Method for integrating perception and communication and user equipment using same

Abstract

The invention provides a method for integrating perception and communication and user equipment using the method. The method is applicable to a user equipment and comprises the following steps. A network registration request is transmitted, and inquiry information of a cooperative sensing service is received from a first network entity. And transmitting a response message of the inquiry information. First cooperative awareness configuration information for a cooperative awareness service is received from a first network entity. And enabling the cooperative sensing service according to the first cooperative sensing configuration information. Therefore, the wireless sensing technology can be more effectively applied to various situations, and more possibilities are provided for related designs.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a method of integrating sensing and communication and a user equipment using the method. BACKGROUND

[0002] In future communication systems, with the introduction of large bandwidth, millimeter wave and massive multi-input multi-output (MIMO) technology, wireless sensing technology based on mobile communication systems has gradually become feasible and attracted widespread attention. Further, with the continuous progress of technology, the Internet of Things (IoT) and future communication systems have significantly increased demand for communication and sensing technology. Accordingly, Integrated Sensing and Communication (ISAC) technology has emerged to optimize the overall performance of communication systems. ISAC is a technology that integrates sensing and communication into the same communication system. Specifically, ISAC technology can use signal changes in communication signals to sense various types of motion in the surrounding environment to achieve sensing functions such as detection, positioning, identification, and imaging of target objects. With the increasing demand for real-time data transmission and environmental sensing in areas such as autonomous driving, smart homes, and industrial automation, ISAC technology is also implemented in various fields. In the field of intelligent transportation, ISAC technology can provide high-precision environmental sensing and reliable vehicle communication to improve traffic safety and efficiency. In smart homes, ISAC technology can enable sensing of the home environment and communication between devices to provide a more convenient home experience. In industrial automation, ISAC technology can enable real-time monitoring of device status and communication of control systems to improve production efficiency and device maintenance levels. Despite the significant advantages of ISAC technology, there are still many challenges in implementing ISAC technology in future communication systems. SUMMARY

[0003] The present disclosure relates to a method of integrating sensing and communication and a user equipment using the method.

[0004] Embodiments of the present disclosure relate to a method of integrating sensing and communication. The method is applicable to a user equipment and includes (but is not limited to) the following steps. A network registration request is transmitted, and inquiry information for a cooperative sensing service is received from a first network entity. A response message to the inquiry information is transmitted. First cooperative sensing configuration information for the cooperative sensing service is received from the first network entity. The cooperative sensing service is enabled according to the first cooperative sensing configuration information.

[0005] Embodiments of the present disclosure relate to a user equipment comprising (but not limited to) a transceiver and a processor. The processor is coupled to the transceiver and configured to perform the following steps. Transmit a network registration request and receive an inquiry information of a cooperative awareness service from a first network entity. Transmit a response message of the inquiry information. Receive first cooperative awareness configuration information of the cooperative awareness service from the first network entity. Enable the cooperative awareness service according to the first cooperative awareness configuration information.

[0006] Embodiments of the present disclosure relate to a method of integrating awareness and communication. The method is applicable to a first network entity and comprises (but not limited to) the following steps. Receive a network registration request transmitted by a user equipment and transmit an inquiry information of a cooperative awareness service. Receive a response message of the inquiry information. Transmit first cooperative awareness configuration information of the cooperative awareness service to the user equipment. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 a schematic diagram of a wireless communication system according to an exemplary embodiment of the present disclosure;

[0008] Figure 2 a schematic diagram of a plurality of network functions according to an exemplary embodiment of the present disclosure;

[0009] Figures 3A-3C a schematic diagram of switching operation modes according to an exemplary embodiment of the present disclosure;

[0010] Figure 4 a flowchart of a method of integrating awareness and communication according to an exemplary embodiment of the present disclosure;

[0011] Figure 5 a flowchart of enabling a periodic cooperative awareness service according to an exemplary embodiment of the present disclosure;

[0012] Figure 6 a flowchart of enabling a periodic cooperative awareness service according to an exemplary embodiment of the present disclosure;

[0013] Figure 7 a flowchart of enabling a periodic cooperative awareness service according to an exemplary embodiment of the present disclosure;

[0014] Figure 8 a flowchart of enabling a non-periodic cooperative awareness service according to an exemplary embodiment of the present disclosure;

[0015] Figure 9 a flowchart of enabling an emergency broadcast according to an exemplary embodiment of the present disclosure;

[0016] Figure 10 a flowchart of enabling an emergency broadcast according to an exemplary embodiment of the present disclosure;

[0017] Figure 11 Flowchart for enabling emergency cooperative perception service according to exemplary embodiments of the present disclosure;

[0018] Figure 12 Flowchart for switching mode or updating service configuration according to exemplary embodiments of the present disclosure;

[0019] Figure 13 Flowchart for third party application requesting perception information according to exemplary embodiments of the present disclosure;

[0020] Figure 14 Flowchart for third party application requesting perception information according to exemplary embodiments of the present disclosure;

[0021] Figure 15 Flowchart for enabling local cooperative perception data integration according to exemplary embodiments of the present disclosure;

[0022] Figure 16 Application context diagram according to exemplary embodiments of the present disclosure;

[0023] Figure 17 Application context diagram according to exemplary embodiments of the present disclosure;

[0024] Figure 18 Application context diagram according to exemplary embodiments of the present disclosure;

[0025] Figure 19 Application context diagram according to exemplary embodiments of the present disclosure;

[0026] Figure 20 Application context diagram according to exemplary embodiments of the present disclosure;

[0027] Figure 21 Application context diagram according to exemplary embodiments of the present disclosure;

[0028] Figure 22 Application context diagram according to exemplary embodiments of the present disclosure;

[0029] Figure 23 Application context diagram according to exemplary embodiments of the present disclosure;

[0030] Figure 24 Flowchart for a method of integrating perception and communication according to exemplary embodiments of the present disclosure;

[0031] Figure 25 Flowchart for a method of integrating perception and communication according to exemplary embodiments of the present disclosure;

[0032] Figure 26Block diagram of a wireless communication apparatus according to an embodiment of the present disclosure.

[0033] Reference sign explanation

[0034] 10: Wireless communication system;

[0035] 110, 110a, 110b: UE;

[0036] 120: Wireless access point;

[0037] 200: Core network;

[0038] 210: NSSF;

[0039] 220: PCF;

[0040] 230: NEF;

[0041] 240: LMF;

[0042] 250: SMF;

[0043] 260: AMF;

[0044] 270: UPF;

[0045] 280: SSMF;

[0046] 290: LCS entity;

[0047] 301: Idle mode;

[0048] 302: Normal mode;

[0049] 303: Extreme mode;

[0050] 304: Emergency mode;

[0051] 190, 690: Third-party application;

[0052] 1000: Wireless communication apparatus;

[0053] 1300: Processor;

[0054] 1200: Memory;

[0055] 1100: Transceiver;

[0056] 610, 620A, 620B: Base station;

[0057] V1 to V9: Automobile;

[0058] Obj1: Foreign matter;

[0059] A1: Ambulance;

[0060] A2: police car;

[0061] S401-S415, S501-S512, S601-S627, S701-S720, S801-S833, S901-S916, S1001-S1016, S1101-S1117, S1201-S1207, S1301-S1310, S1401-S1406, S1501-S1510, S2410-S2440, S2510-S2530: step. DETAILED DESCRIPTION

[0062] Reference will now be made in detail to the exemplary embodiments of the present application, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used in the different drawings to refer to the same or like parts.

[0063] Figure 1 is a schematic diagram of a wireless communication system according to an exemplary embodiment of the present disclosure. Referring to FIG. 1, Figure 1 The wireless communication system 10 includes, but is not limited to, a user equipment (UE) 110, a wireless access point 120, and a core network 200.

[0064] In the present disclosure, the UE 110 can be, for example, a mobile station, an advanced mobile station (AMS), a server, a client, a desktop computer, a notebook computer, a network computer, a workstation, a personal digital assistant (PDA), a tablet personal computer (PC), a scanner, a telephone device, a pager, a camera, a television, a palm- sized video game device, a music device, a wireless sensor, or an Internet of Things device, etc. In some applications, the UE 110 can be a stationary computer device operating in a moving environment such as a bus, a train, an airplane, a ship, a car, etc.

[0065] In embodiments of the present disclosure, the wireless access points 120 (also referred to as radio access network (RAN) devices) can be devices capable of communicating with the UEs 110 through radio signals. The wireless access points 120 can be various types of base stations (BSs). The wireless access points 120 can provide communication coverage for a particular geographic area and can communicate with the UEs 110 located in the coverage area. The coverage area for each wireless access point 120 can include one or more cells. Optionally, the wireless access points 120 can be implemented as home evolved node Bs (HeNBs), evolved node Bs (eNBs), next generation node Bs (gNBs), base transceiver systems (BTSs), relays, repeaters, or network devices in future evolutions of the public land mobile network (PLMN), etc. The wireless access points 120 can be interconnected to one another via the X2 or Xn interfaces.

[0066] In embodiments of the present disclosure, the core network 200 can be a fifth-generation core (5GC) or a core network of a future generation communication system. Correspondingly, the wireless access points 120 can be connected to the core network 200 via the S1 or NG interface. The core network 200 can provide user authentication, access authorization, tracking, Internet Protocol (IP) connectivity, and other access, routing, or mobility functions. The core network 200 can include at least one control plane entity (e.g., an Access and Mobility Management Function (AMF)) that manages access and mobility, and at least one user plane entity (e.g., a User Plane Function (UPF)) that routes or interconnects packets to an external network, such as the Internet. The control plane entity can manage Non-Access Stratum (NAS) functions, such as mobility, authentication, and bearer management for the UEs 110. For example, the AMF is generally configured to manage authentication, registration, paging, and other related functions. User IP packets can be transferred through the user plane entity, which can provide IP address allocation, as well as other functions. The user plane entity can be connected to network operator IP services. For example, the UPF is generally configured to transfer user plane packets related to audio calls, video calls, Internet traffic, and the like. It should be noted that the types and functions of the devices in the core network 200 can vary according to different generations of communication standards.

[0067] Currently, the idea of implementing a sensing function by extending the existing positioning procedure of a communication system has been proposed. The existing positioning procedure is mostly for positioning a target object with communication capability and provides simple positioning information.

