriers corresponding to the sensing results of the object and priority, and the correspondence between the carriers corresponding to the sensing results of the object and priority. That is, the priority of the sensing results is not information that must be determined.

[0286] It is understood that, in order to achieve the functions in the above embodiments, the terminal device or network device includes hardware structures and / or software modules corresponding to perform each function. Those skilled in the art should readily recognize that, based on the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0287] Figure 12 and Figure 13 This is a schematic diagram illustrating the possible structures of communication devices provided in embodiments of this application. These communication devices can be used to implement the functions of the first or second communication device in the above method embodiments, and thus also achieve the beneficial effects of the above method embodiments. In the embodiments of this application, the communication device can be a terminal device, an access network device, or a core network device, or it can be a module or component (such as a chip) applied to a terminal device, access network device, or core network device. For example, the communication device can be used to implement... Figure 9 or Figure 11 The function of the first or second communication device in the process shown.

[0288] Figure 12 The communication device 1200 shown includes a processing unit 1210 and a transceiver unit 1220. The communication device 1200 is used to implement the functions of the first or second communication device in the above method embodiments. The processing unit 1210 can be used to perform processing actions of the first or second communication device, such as actions other than receiving and sending. The transceiver unit 1220 may, for example, include a sending unit for executing a sending address and / or a receiving unit for executing a receiving action.

[0289] by Figure 9 Taking the process shown as an example, when the communication device 1200 is used to implement... Figure 9In the method embodiment shown, when the first communication device functions as described, the transceiver unit 1220 can be used to receive resource configuration information. The transceiver unit 1220 can also be used to receive a first sensing signal based on a first sensing resource, and to receive a second sensing signal based on a second sensing resource. The processing unit 1210 can be used to obtain a first sensing result based on the first sensing signal, and to obtain a second sensing result based on the second sensing signal. The transceiver unit 1220 can also be used to send a third sensing result. Optionally, the processing unit 1210 can also be used to obtain a third sensing result based on the first and second sensing results.

[0290] In one possible implementation, the transceiver unit 1220 may further be configured to receive first indication information, which may indicate at least one of the following: a correspondence between location information and priority; a correspondence between speed information and priority; a correspondence between the number of carriers corresponding to the perception result of an object and their priority; and a correspondence between carriers and priorities. The transceiver unit 1220 may also be configured to determine one or more of the following priorities based on at least one of the above correspondences: the priority of the perception result of a first object; the priority of the perception result of a second object; or the priority of the perception result of a third object.

[0291] When the communication device 1200 is used to implement Figure 9 In the method embodiment shown, when the second communication device functions, the transceiver unit 1220 can be used to send resource configuration information and receive third sensing results. The processing unit 1210 can be used to generate the resource configuration information.

[0292] In one possible implementation, the transceiver unit 1220 can also be used to send first indication information.

[0293] And with Figure 11 Taking the process shown as an example, when the communication device 1200 is used to implement... Figure 9 In the illustrated method embodiment, the first communication device functions as follows: the transceiver unit 1220 can be used to receive resource configuration information. The transceiver unit 1220 can also be used to receive a first sensing signal based on a first sensing resource, and a second sensing signal based on a second sensing resource. The processing unit 1210 can be used to obtain a first sensing result based on the first sensing signal, and a second sensing result based on the second sensing signal. The transceiver unit 1220 can also be used to send the sensing results of a second object and a third object. The sending order of the sensing results of the second object and the third object can be determined based on the priority of the sensing results of the second object and the third object. The processing unit 1210 can be used to determine the sending order of the sensing results of the second object and the third object based on the priority of the sensing results of the second object and the third object.

[0294] In one possible implementation, the transceiver unit 1220 can also be used to send a third sensing result. Optionally, the processing unit 1210 can also be used to obtain a third sensing result based on the first and second sensing results.

[0295] In one possible implementation, the transceiver unit 1220 may further be configured to receive first indication information, which may indicate at least one of the following: a correspondence between location information and priority; a correspondence between speed information and priority; a correspondence between the number of carriers corresponding to the perception result of an object and their priority; and a correspondence between carriers and priorities. The transceiver unit 1220 may also be configured to determine one or more of the following priorities based on at least one of the above correspondences: the priority of the perception result of a first object; the priority of the perception result of a second object; or the priority of the perception result of a third object.

[0296] When the communication device 1200 is used to implement Figure 11 In the method embodiment shown, when the second communication device functions, the transceiver unit 1220 can be used to send resource configuration information and receive the perception results of the second object and the third object. The sending order of the perception results of the second object and the third object can be determined based on their respective priorities. Optionally, the processing unit 1210 can determine the reliability of the perception results of the second object and the third object based on their sending order. The processing unit 1210 can be used to generate the resource configuration information.