[0068] Figure 2 A diagram of multiple network functions according to an exemplary embodiment of the present disclosure. Please refer to Figure 2 , the core network 200 can include a network slice selection function (NSSF) 210, a policy control function (PCF) 220, a network exposure function (NEF) 230, a location management function (LMF) 240, a session management function (SMF) 250, an access and mobility management function (AMF) 260, a user plane function (UPF) 270, a location service (LCS) entity 290, and a sensing management function (SSMF) 280. The UE 110 can be served by the network functions in the core network 200 responsible for different service via the wireless access point 120. In addition, each network function in the core network 200 can be implemented as one or more network entities. A network entity can be a communication device or a communication function executed by a communication device.

[0069] It should be particularly noted that in the embodiments of the present disclosure, the core network 200 can include the SSMF 280. The SSMF 280 can be a service provider of cooperative sensing services. The SSMF 280 can integrate sensing information provided by multiple UEs 110 to generate an integrated sensing report. The SSMF 280 can grant third-party applications the right to access the integrated sensing report. The SSMF 280 can schedule the configuration of cooperative sensing services. The SSMF 280 can confirm whether the emergency mode of cooperative sensing services is enabled and whether the periodic notification of the emergency mode is released. In addition, the characteristics / functions of other network functions in the core network 200 can refer to the relevant specifications specified by the 3GPP.

[0070] In some embodiments, the AMF 260 can be responsible for message transmission between entities related to cooperative sensing services. The entities related to cooperative sensing services can include the user equipment 110, the wireless access point 120, the third-party application, and other network functions in the core network 200.

[0071] In some embodiments, the wireless communication system 10 can be an ISAC system providing wireless sensing functions, while a cooperative sensing service can be provided. The UEs 110 and / or the wireless access points 120 can perform sensing as sensing devices. The sensing can include positioning, but the present disclosure is not limited to any particular type of sensing. For example, the sensing can involve sensing any of a variety of parameters or characteristics. Exemplary examples include location parameters, object size, one or more mobility parameters (e.g., velocity and / or direction), or temperature, among others, without limitation. Through the cooperative sensing service, sensing results of multiple sensing devices can be integrated to apply the integrated results of the multiple sensing information to various different application scenarios. Through the cooperative sensing service, a sensing device can obtain sensing results of other sensing devices in the surrounding vicinity.

[0072] In some embodiments, the sensing devices participating in the cooperative sensing service can include Requesters and Collaborators. The Requesters are registered users requesting the cooperative sensing, and the Collaborators are registered users assigned to collaborate with the Requesters for the cooperative sensing. The Requester in the sensing device can be a UE 110 or a wireless access point 120. The Collaborator in the sensing device can be a UE 110 or a wireless access point 120.

[0073] In some embodiments, taking the application of the cooperative sensing service to the intelligent transportation system as an example, the network functions (e.g., the SSMF 280 and the AMF 260) participating in the cooperative sensing service can be implemented as a central management unit of the intelligent transportation system. The sensing devices, the SSMF 280, the AMF 260, and the wireless access points 120 participating in the cooperative sensing service can be implemented as roadside units (RSUs) of the intelligent transportation system. The sensing devices participating in the cooperative sensing service can be implemented as vehicles. The third-party applications participating in the cooperative sensing service can be implemented as navigation service applications.

[0074] In some embodiments, taking the application of the cooperative sensing service to the intelligent factory as an example, the network functions (e.g., the SSMF 280 and the AMF 260) participating in the cooperative sensing service can be implemented as a central management unit of the intelligent factory. The sensing devices, the SSMF 280, the AMF 260, and the wireless access points 120 participating in the cooperative sensing service can be implemented as monitoring units (e.g., unmanned aerial vehicles (UAVs)) of the intelligent factory. The sensing devices participating in the cooperative sensing service can be implemented as mobile tools. The third-party applications participating in the cooperative sensing service can be implemented as anomaly monitoring applications.

[0075] In some embodiments, the cooperative sensing services can include periodic cooperative sensing services, aperiodic cooperative sensing services, emergency broadcast services, and emergency cooperative sensing services. The periodic cooperative sensing services can include first level periodic cooperative sensing services and second level periodic cooperative sensing services. Details of the various cooperative sensing services will be described later.

[0076] In some embodiments, the UE 110 as a sensing device can switch between multiple operational state modes. The operational states include normal mode, intense mode, idle mode, and / or emergency mode. In different operational states, the UE 110 can enable different types of cooperative sensing services.

[0077] For example, when the UE 110 as a sensing device operates in the normal mode, the UE 110 can enable the periodic cooperative sensing services and the emergency broadcast services, and disable the aperiodic cooperative sensing services and the emergency cooperative sensing services. When the UE 110 as a sensing device operates in the intense mode, the UE 110 can enable the periodic cooperative sensing services, the aperiodic cooperative sensing services, and the emergency broadcast services, and disable the emergency cooperative sensing services. When the UE 110 as a sensing device operates in the idle mode, the UE 110 can enable the emergency broadcast services. When the UE 110 as a sensing device operates in the emergency mode, the UE 110 can enable the periodic cooperative sensing services, the aperiodic cooperative sensing services, the emergency broadcast services, and the emergency cooperative sensing services.

[0078] Figures 3A-3C A schematic diagram of switching operational modes according to exemplary embodiments of the present disclosure. Please refer to Figure 3A The UE 110 can support 4 operational modes and switch between the normal mode 302, the intense mode 303, the idle mode 301, and the emergency mode 304. Please refer to Figure 3B The UE 110 can support 3 operational modes and switch between the normal mode 302, the idle mode 301, and the emergency mode 304. Alternatively, the UE 110 can support 3 operational modes and switch between the intense mode 303, the idle mode 301, and the emergency mode 304. Alternatively, the UE 110 can support 3 operational modes and switch between the intense mode 303, the normal mode 302, and the emergency mode 304. Please refer to Figure 3CIn some embodiments, UE 110 can support two operation modes and switch between a normal mode 302 and an idle mode 301. Alternatively, UE 110 can support two operation modes and switch between an extreme mode 303 and an idle mode 301.

[0079] In some embodiments, UE 110 can request SSMF 280 to provide services to enable cooperative awareness services by performing a network registration procedure. Further, in a case that the registration of UE 110 is received by AMF 260, AMF 260 can notify SSMF 280 to configure and schedule parameters and resources needed for UE 110 to operate cooperative awareness services.

[0080] In some embodiments, UE 110 can receive first cooperative awareness configuration information of cooperative awareness services from SSMF 280 and enable cooperative awareness services according to the first cooperative awareness configuration information. The first cooperative awareness configuration information is used to indicate a service mode of cooperative awareness services or an awareness mode of cooperative awareness services. The service mode of cooperative awareness services includes a periodic cooperative awareness service, an aperiodic cooperative awareness service, an emergency broadcast service, or an emergency cooperative awareness service, and the awareness mode includes a monostatic awareness and a bistatic awareness.

[0081] In some embodiments, when the periodic cooperative awareness service or the aperiodic cooperative awareness service is enabled, UE 110 transmits first awareness information to SSMF 280. UE 110 receives an integrated awareness report associated with the first awareness information from SSMF 280. Then, UE 110 performs an operation according to the integrated awareness report. In an embodiment, the transmission can be direct transmission or indirect transmission through other units / devices, for example, UE 110 transmits information to SSMF 280, which can be that UE 110 directly transmits information to SSMF 280, or UE 110 directly transmits information to wireless access point 120 first, wireless access point 120 directly transmits information to AMF 260 second, and AMF 260 directly transmits information to SSMF 280 third. In an embodiment, the reception can be direct reception or indirect reception through other units / devices, for example, UE 110 receives information from SSMF 280, which can be that UE 110 directly receives information transmitted from SSMF 280, or AMF 260 directly receives information transmitted from SSMF 280 first, wireless access point 120 directly receives information transmitted from AMF 260 second, and UE 110 directly receives information transmitted from wireless access point 120 third.

[0082] In some embodiments, the operation performed by UE 110 according to the integrated awareness report includes sensing parameter correction (e.g., sensing radar parameter correction) or navigation route planning, etc.

[0083] In some embodiments, when the first level of periodic cooperative perception service is enabled, the first perception information can include local perception data of the UE 110 or local behavior data of the UE 110.

[0084] In some embodiments, the local perception data can include perception point cloud data, map data, range profile, noise profile, etc. The local behavior data can include moving direction, moving speed, Global Positioning System (GPS) information, etc. of the UE 110.

[0085] In some embodiments, when the second level of periodic cooperative perception service or the non-periodic cooperative perception service is enabled, the first perception information can be generated according to a second perception information of a perception device and a third perception information perceived by the UE 110 performing sensing data integration. When the second level of periodic cooperative perception service is enabled, the third perception information can be obtained by the UE 110 performing a monostatic perception.

[0086] In some embodiments, the UE 110 receives a second cooperative perception configuration information from the SSMF 280. The second cooperative perception configuration information includes device identification information of a perception device. After establishing communication with the perception device using the device identification information of the perception device, the UE 110 can receive a second perception information transmitted by the perception device. The UE 110 can perform sensing data integration according to the second perception information and a third perception information perceived by the UE 110 to generate the first perception information.

[0087] In some embodiments, when the second level of periodic cooperative perception service is enabled, the first perception information can be generated by the UE 110 performing a bistatic perception with a perception device.

[0088] In some embodiments, the UE 110 receives a second cooperative perception configuration information from the SSMF 280. The second cooperative perception configuration information includes device identification information of a perception device. After establishing communication with the perception device using the device identification information of the perception device, the UE 110 performs a bistatic perception with the perception device to generate the first perception information. One of the perception device and the UE 110 is a sensing signal transmitter of the bistatic perception, and the other of the perception device and the UE 110 is a sensing signal receiver of the bistatic perception.

[0089] In some embodiments, in response to receiving the second cooperative sensing configuration information from the SSMF 280, the UE 110 as the cooperator can switch to an operation mode that supports a periodic cooperative sensing service or a non-periodic cooperative sensing service. The second cooperative sensing configuration information includes device identification information of the sensing device as the demander and a cooperator indication. The cooperator indication is used to indicate the UE 110 as the cooperator. The UE 110 as the cooperator transmits the first sensing information to the sensing device as the demander.

[0090] The following describes an embodiment of cooperative sensing service registration.

[0091] Figure 4 A flowchart of a method for integrated sensing and communication according to an exemplary embodiment of the present disclosure. In some embodiments, the UE 110 can enable the cooperative sensing service through cooperative sensing service registration. When the UE 110 that has not been registered enters the service range of the wireless access point 120, the UE 110 can transmit a network registration request to the AMF 260 (which can be a second network entity). Please refer to Figure 4 At step S401, the UE 110 transmits a network registration request to the wireless access point 120. In response to receiving the network registration request transmitted by the UE 110, the wireless access point 120 performs AMF selection. At step S402, the wireless access point 120 transmits the network registration request to the AMF 260.

[0092] The above-mentioned network registration request can include a registration type, slice selection information, a Subscriber Permanent Identifier (SUPI), a Temporary User ID, or a security parameter, etc.

[0093] In some embodiments, the network registration request transmitted by the UE 110 can further include capability indication information, and the capability indication information is used to indicate whether the UE 110 has the capability to use the cooperative sensing service. From another point of view, in some embodiments, the network registration request transmitted by the UE 110 can further include capability indication information, and the capability indication information is used to indicate whether the UE 110 supports the ISAC function.

[0094] When the registration of the UE 110 is accepted, the AMF 260 transmits a registration accept message to the UE 110. In step S403, the AMF 260 transmits the registration accept message to the wireless access point 120. In step S405, the wireless access point 120 transmits the registration accept message to the UE 110. On the other hand, in step S404, when the registration of the UE 110 is accepted, if the UE 110 has the capability of using the cooperative awareness service or supports the ISAC function, the AMF 260 transmits a registration report to the SSMF 280. The registration report is used to inform the SSMF 280 that the UE 110 having the capability of using the cooperative awareness service or supporting the ISAC function has been registered. The SSMF 280 receives the registration report associated with the UE 110 from the AMF 260.

[0095] In response to receiving the registration report, the SSMF 280 transmits inquiry information of the cooperative awareness service to the UE 110. The UE 110 can receive the inquiry information of the cooperative awareness service from the SSMF 280 (which can be a first network entity) via the AMF 260. In step S406, the SSMF 280 transmits the inquiry information of the cooperative awareness service to the AMF 260. In step S407, the AMF 260 transmits the inquiry information of the cooperative awareness service to the wireless access point 120. In step S408, the wireless access point 120 transmits the inquiry information of the cooperative awareness service to the UE 110.

[0096] In some embodiments, the inquiry information of the cooperative awareness service is configured to inquire whether the UE 110 participates in the cooperative awareness service. The inquiry information of the cooperative awareness service is configured to inquire the service permission information. The inquiry information of the cooperative awareness service is configured to inquire the sensing performance of the UE 110 and the operation mode that can be supported by the UE 110.

[0097] In response to receiving the inquiry information of the cooperative awareness service, the UE 110 transmits a response message of the inquiry information. In step S409, the UE 110 transmits the response message of the inquiry information to the wireless access point 120. In step S410, the wireless access point 120 transmits the response message of the inquiry information to the AMF 260, and in step S411, the AMF 260 transmits the response message of the inquiry information to the SSMF 280.

[0098] In some embodiments, the response message is configured to indicate whether the UE 110 participates in the cooperative perception service. The response message is configured to indicate a permission flag of a permission level. The permission flag can include a payment flag, an authorization flag, or a service flag, etc. The response message is configured to indicate a perception capability parameter of the UE 110, such as a maximum detectable distance, a maximum detectable speed, a distance resolution, a speed resolution, a visual range, an angle resolution, a maximum power, an antenna array parameter, an employed radar algorithm (e.g., Frequency Modulated Continuous Wave (FMCW), Pulse radar), a used frequency band, a used bandwidth, or a memory capacity, etc. The response message is configured to indicate an operation mode that the UE 110 can support.

[0099] In response to receiving the response message, the SSMF 280 transmits first cooperative perception configuration information of the cooperative perception service to the UE 110. In response to transmitting the response message, the UE 110 receives the first cooperative perception configuration information of the cooperative perception service from the SSMF 280. At step S412, the SSMF 280 transmits the first cooperative perception configuration information to the AMF 260. At step S413, the AMF 260 transmits the first cooperative perception configuration information to the wireless access point 120. At step S414, the wireless access point 120 transmits the first cooperative perception configuration information to the UE 110. At step S415, the UE 110 enables the cooperative perception service according to the first cooperative perception configuration information. The UE 110 can enable the corresponding cooperative perception service according to the operation mode specified by the first cooperative perception configuration information.

[0100] In some embodiments, the first cooperative perception configuration information can be used to specify the operation mode and the service type. In addition, the first cooperative perception configuration information can be used to indicate the configuration parameters related to the cooperative perception service.

[0101] The following describes a first level of periodic cooperative perception service embodiments.

[0102] Figure 5 A flowchart of enabling periodic cooperative perception service according to the exemplary embodiments of the present disclosure. Please refer to Figure 5The steps denoted by dashed boxes represent optional steps that can or can not be performed depending on the actual situation. At step S501, the UE 110 exits the idle mode. Further, the UE 110 switches to an operation mode that supports a periodic cooperative sensing service, in which the periodic cooperative sensing service is enabled. If the UE 110 is already in the operation mode that supports the periodic cooperative sensing service, step S501 can not be performed. At step S502, the UE 110 acquires local sensing data. At step S503, the UE 110 acquires local behavior data. The UE 110 can acquire the local sensing data and / or the local behavior data by various sensors and using various sensing techniques.

[0103] At step S504, the UE 110 transmits the sensing information including the local sensing data and / or the local behavior data to the wireless access point 120. At step S505, the wireless access point 120 transmits the sensing information to the AMF 260. At step S506, the AMF 260 transmits the sensing information to the SSMF 280.

[0104] At step S507, the SSMF 280 aggregates the sensing information of the UE 110 and other UEs to generate an aggregated sensing report. For example, the SSMF 280 performs data fusion on the sensing results of multiple sensing units to generate the aggregated sensing report. In some embodiments, the aggregated sensing report can include sensing point cloud data, map data, range profile, noise profile, etc.

[0105] At step S508, the SSMF 280 transmits the aggregated sensing report to the AMF 260. At step S509, the AMF 260 transmits the aggregated sensing report to the wireless access point 120. At step S510, the wireless access point 120 transmits the aggregated sensing report to the UE 110.

[0106] At step S511, the UE 110 can perform an operation according to the aggregated sensing report. In some embodiments, the UE 110 can correct and adjust sensing parameters according to the aggregated sensing report to obtain more accurate sensing results.

[0107] At step S512, the SSMF 280 can perform an operation according to the aggregated sensing report. In some embodiments, the SSMF 280 can provide the aggregated sensing report to a third-party application.

[0108] The following describes a second-level periodic cooperative sensing service embodiment.

[0109] Figure 6 A flowchart of the periodic cooperative sensing service according to the exemplary embodiment of the present disclosure is shown in FIG. 5. Please refer to FIG. 5. Figure 6In this example, the UE 110a is a perceiver device as a demander. The UE 110b is a perceiver device as a collaborator. The steps denoted by the dashed boxes represent optional execution or execution depending on actual context.

[0110] At step S601, the UE 110a exits the idle mode. Further, the UE 110a switches to an operation mode that supports a periodic collaborative perception service to enable the periodic collaborative perception service in the operation mode. The UE 110a receives second collaborative perception configuration information from the SSMF 280, which includes device identification information of the perceiver device as a collaborator (i.e., the UE 110b).

[0111] Via steps S602, S603, S604, the UE 110a can receive the second collaborative perception configuration information transmitted by the SSMF 280. The second collaborative perception configuration information includes device identification information of the perceiver device (i.e., the UE 110b), which can include a Media Access Control (MAC) address, a hardware number, and / or a relative position, etc. Thus, the UE 110a as a demander can learn the device identification information of the collaborator.

[0112] Further, at S605, the UE 110b as a collaborator can receive the second collaborative perception configuration information transmitted by the SSMF 280. The second collaborative perception configuration information includes device identification information of the UE 110a, which can include a MAC address, a hardware number, and / or a relative position, etc. Thus, the UE 110b as a collaborator can learn the device identification information of the demander.

[0113] At step S606, the UE 110b as a collaborator exits the idle mode. That is, in response to receiving the second collaborative perception configuration information from the SSMF 280, the UE 110b can exit the idle mode according to the collaborator indication in the second collaborative perception configuration information. The UE 110b as a collaborator can switch to an operation mode that supports a periodic collaborative perception service.

[0114] At step S607, the UE 110a and the UE 110b can establish communication, such as Bluetooth communication or other communication links, according to the device identification information. At step S608, the UE 110a acquires local perception data. At step S609, the UE 110a acquires local behavior data. In an embodiment, the UE 110a can perform a monostatic perception to acquire the perception information. At step S610, the UE 110b acquires local perception data. At step S611, the UE 110b acquires local behavior data.

[0115] At step S612, UE 110b transmits the perception information including the local perception data of UE 110b and / or the local behavior data of UE 110b to UE 110a. At step S613, UE 110a performs perception data integration according to its own perception information (including the local perception data of UE 110a and / or the local behavior data of UE 110a) and the perception information provided by UE 110b. For example, UE 110a can perform perception data integration on the local perception data of UE 110a and the local perception data of UE 110b. For example, the local perception data of UE 110a and the local perception data of UE 110b are integrated, and / or the local behavior data of UE 110a and the local behavior data of UE 110b are integrated to obtain the perception information. For another example, the local perception data of UE 110a and / or the local behavior data of UE 110a are integrated to obtain the perception information.

[0116] At steps S614, S615, S616, UE 110a transmits the perception information to SSMF 280. In some embodiments, the perception information transmitted by UE 110a can be the data integration result of the perception data integration. At steps S617, S618, S619, UE 110b transmits the perception information of UE 110b to SSMF 280.