[0297] In one possible implementation, the transceiver unit 1220 can also be used to receive third sensing results.

[0298] In one possible implementation, the transceiver unit 1220 can also be used to send first indication information.

[0299] For a more detailed description of the processing unit 1210 and the transceiver unit 1220, please refer directly to the description of the relevant features in the above method embodiments, which will not be repeated here.

[0300] Figure 13 The communication device 1300 shown includes a processor 1310 and an interface circuit 1320. The processor 1310 and the interface circuit 1320 are coupled to each other. It is understood that the interface circuit 1320 can be a transceiver or an input / output interface. Optionally, the communication device 1300 may also include a memory 1330 for storing instructions executed by the processor 1310, or storing input data required by the processor 1310 to execute instructions, or storing data generated after the processor 1310 executes instructions.

[0301] When the communication device 1300 is used to implement the above method embodiment, the processor 1310 is used to implement the function of the processing unit 1210, and the interface circuit 1320 is used to implement the function of the transceiver unit 1220.

[0302] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), microprocessors without interlocked piped stages architecture (MIPS), advanced instruction set computers (RISC) machines (ARM), network processors (NPs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0303] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, compact disc read-only memory (CD-ROM), or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC. Furthermore, the ASIC can reside in a first communication device or a second communication device.

[0304] In the above 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 programs or instructions. A computer program is a set of instructions that directs each step of an action of an electronic computer or other device with message processing capabilities. It is typically written in a programming language and runs on a target architecture. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless 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, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be volatile or non-volatile, or it can include both types of storage media.

[0305] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium, including a program or instructions, which, when run on a computer, cause the methods in the above method embodiments to be executed.

[0306] Based on the same technical concept, embodiments of this application also provide a computer program product, including instructions that, when run on a computer, cause the methods in the above method embodiments to be executed.

[0307] Based on the same technical concept, embodiments of this application also provide a communication system for implementing... Figure 9 or Figure 11 The method is shown. The communication system may include a first communication device and a second communication device.

[0308] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0309] 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.

[0310] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects.

[0311] 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.

Claims

1. A communication method, characterized in that, include: Receive resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; A first sensing signal is received based on a first sensing resource, and a first sensing result is obtained based on the first sensing signal. The first sensing result includes the sensing result of a first object. A second sensing signal is received based on a second sensing resource, and a second sensing result is obtained based on the second sensing signal, wherein the second sensing result includes the sensing result of the first object; Send a third perception result, which is the perception result of the first object obtained based on the first perception result and the second perception result.

2. The method as described in claim 1, characterized in that, The first perception result also includes the perception result of the second object; The method further includes: The perception result of the second object is sent, and the sending order of the third perception result and the perception result of the second object is determined according to the priority of the perception result of the first object and the priority of the perception result of the second object.

3. The method as described in claim 2, characterized in that, The priority of the perception result of the first object and / or the priority of the perception result of the second object are determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perceived results of an object; The priority of the first carrier.

4. The method as described in claim 3, characterized in that, The priority of the sensing result of the first object and the priority of the sensing result of the second object are determined based on the correspondence between the number of carriers corresponding to the sensing result of the object and their priorities, including: If the second perception result does not include the perception result of the second object, and the number and priority of the carriers corresponding to the perception result of the object are positively correlated, then the priority of the perception result of the first object is higher than the priority of the perception result of the second object.

5. The method according to any one of claims 1-4, characterized in that, The resource configuration information is used to configure sensing resources within N carriers, wherein the N carriers include the first carrier and the second carrier; The perception results corresponding to K carriers out of the N carriers include the perception results of the first object, where K is a positive integer greater than or equal to 1, the K carriers include the first carrier and the second carrier, and the third perception result is obtained based on the perception results corresponding to the K carriers; The sensing results corresponding to L of the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; When K is greater than L, the priority of the perception result corresponding to the first object is higher than the priority of the perception result corresponding to the second object.

6. The method as described in any one of claims 2-5, characterized in that, The second perception result also includes the perception result of a third object; The method further includes: Send the perception results of the third object; The order in which the third perception result, the second object's perception result, and the third object's perception result are sent is determined according to the priority of the first object's perception result, the priority of the second object's perception result, and the priority of the third object's perception result; or, The order in which the third perception result and the perception result of the third object are sent is determined according to the priority of the perception result of the first object and the priority of the perception result of the third object; or, The order in which the perception results of the second object and the perception results of the third object are sent is determined according to the priority of the perception results of the second object and the priority of the perception results of the third object.

7. The method as described in claim 6, characterized in that, The priority of the perception result of the third object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perceived results of an object; The priority of the second carrier.