[0117] At step S620, SSMF 280 integrates the perception information to generate an integrated perception report. In an embodiment, SSMF 280 integrates the perception information of UE 110a and the perception information of UE 110b to generate the integrated perception report. In an embodiment, SSMF 280 integrates the perception information transmitted by UE 110a (including the integrated local perception data of UE 110a and the local perception data of UE 110b) and / or other perception information to generate the integrated perception report. At steps S621, S622, SSMF 280 transmits the integrated perception report to wireless access point 120. At step S623, wireless access point 120 transmits the integrated perception report to UE 110a as the demander. At step S624, wireless access point 120 transmits the integrated perception report to UE 110b as the collaborator.

[0118] At step S625, UE 110a performs a first operation according to the integrated perception report. At step S626, UE 110b performs a second operation according to the integrated perception report. At step S627, SSMF 280 performs a third operation according to the integrated perception report.

[0119] Figure 7 A flowchart of a periodic collaborative perception service enabling procedure according to an exemplary embodiment of the present disclosure is shown in FIG. 6. Please refer to Figure 7In this example, the UE 110a is a perceiving device as a demander. The UE 110b is a perceiving device as a collaborator. The steps denoted by the dashed boxes represent optional execution or execution or non-execution depending on actual scenarios.

[0120] At step S701, the UE 110a exits the idle mode. Further, the UE 110 switches to an operation mode supporting a periodic collaborative perception service to enable the periodic collaborative perception service in the operation mode. The UE 110a receives second collaborative perception configuration information from the SSMF 280, the second collaborative perception configuration information including device identification information of a perceiving device as a collaborator (i.e., the UE 110b).

[0121] Via steps S702, S703, S704, the UE 110a can receive the second collaborative perception configuration information transmitted by the SSMF 280. The second collaborative perception configuration information includes the device identification information of the perceiving device (i.e., the UE 110b). Thus, the UE 110a as a demander can know the device identification information of the collaborator.

[0122] Further, via steps S702, S703, S705, the UE 110b can receive the second collaborative perception configuration information transmitted by the SSMF 280. The second collaborative perception configuration information includes the device identification information of the UE 110a and a collaborator indication. Thus, the UE 110b as a collaborator can know the device identification information of the demander.

[0123] At step S706, the UE 110b as a collaborator exits the idle mode. That is, in response to receiving the second collaborative perception configuration information from the SSMF 280, the UE 110b can exit the idle mode according to the collaborator indication in the second collaborative perception configuration information. The UE 110b as a collaborator can switch to an operation mode supporting a periodic collaborative perception service.

[0124] It is worth mentioning that, in this example, the second collaborative perception configuration information can be used to specify one of the demander and the collaborator as a signal transmitting end of the one-base perception, and to specify the other of the demander and the collaborator as a signal receiving end of the one-base perception. For example, the SSMF 280 can assign the UE 110a as the signal receiving end of the one-base perception, and assign the UE 110b as the signal transmitting end of the one-base perception. The SSMF 280 can notify the UE 110a as the signal receiving end of the one-base perception through the second collaborative perception configuration information, and notify the UE 110b as the signal transmitting end of the one-base perception through the second collaborative perception configuration information.

[0125] At step S707, UE 110a and UE 110b can perform timing synchronization and establish communication, such as Bluetooth communication or other communication link, according to the device identification information. At step S708, UE 110a and UE 110b perform dual-base station cooperative sensing. At step S709, UE 110a and UE 110b can generate sensing information based on the dual-base station sensing. In an embodiment, the signal receiving end of the single-base sensing can generate the sensing information. Thus, when UE 110a is assigned as the signal transmitting end of the single-base sensing as the demander, UE 110b as the cooperator can generate the sensing information and transmit the sensing information to UE 110a. Via steps S710, S711, S712, UE 110a transmits the sensing information to SSMF 280.

[0126] At step S713, SSMF 280 integrates the sensing information to generate an integrated sensing report. Via steps S714, S715, SSMF 280 transmits the integrated sensing report to wireless access point 120. At step S716, wireless access point 120 transmits the integrated sensing report to UE 110a as the demander. At step S717, wireless access point 120 transmits the integrated sensing report to UE 110b as the cooperator.

[0127] At step S719, UE 110a performs a first operation according to the integrated sensing report. At step S718, UE 110b performs a second operation according to the integrated sensing report. At step S720, SSMF 280 performs a third operation according to the integrated sensing report.

[0128] The following describes an embodiment of the non-periodic cooperative sensing service.

[0129] Figure 8 A flowchart of enabling the non-periodic cooperative sensing service according to the exemplary embodiment of the present disclosure is shown in FIG. 7. Please refer to Figure 8 In this example, UE 110a is the sensing device as the demander. UE 110b is the sensing device as the cooperator. The steps marked by the dashed boxes or dashed arrows represent that the steps can be selectively performed or performed or not performed according to actual situations.

[0130] At step S801, the UE 110a enters an extreme mode or an emergency mode. Further, the UE 110a switches to an operation mode supporting aperiodic cooperative awareness service to enable the aperiodic cooperative awareness service in the operation mode. After entering the extreme mode or the emergency mode, the UE 110a can transmit a service request of the aperiodic cooperative awareness service to the SSMF (which can be the first network entity) 280. In response to the service request of the aperiodic cooperative awareness service, the UE 110a can receive second cooperative awareness configuration information of the aperiodic cooperative awareness service from the SSMF 280.

[0131] As shown in FIG. 8, the UE 110a transmits a service request of the aperiodic cooperative awareness service to the SSMF 280 via steps S802, S803, S804. In response to the service request of the aperiodic cooperative awareness service, the SSMF 280 can decide whether to agree to the service request. If the SSMF 280 agrees to the service request of the aperiodic cooperative awareness service, the SSMF 280 can transmit second cooperative awareness configuration information of the aperiodic cooperative awareness service. The SSMF 280 can transmit the second cooperative awareness configuration information of the aperiodic cooperative awareness service to the UE 110a as the demander via steps S805, S806, S807. The UE 110a can obtain device identification information of the cooperator (i.e., the UE 110b) from the second cooperative awareness configuration information. Figure 8

[0132] On the other hand, the SSMF 280 can transmit the second cooperative awareness configuration information of the aperiodic cooperative awareness service to the UE 110b as the cooperator via steps S805, S806, S808. The SSMF 280 informs the UE 110b as the cooperator of the aperiodic cooperative awareness service by using the second cooperative awareness configuration information. In addition, the UE 110b can obtain device identification information of the demander (i.e., the UE 110a) from the second cooperative awareness configuration information.

[0133] At step S809, the UE 110b as the cooperator enters the extreme mode or the emergency mode. Further, the UE 110b switches to an operation mode supporting aperiodic cooperative awareness service to enable a cooperative function of the aperiodic cooperative awareness service. At step S810, the UE 110a and the UE 110b can establish communication according to device identification information of each other.

[0134] ​At step S811, when the UE 110a as the demander judges that immediate cooperative perception is needed, the UE 110a sends a perception data request to the UE 110b as the cooperator. In detail, compared with the periodic cooperative perception service which can be enabled periodically, the aperiodic cooperative perception service can be enabled by the UE 110a according to the current scenario. At step S812, the UE 110a acquires the local perception data of the UE 110a. At step S813, the UE 110a acquires the local behavior data of the UE 110a. At step S814, the UE 110b acquires the local perception data of the UE 110b. At step S815, the UE 110b acquires the local behavior data of the UE 110b.

[0135] At step S816, the UE 110b as the cooperator transmits the perception information including the local perception data of the UE 110b and / or the local behavior data of the UE 110b to the UE 110a in response to the perception data request. Alternatively, in other embodiments, the UE 110b as the cooperator can spontaneously transmit the perception information including the local perception data of the UE 110b and / or the local behavior data of the UE 110b to the UE 110a based on other judgment conditions.

[0136] At step S817, the UE 110a performs perception data integration according to the perception information including the local perception data of the UE 110a and / or the local behavior data of the UE 110a and the perception information provided by the UE 110b. Via steps S818, S819, S820, the UE 110a transmits the perception information to the SSMF 280. In some embodiments, the perception information transmitted by the UE 110a can be the data integration result of the perception data integration. Via steps S822, S823, S824, the UE 110b transmits the perception information to the SSMF 280.

[0137] At step S825, the SSMF 280 integrates the perception information to generate an integrated perception report. Via steps S826, S827, the SSMF 280 transmits the integrated perception report to the wireless access point 120. At step S828, the wireless access point 120 transmits the integrated perception report to the UE 110a as the demander. At step S829, the wireless access point 120 transmits the integrated perception report to the UE 110b as the cooperator.

[0138] When UE 110a judges that the demand of the aperiodic cooperative awareness service ends, UE 110a transmits a service termination message of the aperiodic cooperative awareness service to the awareness device (UE 110b) as the cooperator and to SSMF 280. Via steps S830, S832, S833, UE 110a transmits the service termination message of the aperiodic cooperative awareness service to SSMF 280. Via step S831, UE 110a transmits the service termination message of the aperiodic cooperative awareness service to UE 110b as the cooperator to end the communication link between the two.

[0139] The following describes an embodiment of an emergency broadcast service.

[0140] Figure 9 An emergency broadcast enabled flowchart according to exemplary embodiments of the present disclosure. Please refer to Figure 9 In this example, UE 110a is an awareness device as a demander. UE 110b is an awareness device as a cooperator. In addition, 110a as the demander initiates an emergency broadcast. The steps denoted by the dashed box represent optional execution or execution or non-execution depending on the actual situation.

[0141] In some embodiments, when UE 110a judges that an emergency event occurs, UE 110a broadcasts an emergency broadcast message of the cooperative awareness service, causing the awareness device (UE 110b) as the cooperator and SSMF 280 to receive the emergency broadcast message. As shown in Figure 9 At step S901, UE 110b as the cooperator within the broadcast range can receive the emergency broadcast message from UE 110a. Via steps S902, S903, S904, SSMF 280 can receive the emergency broadcast message from UE 110a via the wireless access node 120 within the broadcast range.

[0142] In some embodiments, the emergency broadcast message is used to broadcast an emergency cooperative awareness demand. The emergency broadcast message can include service permission information. The emergency broadcast message includes a specific message identifier so that awareness devices that cannot provide assistance can decide to ignore this emergency broadcast message according to this specific message identifier, thereby avoiding communication interference caused by broadcast behavior.