8. The method as described in claim 3 or 7, characterized in that, The method further includes: Receive first indication information, the first indication information being used to determine the priority of the perception result of the first object and the priority of the perception result of the second object, the first indication information being used to indicate at least one of the following: The correspondence between the location information and priority of the object; The correspondence between the speed information and priority of the object; The correspondence between the characteristics and priorities of the object; The priority of the first carrier; The priority of the second carrier.

9. The method according to any one of claims 1-8, characterized in that, The perception results of the first object and / or the perception results of the second object include at least one of the following: The object's location information; The object's speed information; The characteristics of an object.

10. The method according to any one of claims 3, 7-9, characterized in that, The characteristics of the object include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

11. A communication method, characterized in that, include: Send resource configuration information, which is used to configure a first sensing resource and a second sensing resource, wherein the first sensing resource is a sensing resource within a first carrier and the second sensing resource is a sensing resource within a second carrier; The system receives a third perception result from a first communication device. The third perception result is a perception result of a first object obtained based on a first perception result and a second perception result. The first perception result includes the perception result of the first object, and the second perception result includes the perception result of the first object. The first perception result is obtained based on a first perception signal, which is received by the first communication device based on the first perception resource. The second perception result is obtained based on a second perception signal, which is received by the first communication device based on the second perception resource.

12. The method as described in claim 11, characterized in that, The first perception result also includes the perception result of the second object; The method further includes: The perception result of the second object is received, and the sending order of the third perception result and the perception result of the second object is determined according to the priority of the perception result of the first object and the priority of the perception result of the second object.

13. The method as described in claim 12, characterized in that, The priority of the perception result of the first object and / or the priority of the perception result of the second object are determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perception results of an object.

14. The method as described in claim 13, characterized in that, The priority of the sensing result of the first object and the priority of the sensing result of the second object are determined based on the correspondence between the number of carriers corresponding to the sensing result of the object and their priorities, including: If the second perception result does not include the perception result of the second object, and the number and priority of the carriers corresponding to the perception result of the object are positively correlated, then the priority of the perception result of the first object is higher than the priority of the perception result of the second object.

15. The method according to any one of claims 11-14, characterized in that, The resource configuration information is used to configure sensing resources within N carriers, wherein the N carriers include the first carrier and the second carrier; The perception results corresponding to K carriers out of the N carriers include the perception results of the first object, where K is a positive integer greater than or equal to 1, the K carriers include the first carrier and the second carrier, and the third perception result is obtained based on the perception results corresponding to the K carriers; The sensing results corresponding to L of the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; When K is greater than L, the priority of the perception result corresponding to the first object is higher than the priority of the perception result corresponding to the second object.

16. The method according to any one of claims 12-15, characterized in that, The second perception result also includes the perception result of a third object; The method further includes: Receive the perception result of the third object; The order in which the third perception result, the second object's perception result, and the third object's perception result are sent is determined according to the priority of the first object's perception result, the priority of the second object's perception result, and the priority of the third object's perception result; or, The order in which the third perception result and the perception result of the third object are sent is determined according to the priority of the perception result of the first object and the priority of the perception result of the third object; or, The order in which the perception results of the second object and the perception results of the third object are sent is determined according to the priority of the perception results of the second object and the priority of the perception results of the third object.

17. The method as described in claim 16, characterized in that, The priority of the perception result of the third object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perceived results of an object; The priority of the second carrier.

18. The method as described in claim 13 or 17, characterized in that, The method further includes: Send first indication information, the first indication information being used to determine the priority of the perception result of the first object and the priority of the perception result of the second object, the first indication information being used to indicate at least one of the following: The correspondence between the location information and priority of the object; The correspondence between the speed information and priority of the object; The correspondence between the characteristics and priorities of the object; The priority of the first carrier; The priority of the second carrier.

19. The method according to any one of claims 11-18, characterized in that, The first perception result and / or the second perception result includes at least one of the following: The object's location information; The object's speed information; The characteristics of an object.

20. The method according to any one of claims 13, 17-19, characterized in that, The characteristics of the object include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

21. A communication method, characterized in that, include: Receive resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; A first sensing signal is received based on a first sensing resource, and a first sensing result is obtained based on the first sensing signal, wherein the first sensing result includes the sensing result of the second object; A second sensing signal is received based on a second sensing resource, and a second sensing result is obtained based on the second sensing signal, wherein the second sensing result includes the sensing result of the third object; The perception results of the second object and the perception results of the third object are sent, wherein the sending order of the perception results of the second object and the third object is determined according to the priority corresponding to the perception results of the second object and the priority corresponding to the perception results of the third object.

22. The method as described in claim 21, characterized in that, The priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between object characteristics and priorities; The priority of the first carrier; The priority of the second carrier; The correspondence between the number and priority of carriers corresponding to the perception results of an object.

23. The method as described in claim 21 or 22, characterized in that, The resource configuration information includes sensing resources within N carriers, where the N carriers include the first carrier and the second carrier, and N is a positive integer greater than 1. The sensing results corresponding to L of the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; The sensing results corresponding to M of the N carriers include the sensing results of the second object, where M is a positive integer greater than or equal to 1, and the M carriers include the second carrier: When L is greater than M, the perception results of the second object are sent in a sequence earlier than the perception results of the third object.

24. The method according to any one of claims 21-23, characterized in that, The first perception result further includes the perception result of the first object, the second perception result further includes the perception result of the first object, and the method further includes: Send a third perception result, which is the perception result of the first object obtained based on the first perception result and the second perception result.

25. The method as described in claim 24, characterized in that, The method further includes: The order in which the third perception result, the second perception result, and the third perception result are sent is determined based on the priority of the perception result of the first object, the priority of the perception result of the second object, and the priority of the perception result of the third object.

26. The method as described in claim 25, characterized in that, The priority of the perception result of the first object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perceived results of an object; The priority of the first carrier.

27. The method as described in claim 22 or 25, characterized in that, The method further includes: Receive first indication information, the first indication information being used to indicate at least one of the following: The correspondence between object location information and priority; The correspondence between object characteristics and priorities; The priority of the first carrier; The priority of the second carrier.

28. The method as described in any one of claims 22, 26-27, characterized in that, The perception results of the second object and / or the perception results of the third object include at least one of the following: The object's location information; The object's speed information; The characteristics of an object.

29. A communication method, characterized in that, include: Send resource configuration information, which is used to configure a first sensing resource and a second sensing resource, wherein the first sensing resource is a sensing resource within a first carrier and the second sensing resource is a sensing resource within a second carrier; The system receives the perception results of a second object and a third object, wherein the perception result of the second object is included in a first perception result, the first perception result includes the perception result of the first object, the first perception result is obtained based on a first perception signal, the first perception signal corresponds to the first perception resource, the perception result of the third object is included in a second perception result, the second perception result is obtained based on a second perception signal, the second perception signal corresponds to the second perception resource, and the transmission order of the perception results of the second object and the third object is determined according to the priority corresponding to the perception results of the second object and the priority corresponding to the perception results of the third object.

30. The method as described in claim 29, characterized in that, The priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between object characteristics and priorities; The priority of the first carrier; The priority of the second carrier; The correspondence between the number and priority of carriers corresponding to the perception results of an object.

31. The method as described in claim 29 or 30, characterized in that, The resource configuration information includes sensing resources within N carriers, where the N carriers include the first carrier and the second carrier, and N is a positive integer greater than 1. The sensing results corresponding to L of the N carriers include the sensing results of the second object, where L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; The sensing results corresponding to M of the N carriers include the sensing results of the second object, where M is a positive integer greater than or equal to 1, and the M carriers include the second carrier: When L is greater than M, the perception results of the second object are sent in a sequence earlier than the perception results of the third object.

32. The method according to any one of claims 29-31, characterized in that, The first perception result further includes the perception result of the first object, the second perception result further includes the perception result of the first object, and the method further includes: Receive a third perception result, which is a perception result of the first object obtained based on the first perception result and the second perception result.

33. The method as described in claim 32, characterized in that, The order in which the third perception result, the second object's perception result, and the third object's perception result are sent is determined based on the priority of the first object's perception result, the priority of the second object's perception result, and the priority of the third object's perception result.

34. The method as described in claim 33, characterized in that, The priority of the perception result of the first object is determined based on at least one of the following: The correspondence between object location information and priority; The correspondence between an object's speed information and its priority; The correspondence between object characteristics and priorities; The correspondence between the number and priority of carriers corresponding to the perceived results of an object; The priority of the first carrier.

35. The method as described in claim 30 or 34, characterized in that, The method further includes: Send a first indication message, the first indication message being used to indicate at least one of the following: The correspondence between object location information and priority; The correspondence between object characteristics and priorities; The priority of the first carrier; The priority of the second carrier.

36. The method according to any one of claims 30, 34-35, characterized in that, The perception results of the second object and / or the perception results of the third object include at least one of the following: The object's location information; The object's speed information; The characteristics of an object.

37. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 1-36.

38. A communication device, characterized in that, Includes a processor for executing computer programs or instructions to implement the method as described in any one of claims 1-36.

39. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method as described in any one of claims 1-36 is implemented.

40. A computer program product, characterized in that, When the computer program product is executed by a computer, the computer performs the method as described in any one of claims 1-36.

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