[0143] At step S905, in response to the emergency broadcast message, the collaborator UE 110b can transmit an emergency broadcast response to UE 110a. The emergency broadcast response can include the collaborator's perception capability parameters, such as maximum detectable distance, maximum detectable speed, distance resolution, speed resolution, visual range, angular resolution, maximum power, antenna array parameters, employed radar algorithm, used frequency band, used bandwidth, memory capacity, etc. In addition, the emergency broadcast response can indicate that the collaborator UE 110b agrees to assist in the emergency cooperative perception.

[0144] At step S906, in response to receiving the emergency broadcast response transmitted by the perception device UE 110b, UE 110a establishes communication with the perception device. The emergency broadcast response can include the device identification information of UE 110b. At step S907, UE 110a acquires the local perception data of UE 110a. At step S908, UE 110a acquires the local behavior data of UE 110a. At step S909, UE 110b acquires the local perception data of UE 110b. At step S910, UE 110b acquires the local behavior data of UE 110b.

[0145] At step S911, after receiving the emergency broadcast, the collaborator perception device UE 110b transmits perception information including the local perception data of UE 110b and / or the local behavior data of UE 110b to UE 110a. UE 110a receives the perception information generated by the collaborator perception device UE 110b in response to the emergency broadcast. At step S912, UE 110a performs perception data integration according to its own perception information (including the local perception data of UE 110a and / or the local behavior data of UE 110a) and the perception information provided by UE 110b, or performs an operation using the perception information provided by UE 110b. In an embodiment, when the emergency broadcast message is issued, UE 110a can directly perform an operation according to the data fusion result of the perception information of UE 110a and the perception information of UE 110b to meet the emergency requirement. In an embodiment, when the emergency broadcast message is issued, UE 110a can directly perform an operation according to the perception information of UE 110b to meet the emergency requirement.

[0146] Afterwards, when UE 110a judges that the emergency event is over or the emergency event has lasted for a period of time, UE 110a can transmit an emergency broadcast end notification to the collaborator perception device UE 110b and SSMF 280. As Figure 9As shown, at step S913, UE 110a can transmit an emergency broadcast end notification to UE 110b. Via steps S914, S915, S916, UE 110a can transmit an emergency broadcast end notification to SSMF 280. The emergency broadcast end notification can be used to indicate the release of the emergency broadcast. Further, when the emergency event has lasted for a period of time, the emergency broadcast end notification can be used to switch the operation mode of UE 110a to the emergency mode, causing UE 110a to then enable the emergency cooperative perception service in the emergency mode.

[0147] Figure 10 FIG. 10 is a flowchart of an emergency broadcast enabled procedure according to an exemplary embodiment of the present disclosure. Please refer to FIG. 1 for the details of the components in the procedure. Figure 10 In this example, UE 110a is a perception device as a demander. UE 110b is a perception device as a cooperator. Further, UE 110b as a cooperator initiates the emergency broadcast. The steps denoted by the dashed boxes represent optional execution or execution or non-execution depending on the actual scenario.

[0148] In some embodiments, when UE 110b as a cooperator determines that an emergency event occurs, UE 110b broadcasts an emergency broadcast message of the cooperative perception service, causing the perception device UE 110a as a demander and SSMF 280 to receive the emergency broadcast message. As shown in FIG. 10, at step S1001, UE 110a can receive the emergency broadcast message from UE 110b. Via steps S1002, S1003, S1004, SSMF 280 can receive the emergency broadcast message from UE 110b. Figure 10

[0149] In some embodiments, the emergency broadcast message is used to broadcast that an emergency event occurs in the surrounding. The emergency broadcast message includes a specific message identifier, so that a perception device that cannot provide assistance can decide to ignore the emergency broadcast message according to the specific message identifier, thereby avoiding communication interference caused by the broadcasting behavior. The emergency broadcast message can include the perception capability parameters of the cooperator (e.g., UE 110b), such as the maximum detectable distance, the maximum detectable speed, the distance resolution, the speed resolution, the visual range, the angle resolution, the maximum power, the antenna array parameter, the adopted radar algorithm, the used frequency band, the used bandwidth, the memory capacity, and the like.

[0150] At step S1005, in response to the emergency broadcast message, UE 110a can return an emergency broadcast response to UE 110b. At step S1006, in response to receiving the emergency broadcast response returned by the perception device (e.g., UE 110a), UE 110b establishes communication with the perception device. The emergency broadcast response can include the device identification information of UE 110a.

[0151] ​At step S1007, UE 110a acquires local perception data. At step S1008, UE 110a acquires local behavior data. At step S1009, UE 110b acquires local perception data. At step S1010, UE 110b acquires local behavior data.

[0152] At step S1011, after the emergency broadcast is issued, the UE 110b as the collaborator transmits the perception information to the UE 110a. The UE 110a receives the perception information generated by the perception device (e.g., UE 110b) as the collaborator in response to the emergency broadcast. At step S1012, the UE 110a performs perception data integration according to its own perception information and the perception information provided by the UE 110b, or uses the perception information provided by the UE 110b. When receiving the emergency broadcast message, the UE 110a can directly perform an operation according to the data fusion result of the perception information of the UE 110a and the perception information of the UE 110b to meet the emergency requirement. Alternatively, when receiving the emergency broadcast message, the UE 110a can directly perform an operation according to the perception information of the UE 110b to meet the emergency requirement.

[0153] Afterwards, when the UE 110b judges that the emergency event is over or the emergency event has lasted for a period of time, the perception device UE 110b as the collaborator can transmit an emergency broadcast end notification to the UE 110a and the SSMF 280. As shown in Figure 10 At step S1013, the UE 110b can transmit an emergency broadcast end notification to the UE 110a. Via steps S1014, S1015, S1016, the UE 110b can transmit an emergency broadcast end notification to the SSMF 280.

[0154] The following describes an embodiment of the emergency collaborative perception service.

[0155] Figure 11 A flowchart of enabling the emergency collaborative perception service according to the exemplary embodiment of the present disclosure is shown. Please refer to Figure 11 In the present example, the UE 110a is the perception device as the demander. The UE 110b is the perception device as the collaborator.

[0156] In some embodiments, Figure 11 The flow shown can be performed after the flow shown in Figure 10 In an embodiment, when the emergency event has lasted for a period of time, the UE 110a transmits an emergency broadcast end notification to the SSMF 280, and the emergency broadcast end notification can be used as a notification message for switching the operation mode of the UE 110a to the emergency mode.

[0157] At step S1101, the UE 110a enters the emergency mode. In some embodiments, if the UE 110a is not operating in the emergency mode, the UE 110a can perform a mode switching procedure to enter the emergency mode. The mode switching procedure will be described in detail in the implementation content of Figure 12

[0158] When the SSMF 280 perceives that the UE 110a enters the emergency mode, the SSMF 280 can update the cooperative awareness configuration information. For example, the SSMF 280 can change the cooperators assisting the UE 110a. The SSMF 280 can indicate the cooperator information of the cooperative awareness service through the second cooperative awareness configuration information.

[0159] In response to enabling an emergency cooperative awareness service, the UE 110a receives the second cooperative awareness configuration information from the SSMF 280. When the SSMF 280 perceives that the UE 110a enters the emergency mode, the SSMF 280 can transmit the second cooperative awareness configuration information to the wireless access point 120 via steps S1102 and S1103. At step S1104, the wireless access point 120 can transmit the second cooperative awareness configuration information to the UE 110a. When the cooperators of the UE 110a change, the second cooperative awareness configuration information transmitted to the UE 110a can be used to indicate the device identification information of the new cooperator.

[0160] At step S1105, the wireless access point 120 can transmit the second cooperative awareness configuration information to the UE 110b. The second cooperative awareness configuration information transmitted to the UE 110b can be used to indicate whether the UE 110b continues to be a cooperator of the UE 110a. In addition, when the UE 110b is a new cooperator, the second cooperative awareness configuration information transmitted to the UE 110b can be used to indicate the device identification information of the UE 110a as a demander.

[0161] At step S1106, the UE 110a, the UE 110b, and the SSMF 280 confirm the matching of the cooperative objects. At step S1107, the UE 110a and the UE 110b establish communication. At step S1108, the UE 110b acquires local awareness data. At step S1109, the UE 110b acquires local behavior data. At step S1110, the UE 110a acquires local awareness data. At step S1111, the UE 110a acquires local behavior data.

[0162] At step S1112, the UE 110b as a cooperator transmits awareness information to the UE 110a. The UE 110a receives the awareness information transmitted by the awareness device (such as the UE 110b) as a cooperator. At step S1113, the UE 110a performs awareness data integration according to its own awareness information and the awareness information provided by the UE 110b. ​

[0163] In some embodiments, the SSMF 280 can periodically determine whether to deactivate the emergency mode of the UE 110a. Through the transmission of an emergency mode notification, the SSMF 280 can notify collaborators and users whether the emergency mode has been deactivated. Figure 11 As shown, via steps S1114 and S1115, SSMF 280 can transmit the emergency mode not yet deactivated notification to radio access point 120. In step S1116, radio access point 120 transmits the emergency mode not yet deactivated notification to UE 110a. In step S1117, radio access point 120 transmits the emergency mode not yet deactivated notification to UE 110b.

[0164] In some embodiments, an Emergency Mode Not Deactivated Notification is used to indicate whether the emergency mode of UE 110a has been deactivated. In response to an Emergency Mode Not Deactivated Notification indicating mode deactivated, UE 110a may stop enabling the Emergency Cooperative Awareness Service. In some embodiments, steps S1102 to S1117 may be repeated until the emergency mode is deactivated.

[0165] The following describes an example of mode switching and configuration update.

[0166] Figure 12 This is a flowchart illustrating the switching mode or service update configuration according to an exemplary embodiment of this disclosure. Please refer to... Figure 12 When it is necessary to switch the operating mode of the cooperative awareness service or update the service configuration, UE 110 can transmit a cooperative awareness service mode switching request or a service configuration update request to SSMF 280. In response to transmitting the cooperative awareness service mode switching request or service configuration update request to SSMF 280, UE 110 receives a mode switching response or a service configuration update response. In response to receiving the mode switching response or service configuration update response, UE 110 switches its operating mode or updates its service configuration. In other words, in response to receiving a cooperative awareness service mode switching request or service configuration update request, SSMF 280 reschedules the operating mode or service configuration of UE 110. SSMF 280 transmits a mode switching response or a service configuration update response to UE 110. Furthermore, Figure 12 The process shown can be described as the detailed operation of switching operation modes in the aforementioned embodiments.

[0167] like Figure 12As shown, via step S1201, step S1202, step S1203, the UE 110 can transmit a mode switching request and / or a service configuration update request of the cooperative awareness service to the SSMF 280. In step S1204, in response to receiving the mode switching request and / or the service configuration update request of the cooperative awareness service, the SSMF 280 reschedules the operation mode and / or the service configuration of the UE 110. For example, the SSMF 280 can switch the operation mode of the UE 110 from the normal mode to the emergency mode, and / or the SSMF 280 can reconfigure the cooperators of the cooperative awareness service. The SSMF 280 can transmit the rescheduling information to the UE 100 through a mode switching response and / or a service configuration update response. Via step S1205, step S1206, step S1207, the UE 110 can receive the mode switching response and / or the service configuration update response. Thereafter, the UE 110 can switch the operation mode of the cooperative awareness service or update the service configuration of the cooperative awareness service according to the mode switching response and / or the service configuration update response.

[0168] The following describes a third-party application registration embodiment.

[0169] In some embodiments, in response to receiving an awareness report access request of a third-party application via the AMF 260, the SSMF 280 can transmit an access permission message and integrate the awareness report to the third-party application. Through the transmission of the awareness report access request, the third-party application can inform the SSMF 280 of the sensing content that the third-party application wants to access. In some embodiments, before the third-party application attempts to access the integrated awareness report, the third-party application will perform third-party application registration. The SSMF 280 can further confirm the access permission of the third-party application and manage the sensing content accessed by the third-party application.

[0170] Figure 13 A flowchart of requesting awareness information for a third-party application according to an exemplary embodiment of the present disclosure. Please refer to Figure 13 When the third-party application 190 operates on a wireless communication device (the third-party application 190 can be, for example, a third-party application program operating on a mobile phone), the third-party application 190 must access the core network via the wireless access point 120 and perform a registration operation. Via step S1301, S1302, the third-party application 190 transmits a third-party registration request to the AMF 260 through the wireless access point 120. If the AMF 260 agrees to the registration of the third-party application 190, via step S1303, S1304, the AMF 260 transmits the registration request to the third-party application 190.

[0171] Thereafter, in step S1305, the third party application 190 transmits a perception report access request. The perception report access request can include the device identification information of the sensing device. Via steps S1306 and S1307, the SSMF 280 receives the perception report access request of the third party application 190. In response to receiving the perception report access request of the third party application 190, the SSMF 280 can evaluate the permission information of the third party application 190 and decide whether to grant the perception report access request of the third party application 190.

[0172] Via steps S1308, S1309, S1310, the SSMF 280 can transmit an access permission message to the third party application 190. The permission message is used to indicate whether the third party application 190 has the permission to access the integrated perception report.

[0173] Figure 14 A flowchart for requesting perception information by a third party application according to an exemplary embodiment of the present disclosure. Please refer to Figure 14 When the third party application 190 operates on a wired communication device (the third party application 190 can be, for example, a server of a third party application provider), the third party application 190 can directly access the AMF 260 in the core network and perform a registration operation. Via step S1401, the third party application 190 transmits a third party registration request to the AMF 260. If the AMF 260 agrees to the registration of the third party application 190, via step S1402, the AMF 260 transmits a registration request reception to the third party application 190.

[0174] Thereafter, in step S1403, the third party application 190 transmits a perception report access request to the AMF 260. The perception report access request can include the device identification information of the sensing device. Via step S1404, the SSMF 280 receives the perception report access request of the third party application 190 transmitted by the AMF 260. In response to receiving the perception report access request of the third party application 190, the SSMF 280 can evaluate the permission information of the third party application 190 and decide whether to grant the perception report access request of the third party application 190. Via steps S1405, S1406, the SSMF 280 can transmit an access permission message to the third party application 190. The permission message is used to indicate whether the third party application 190 has the permission to access the integrated perception report.

[0175] The following describes a local cooperative perception data integration embodiment.

[0176] In some embodiments, compared to the SSMF 280 in the core network aggregating sensing information to generate an integrated sensing report, the local radio access point 120, which has sufficient computing power, can also aggregate sensing information from multiple sensing devices. The service of aggregating sensing information from multiple sensing devices by the radio access point 120 can be called local cooperative sensing data integration. The UE 110 can transmit a local cooperative sensing data integration request to the SSMF 280. The SSMF 280 receives a local cooperative sensing data integration request from the UE 110. In response to the radio access point 120 supporting local cooperative sensing data integration, the SSMF 280 transmits a local cooperative sensing data integration enable message to both the radio access point 120 and the UE 110. In response to the radio access point 120 supporting local cooperative sensing data integration, the UE 110 can receive a local cooperative sensing data integration enable message from the SSMF 280.

[0177] Figure 15 This is a flowchart illustrating the enabling of local cooperative awareness data integration according to an exemplary embodiment of this disclosure. Please refer to... Figure 15 Following steps S1501, S1502, and S1503, UE 110 may transmit a local cooperation-aware data integration request to SSMF 280. Steps S1501, S1502, and S1503 may be executed selectively. In one embodiment, when UE 100 determines that it needs to obtain a lower-latency integrated awareness report, UE 100 may transmit a local cooperation-aware data integration request to SSMF 280 to obtain a more real-time integrated awareness report. When SSMF 280 receives the local cooperation-aware data integration request, SSMF 280 confirms whether the radio access point 120 near UE 100 has sufficient resources to support local cooperation-aware data integration. Alternatively, when SSMF 280 determines that UE 100 needs a lower-latency awareness integration report, SSMF 280 may proactively confirm whether the radio access point 120 near UE 100 has sufficient resources to support local cooperation-aware data integration.

[0178] Following steps S1504 and S1505, SSMF 280 can transmit a local integration confirmation message to wireless access point 120. The local integration confirmation message inquires whether wireless access point 120 supports local cooperation-aware data integration. Wireless access point 120 can determine whether it supports local cooperation-aware data integration based on its own computing or communication performance. Following steps S1506 and S1507, wireless access point 120 can send a local integration response message back to SSMF 280. The local integration response message indicates whether wireless access point 120 supports local cooperation-aware data integration.

[0179] Thus, the SSMF 280 can confirm whether the wireless access point 120 supports the local cooperative awareness data integration by locally integrating the response message. If the wireless access point 120 supports the local cooperative awareness data integration, the SSMF 280 transmits a local cooperative awareness data integration enablement message at step S1508. Via steps S1509, S1510, the wireless access point 120 and the UE 110 can respectively receive the local cooperative awareness data integration enablement message. Otherwise, if the wireless access point 120 cannot support the local cooperative awareness data integration, the SSMF 280 can inform the UE 110 that the local cooperative awareness data integration cannot be enabled. Thus, the wireless access point 120 can generate a data fusion result according to the awareness information of the plurality of sensing devices after enabling the local cooperative awareness data integration.

[0180] The following will be described with the smart transportation as an application scenario and the 5G network as an example.

[0181] Figure 16 An application scenario according to the exemplary embodiments of the present disclosure is shown in FIG. 6. Please refer to Figure 16 In the present embodiment, the base station 620A and the base station 620B are road side units. The base station 620A and the base station 620B can have the service functions of the wireless access point 120, the AMF 260 and the SSMF 280. The base station 620A and the base station 620B can also serve as sensing devices. On the other hand, the base station 610 can be a central management unit of the intelligent transportation system. The base station 610 can have the service functions of the AMF 260 and the SSMF 280. The base station 610 has strong computing power, so that the SSMF 280 of the base station 610 can serve a wide range of cooperative awareness networks.

[0182] Please refer to Figure 16 , the vehicle V1 enters the 5G network and requests the base station 610 to register for the cooperative awareness service. Then, the base station 610 registers the vehicle V1 and adds the vehicle V1 to the cooperative awareness network. Further, the base station 610 and the vehicle V1 can perform the flow shown in FIG. 7 to complete the cooperative awareness service registration. The vehicle V1 can enter the operation mode supporting the periodic cooperative awareness service according to the first cooperative awareness configuration information configured by the base station 610, and enable the periodic cooperative awareness service. Figure 4

[0183] Then, the vehicle V1, the vehicles V2, V3, and the base stations 620A, 620B can simultaneously participate in the cooperative awareness and provide their respective awareness information to the base station 610. The base station 610 can generate an integrated awareness report and transmit the integrated awareness report to the vehicles V1, V2, V3, and the base stations 620A, 620B. The vehicles V1, V2, V3, the base stations 620A, 620B, and the base station 610 can perform the flow shown in FIG. 8 to complete the cooperative awareness service registration. The vehicle V1, the vehicles V2, V3, and the base stations 620A, 620B can enter the operation mode supporting the periodic cooperative awareness service according to the second cooperative awareness configuration information configured by the base station 610, and enable the periodic cooperative awareness service. Figure 5 ​The illustrated process implements the first-level periodic cooperative sensing service. Vehicle V1 can adjust radar parameters based on the integrated sensing report provided by base station 610. The periodic cooperative sensing service can be repeatedly executed periodically.

[0184] Figure 17 This is a schematic diagram illustrating an application scenario according to an exemplary embodiment of this disclosure. Please refer to... Figure 17 For descriptions of base stations 620A, 620B, and 610, please refer to [link / reference]. Figure 16 The explanation will not be repeated here. Please refer to... Figure 17 Ambulance A1 enters the 5G network and requests registration for cooperative sensing services from base station 610. Base station 610 then registers ambulance A1 and adds it to the cooperative sensing network. Subsequently, ambulance A1 can enter an operating mode supporting periodic cooperative sensing services based on the first cooperative sensing configuration information configured by base station 610, and activate the first-level periodic cooperative sensing services.

[0185] In one embodiment, when ambulance A1 receives a mission notification for a rescue operation, ambulance A1 can request an update to the service configuration of the cooperative sensing service from base station 610. Thus, through... Figure 12 As shown in the process, ambulance A1 can request the activation of the second-level periodic cooperative sensing service from base station 610. Base station 610 can assign vehicles V2 and V3 as collaborators in the cooperative sensing service. In one embodiment, through... Figure 6 The illustrated process for the second-level periodic cooperative sensing service involves vehicles V2 and V3 being notified to provide the lane sensing information required by ambulance A1, and then providing this information to ambulance A1. Ambulance A1 can then plan a navigation route based on the lane sensing information provided by vehicles V2 and V3. Afterwards, ambulance A1 can upload the sensing information to base station 610. Base station 610 can decide whether to reassign a new collaborator. If base station 610 decides to reassign a new collaborator, it will then... Figure 8 As shown in the process, base station 610 can transmit a mode switching response or a service configuration update response to ambulance A1, enabling ambulance A1 to update its collaborators. The second-level periodic cooperative awareness service can be repeated periodically until ambulance A1's rescue mission is completed.

[0186] Figure 18 This is a schematic diagram illustrating an application scenario according to an exemplary embodiment of this disclosure. Please refer to... Figure 18 For descriptions of base stations 620A, 620B, and 610, please refer to [link / reference]. Figure 16 The explanation will not be repeated here. Please refer to... Figure 18, the vehicle V1 enters the 5G network and requests the base station 610 to register for the cooperative perception service. Then, the base station 610 registers the vehicle V1 and lets the vehicle V1 join the cooperative perception network. After that, the vehicle V1 can enter the operation mode supporting the periodic cooperative perception service according to the first cooperative perception configuration information configured by the base station 610, and enable the first level of periodic cooperative perception service.

[0187] In an embodiment, when the vehicle V1 has a turning demand at the intersection, the vehicle V1 can request the base station 610 to update the service configuration of the cooperative perception service. Then, through the flow shown in Figure 12 , the vehicle V1 can request to enable the aperiodic cooperative perception service. After that, the base station 610 can assign the vehicles V3, V6 and V7 as the cooperators of the aperiodic cooperative perception service. In an embodiment, through the flow shown in Figure 8 , the vehicle V1 can obtain the cooperator information, and the vehicles V3, V6 and V7 can provide the perception information required for turning to the vehicle V1. The vehicle V1 can plan the navigation route according to the perception information provided by the vehicles V3, V6 and V7. After the vehicle V1 turns, the vehicle V1 can notify the vehicles V3, V6 and V7 and the base station 610 to terminate the aperiodic cooperative perception service.

[0188] Figure 19 An application scenario according to the exemplary embodiment of the present disclosure is illustrated. Please refer to Figure 19 , the description of the base station 620A, the base station 620B and the base station 610 can refer to the description of Figure 16 , which will not be repeated here. Please refer to Figure 19 , the vehicle V1 enters the 5G network and requests the base station 610 to register for the cooperative perception service. Then, the base station 610 registers the vehicle V1 and lets the vehicle V1 join the cooperative perception network. After that, the vehicle V1 can enter the operation mode supporting the periodic cooperative perception service according to the first cooperative perception configuration information configured by the base station 610, and enable the first level of periodic cooperative perception service.

[0189] In an embodiment, when the vehicle V1 finds that the traffic is chaotic and the perception field of view of the vehicle V1 is blocked, the vehicle V1 can request the base station 610 to update the service configuration of the cooperative perception service. Then, through the flow shown in Figure 12 , the vehicle V1 can request to enable the aperiodic cooperative perception service. After that, the base station 610 can assign the vehicles V3, V6 and V7 as the cooperators of the aperiodic cooperative perception service. In an embodiment, through the flow shown in Figure 8According to the illustrated procedure, the vehicle V1 can obtain the collaborator information, and the vehicle V2 and the base station 620b can provide the perception information to the vehicle V1. The vehicle V1 can plan the navigation route according to the perception information provided by the vehicle V2 and the base station 620b. After the perception field of the vehicle V1 is not blocked, the vehicle V1 can notify the vehicle V2 and the base station 620b to suspend the aperiodic cooperative perception service. The base station 610 can reconfigure the vehicle V1 to adopt the periodic cooperative perception service of the first level.

[0190] Figure 20 is a schematic diagram of an application scenario according to an exemplary embodiment of the present disclosure. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 20 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 16 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 20 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in

[0191] When the base station 620B detects the presence of the foreign object Obj1, the base station 620B can send an emergency broadcast to notify the nearby vehicles that there is a foreign object Obj1 on the lane. The vehicle V1 can receive the emergency broadcast sent by the base station 620B. The vehicle V1 can establish communication with the base station 620B to receive the perception information of the base station 620B. When the foreign object Obj1 is removed, the base station 620B can transmit an emergency broadcast end notification. That is, the base station 620B as a sensing device can start an emergency broadcast and provide its own perception information to other sensing devices around it. That is, by replacing the UE 110b in Figure 10 , the emergency broadcast service in the cooperative sensing service can also be implemented.

[0192] Figure 21 is a schematic diagram of an application scenario according to an exemplary embodiment of the present disclosure. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 21 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 16 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in Figure 21 , which will not be repeated here. Please refer to the description of the base station 620A, the base station 620B, and the base station 610 in

[0193] When the car V1 discovers a radar fault, the car V1 can enable an emergency broadcast as shown in the flow Figure 10 to transmit the emergency broadcast to the car V3. When the emergency broadcast is terminated but the radar fault is not resolved, the car V1 can request to enable the emergency cooperative perception service. That is, the car V1 can request to enter the emergency mode. Thereafter, the base station 610 can assign the car V2 as a cooperator through a flow as shown in Figure 11 . The car V1 can acquire the cooperator information, and the car V2 can provide the perception information to the car V1. Thus, when the car V1 has a radar fault, the car V1 can use the perception information provided by the car V2 to assist driving. The base station 610 will periodically determine whether to release the emergency mode of the car V1 and periodically broadcast the related information.

[0194] Figure 22 An application scenario for the exemplary embodiments according to the present disclosure is illustrated. Please refer to Figure 22 for the description of the base station 620A, the base station 620B and the base station 610. The description can refer to Figure 16 , which will not be repeated. Please refer to Figure 22 for the description of the car V1 entering the 5G network and requesting the base station 610 to register the cooperative perception service. Thereafter, the base station 610 registers the car V1 and lets the car V1 join the cooperative perception network. Thereafter, the car V1 can enter the operation mode supporting the periodic cooperative perception service according to the first cooperative perception configuration information configured by the base station 610, and enable the first level of periodic cooperative perception service.

[0195] Then, the car V1, the car V2, V3, and the base station 620A, 620B can simultaneously participate in cooperative perception and provide their respective perception information to the base station 610. The base station 610 can generate an integrated perception report. In an embodiment, the car V1, the car V2, V3, the base station 620A, 620B and the base station 610 can perform a flow as shown in Figure 5 to implement the first level of periodic cooperative perception service. Thereafter, the third party application 690 (e.g. a map server) can request the base station 610 to access the integrated perception report via the core network. Alternatively, in other embodiments, the navigation system of the car V1 requests the base station 610 to access the integrated perception report through a wireless access technology. The base station 610 can give the access permission to access the integrated perception report. In an embodiment, the third party application 690 can acquire the integrated perception report provided by the base station 610 through a flow as shown in Figure 13 and Figure 14 . The third party application 690 can generate real-time map information according to the real-time integrated perception report provided by the base station 610, and transmit the real-time map information to the navigation system of the car V1 and the vehicles in need through the 5G network by the base station 610.

[0196] Figure 23Fig. 1 is a diagram illustrating an application scenario of exemplary embodiments according to the present disclosure. Please refer to Figure 23 The descriptions of the base station 620A, the base station 620B and the base station 610 can refer to the descriptions of the base station 610 in Figure 16 , which will not be repeated here. Please refer to Figure 22 The police car A2 enters the 5G network and requests the base station 610 to register for the cooperative perception service. Then, the base station 610 registers the police car A2 and lets the police car A2 join the cooperative perception network. Then, the police car A2 can enter the operation mode supporting the periodic cooperative perception service according to the first cooperative perception configuration information configured by the base station 610, and enable the first level of periodic cooperative perception service.

[0197] In an embodiment, when the police car A2 receives the task notification to perform the task, the police car A2 can request the base station 610 to update the service configuration of the cooperative perception service. Then, the police car A2 can request the base station 610 to enable the second level of periodic cooperative perception service through the flow shown in Figure 12 The base station 610 can assign the cars V2 and V3 as the cooperators of the cooperative perception service. Then, the cars V2 and V3 can be woken up from the idle mode to the operation mode supporting the periodic cooperative perception service through the flow shown in Figure 7 The cars V2 and V3 can be notified to generate the perception information by performing the double-base-station cooperative perception with the police car A2. The police car A2 can plan the driving route according to the above perception information. Then, the police car A2 can upload the perception information to the base station 610. The base station 610 can decide whether to reassign new cooperators.

[0198] Figure 24 Fig. 6 is a flowchart of a method for integrating perception and communication according to an embodiment of the present disclosure. Please refer to Figure 24 The method of the embodiment is applicable to a user equipment. In step S2410, the UE receives the inquiry information of the cooperative perception service from the first network entity in response to transmitting a network registration request. In step S2420, the UE transmits the response message of the inquiry information in response to receiving the inquiry information of the cooperative perception service. In step S2430, the UE receives the first perception configuration information of the cooperative perception service from the first network entity in response to transmitting the response message. In step S2440, the UE enables the cooperative perception service according to the first perception configuration information. However, Figure 24 The above steps have been described in detail in

[0199] Figure 25 Fig. 6 is a flowchart of a method for integrating perception and communication according to an embodiment of the present disclosure. Please refer to Figure 25The method of the embodiments is applicable to a first network entity. In step S2510, in response to the UE transmitting a network registration request, the first network entity transmits an inquiry information of a cooperative awareness service. In step S2520, in response to transmitting the inquiry information of the cooperative awareness service, the first network entity receives a response message of the inquiry information. In step S2530, in response to receiving the response message, the first network entity transmits first awareness configuration information of the cooperative awareness service to the UE. However, Figure 25 The steps in the method according to the embodiments of the present disclosure have been described in detail above, and thus will not be repeated here.

[0200] Figure 26 A block diagram of a wireless communication device according to the embodiments of the present disclosure. Referring to FIG. 13, Figure 26 The wireless communication device 1000 can include, but is not limited to, a processor 1300, a memory 1200, and a transceiver 1300. The wireless communication device 1000 can be implemented as a network entity, a user equipment, and a wireless access point in the present disclosure.

[0201] The processor 1300 is, for example, a central processing unit (CPU), other programmable design general-purpose or special-purpose microprocessors, digital signal processors (DSPs), programmable design controllers, application specific integrated circuits (ASICs), graphics processing units (GPUs), other similar components, or a combination thereof. The processor 1300 is configured to execute the integrated awareness and communication method described above.

[0202] The memory 1200 is coupled to the processor 1300 and is, for example, any type of fixed or removable volatile or non-volatile memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk (HDD), a solid state drive (SSD), other similar components, or a combination thereof. The memory 1200 stores a plurality of modules or programs to be accessed by the processor 1300, so that the processor 1300 can perform various communication functions of the network entity, the user equipment, and the wireless access point.

[0203] The transceiver 1100 is coupled to the processor 1300. The transceiver 1300 can receive a downlink (DL) signal and transmit an uplink (UL) signal. The transceiver 1100 can perform operations such as low noise amplification (LNA), impedance matching, analog-to-digital conversion (ADC), digital-to-analog conversion (DAC), frequency mixing, up / down frequency conversion, filtering, amplification, and / or the like. The transceiver 1100 can also include an antenna array, and the antenna array can include one or more antennas configured to transmit and receive omnidirectional or directional antenna beams.

[0204] In summary, in the embodiments of the present disclosure, a dedicated network function is designed for the perception function of a communication system, and various service processes are designed for cooperative perception services. Accordingly, the wireless perception technology can be more effectively applied to various scenarios, and more possibilities are provided for related designs.

[0205] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, therefore, the protection scope of the present application is defined by the claims and their equivalent scope.

Claims

1. A method for integrating sensing and communication, applicable to user equipment, characterized in that, include: Transmits a network registration request and receives inquiry information about cooperative awareness services from the first network entity; A response message transmitting the query information; Receive the first cooperative awareness configuration information of the cooperative awareness service from the first network entity; as well as Enable the cooperative sensing service based on the first cooperative sensing configuration information.

2. The method for integrating sensing and communication according to claim 1, characterized in that, The first cooperative sensing configuration information is used to indicate the service mode of the cooperative sensing service or the sensing mode of the cooperative sensing service. The service mode of the cooperative sensing service includes periodic cooperative sensing service, non-periodic cooperative sensing service, emergency broadcast service, or emergency cooperative sensing service, and the sensing mode includes monostatic sensing and bistatic sensing.

3. The method for integrating sensing and communication according to claim 2, characterized in that, The radio resources for the sensing signals in the sensing mode are configured by the base station.

4. The method for integrating sensing and communication according to claim 1, characterized in that, The network registration request includes capability indication information, which indicates that the user equipment has the capability to use the cooperative awareness service.

5. The method for integrating sensing and communication according to claim 1, characterized in that, The response message is configured to indicate whether the user equipment participates in the cooperative sensing service, the operating mode supported by the user equipment, the permission flag of the permission level, or the sensing capability parameters of the user equipment. The permission flag includes a payment flag, an authorization flag, or a service flag. The sensing capability parameters include maximum detectable distance, maximum detectable speed, distance resolution, speed resolution, line of sight, angular resolution, maximum power, antenna array parameters, radar algorithm used, frequency band used, bandwidth used, or memory capacity.

6. The method for integrating sensing and communication according to claim 1, characterized in that, The method further includes: The first sensing information is transmitted to the first network entity; Receive an integrated sensing report associated with the first sensing information from the first network entity; and Perform operations based on the integrated perception report.

7. The method for integrating sensing and communication according to claim 6, characterized in that, The first sensing information includes the user device's local sensing data or the user device's local behavior data.

8. The method for integrating sensing and communication according to claim 6, characterized in that, The method further includes: Switch to an operating mode that supports periodic cooperative sensing services or non-periodic cooperative sensing services, in order to enable the periodic cooperative sensing services or the non-periodic cooperative sensing services in the operating mode.

9. The method for integrating sensing and communication according to claim 6, characterized in that, The method further includes: Receive second cooperative sensing configuration information from the first network entity, wherein the second cooperative sensing configuration information includes device identification information of the sensing device; Receive the second sensing information transmitted by the sensing device; and The first sensing information is generated by integrating the second sensing information with the third sensing information perceived by the user equipment.

10. The method for integrating sensing and communication according to claim 9, characterized in that, The user equipment performs monopolar sensing to acquire the third sensing information.

11. The method for integrating sensing and communication according to claim 9, characterized in that, The steps of receiving the second cooperative awareness configuration information from the first network entity include: Transmit a service request for non-periodic cooperative awareness service to the first network entity; and Receive the second cooperative sensing configuration information from the non-periodic cooperative sensing service.

12. The method for integrating sensing and communication according to claim 11, characterized in that, The method further includes: The service termination message of the non-periodic cooperative sensing service is transmitted to the sensing device and the first network entity.

13. The method for integrating sensing and communication according to claim 6, characterized in that, The method further includes: Receive second cooperative sensing configuration information from the first network entity, wherein the second cooperative sensing configuration information includes device identification information of a sensing device; and The first sensing information is generated by performing bistatic sensing with the sensing device, wherein one of the sensing device and the user equipment is the transmitter of the bistatic sensing signal, and the other of the sensing device and the user equipment is the receiver of the bistatic sensing signal.

14. The method for integrating sensing and communication according to claim 6, characterized in that, The method further includes: In response to receiving second cooperative sensing configuration information from the first network entity, the system switches to an operating mode that supports periodic cooperative sensing services or non-periodic cooperative sensing services, wherein the second cooperative sensing configuration information includes device identification information of a sensing device and a collaborator indication; and The first sensing information is transmitted to the sensing device.

15. The method for integrating sensing and communication according to claim 1, characterized in that, The step of transmitting the query information received from the first network entity regarding the cooperative awareness service includes: Transmit the network registration request to the second network entity; and The user equipment receives the query information for the cooperative awareness service from the first network entity via the second network entity, wherein the query information is configured to ask the user equipment whether it participates in the cooperative awareness service.

16. The method for integrating sensing and communication according to claim 1, characterized in that, The method further includes: Broadcast an emergency broadcast message of the cooperative sensing service, causing a sensing device and the first functional entity to receive the emergency broadcast message; In response to receiving an emergency broadcast response from the sensing device, establish communication with the sensing device; and Receive the sensing information generated by the sensing device in response to the emergency broadcast.

17. The method for integrating sensing and communication according to claim 16, characterized in that, The method further includes: The emergency broadcast termination notification is transmitted to the sensing device and the first functional entity.

18. The method for integrating sensing and communication according to claim 1, characterized in that, The method further includes: In response to activating the emergency cooperative sensing service, the system receives second cooperative sensing configuration information from the first network entity, wherein the second cooperative sensing configuration information includes device identification information of the sensing device. Receive sensing information transmitted by the sensing device; and Sensing data integration is performed based on the sensing information transmitted by the sensing device.

19. The method for integrating sensing and communication according to claim 18, characterized in that, The method further includes: In response to receiving a notification that the emergency mode has not been lifted, the emergency cooperation awareness service is stopped.

20. The method for integrating sensing and communication according to claim 1, characterized in that, The method further includes: In response to transmitting the cooperation-aware service mode switching request or service configuration update request to the first network entity, the system receives a mode switching response or a service configuration update response; and In response to receiving the mode switching response or the service configuration update response, switch the operating mode or update the service configuration.

21. The method for integrating sensing and communication according to claim 1, characterized in that, The method further includes: Transmit a request to integrate local cooperative sensing data to the first network entity; In response to the wireless access point supporting local cooperative awareness data integration, a local cooperative awareness data integration enable message is received from the first network entity.

22. A user equipment, characterized in that, include: A transceiver, configured to receive and transmit signals; as well as A processor, coupled to the transceiver and configured to: Transmits a network registration request and receives inquiry information about cooperative awareness services from the first network entity; A response message transmitting the query information; Receive the first cooperative awareness configuration information of the cooperative awareness service from the first network entity; as well as Enable the cooperative sensing service based on the first cooperative sensing configuration information.

23. A method for integrating sensing and communication, applicable to a first network entity, characterized in that, include: Receive network registration requests from user equipment and transmit query information for cooperative awareness services; Response message to receive the query information; as well as The first cooperative sensing configuration information of the cooperative sensing service is transmitted to the user equipment.

24. The method for integrating sensing and communication according to claim 23, characterized in that, The steps of receiving the network registration request transmitted by the user equipment and transmitting the query information of the cooperation-aware service include: Receive a registration report associated with the user equipment from the second network entity; and The query information is transmitted to the user equipment.

25. The method for integrating sensing and communication according to claim 23, characterized in that, The method further includes: The second cooperative sensing configuration information of the cooperative sensing service is transmitted to the user equipment, wherein the second cooperative sensing configuration information includes the device identification information of the sensing device.

26. The method for integrating sensing and communication according to claim 23, characterized in that, The method further includes: Receive sensing information transmitted by user equipment; Based on the perception information from the user equipment, an integrated perception report is generated; The integrated perception report is transmitted to the user device.

27. The method for integrating sensing and communication according to claim 26, characterized in that, The method further includes: The second network entity receives a request from a third-party application to access the perception report and sends an access permission message and the integrated perception report to the third-party application.

28. The method for integrating sensing and communication according to claim 23, characterized in that, The method further includes: Receive the mode switching request or service configuration update request of the cooperative awareness service, and reschedule the user equipment's operating mode or service configuration; and Transmission mode switching response or service configuration update response.

29. The method for integrating sensing and communication according to claim 23, characterized in that, The method further includes: Receive local cooperative awareness data integration requests from user equipment; and In response to the wireless access point supporting local cooperative sensing data integration, a local cooperative sensing data integration enable message is transmitted to the wireless access point and the user equipment.

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