Sensing method, network device and terminal device

Abstract

The application relates to a sensing method, a network device and a terminal device, comprising: a first network device determining that a sensing target or a sensing node leaves a target area; and the first network device sending a sensing task release request to the sensing node. The embodiment of the application can avoid interruption of a sensing task caused by movement of the sensing node and / or movement of the sensing target, and ensure continuity of the sensing task.

Description

Perception method, network device, and terminal device Technical Field

[0001] The present application relates to the field of communications, and more specifically, to a sensing method, a network device, and a terminal device. Background Art

[0002] In sensing technology, when sensing nodes and / or sensing targets move, they may no longer be able to cover the sensing targets, causing the sensing task to be interrupted. How to avoid the interruption of sensing tasks caused by the movement of sensing nodes and / or sensing targets is a problem that needs to be solved.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a perception method, a network device, and a terminal device, which can avoid the interruption of the perception task caused by the movement of the perception node and / or the perception target, and ensure the continuity of the perception task.

[0005] This embodiment of the present application provides a sensing method, including:

[0006] The first network device determines that the sensing target or the sensing node leaves the target area;

[0007] The first network device sends a sensing task release request to the sensing node.

[0008] This embodiment of the present application provides a sensing method, including:

[0009] The second network device or the terminal device receives the update message sent by the first network device, where the update message includes at least one of the target object information and the updated first area;

[0010] The second network device or the terminal device sends an update response, where the update response includes at least one of confirmation information, target object information, and the updated first area.

[0011] This embodiment of the present application provides a sensing method, including:

[0012] The third network device receives a location request sent by the first network device, where the location request includes at least one of information of the second area and the sensing node;

[0013] The third network device sends a location response to the first network device.

[0014] An embodiment of the present application provides a first network device, including:

[0015] A first processing unit is configured to determine whether a sensing target or a sensing node leaves a target area;

[0016] The first transceiver unit is used to send a sensing task release request to the sensing node.

[0017] An embodiment of the present application provides a second network device, including:

[0018] The second transceiver unit is used to receive an update message sent by the first network device, wherein the update message includes target object information and at least one of the updated first areas; and is also used to send an update response, wherein the update response includes confirmation information, the target object information and at least one of the updated first areas.

[0019] An embodiment of the present application provides a terminal device, including:

[0020] The third transceiver unit is used to receive an update message sent by the first network device, wherein the update message includes target object information and at least one of the updated first areas; and is also used to send an update response, wherein the update response includes confirmation information, the target object information and at least one of the updated first areas.

[0021] This embodiment of the present application provides a third network device, including:

[0022] The fourth transceiver unit is used to receive a location request sent by the first network device, where the location request includes at least one of the information of the second area and the sensing node; and is also used to send a location response to the first network device.

[0023] An embodiment of the present application provides a terminal device, comprising: a transceiver, a processor, and a memory. The memory is used to store a computer program, the transceiver is used to communicate with other devices, and the processor is used to call and execute the computer program stored in the memory, so that the terminal device performs the above-mentioned perception method.

[0024] An embodiment of the present application provides a network device, comprising: a transceiver, a processor, and a memory. The memory is used to store a computer program, the transceiver is used to communicate with other devices, and the processor is used to call and execute the computer program stored in the memory, so that the network device performs the above-mentioned perception method.

[0025] An embodiment of the present application provides a chip for implementing the above-mentioned sensing method.

[0026] Specifically, the chip includes: a processor for calling and running a computer program from a memory, so that a device equipped with the chip executes the above-mentioned perception method.

[0027] An embodiment of the present application provides a computer-readable storage medium for storing a computer program, which enables a device to perform the above-mentioned perception method when the computer program is executed by the device.

[0028] An embodiment of the present application provides a computer program product, including computer program instructions, which enable a computer to execute the above-mentioned perception method.

[0029] An embodiment of the present application provides a computer program, which, when executed on a computer, enables the computer to execute the above-mentioned perception method.

[0030] In an embodiment of the present application, a first terminal device is used to determine whether a perception target or a perception node has left a target area. When the perception target or the perception node leaves the target area, a perception task release request is sent to the perception node to release the current perception task, thereby avoiding the interruption of the perception task caused by the movement of the perception node and / or the perception target and ensuring the continuity of the perception task. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a diagram of the 5G network system architecture.

[0032] Figure 2 is an exemplary architecture diagram of B5G communication and perception integration.

[0033] FIG3 is a schematic flowchart of a sensing method 300 according to an embodiment of the present application.

[0034] FIG4 is a schematic flowchart of a sensing method 400 according to an embodiment of the present application.

[0035] FIG5 is a schematic flowchart of a sensing method 500 according to an embodiment of the present application.

[0036] FIG6 is an implementation flow chart of the first embodiment of the present application.

[0037] FIG7 is a flowchart of the implementation of the second embodiment of the present application.

[0038] FIG8 is a schematic block diagram of a first network device 800 according to an embodiment of the present application.

[0039] FIG9 is a schematic block diagram of a second network device 900 according to an embodiment of the present application.

[0040] FIG10 is a schematic block diagram of a terminal device 1000 according to an embodiment of the present application.

[0041] FIG11 is a schematic block diagram of a third network device 1100 according to an embodiment of the present application.

[0042] FIG12 is a schematic block diagram of a communication device according to an embodiment of the present application.

[0043] FIG13 is a schematic block diagram of a chip according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0045] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) system, Advanced Long Term Evolution (LTE-A) system, New Radio (NR) system, NR system evolution system, LTE on unlicensed spectrum (LTE-U) system, NR on unlicensed spectrum (NR-based access to unlicensed spectrum, NR-U) system, Non-Terrestrial Networks (NTN) system, Universal Mobile Telecommunication System (UMTS), Wireless Local Area Networks (WLAN), Wireless Fidelity (WiFi), Fifth Generation (5G) system or other communication systems.

[0046] Generally speaking, traditional communication systems support a limited number of connections and are easy to implement. However, with the development of communication technology, mobile communication systems will not only support traditional communications, but will also support, for example, device-to-device (D2D) communication, machine-to-machine (M2M) communication, machine-type communication (MTC), vehicle-to-vehicle (V2V) communication, or vehicle-to-everything (V2X) communication, etc. The embodiments of the present application can also be applied to these communication systems.

[0047] In one embodiment, the communication system in the embodiment of the present application can be applied to a carrier aggregation (CA) scenario, a dual connectivity (DC) scenario, and a standalone (SA) networking scenario.

[0048] In one embodiment, the communication system in the embodiment of the present application can be applied to an unlicensed spectrum, wherein the unlicensed spectrum can also be considered as a shared spectrum; or, the communication system in the embodiment of the present application can also be applied to an authorized spectrum, wherein the authorized spectrum can also be considered as an unshared spectrum.

[0049] The embodiments of the present application describe various embodiments in conjunction with network devices and terminal devices, wherein the terminal device may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0050] The terminal device can be a station (STAION, ST) in a WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a next-generation communication system such as an NR network, or a terminal device in a future evolved Public Land Mobile Network (PLMN) network, etc.

[0051] In an embodiment of the present application, the terminal device can be deployed on land, including indoors or outdoors, handheld, wearable or vehicle-mounted; it can also be deployed on the water surface (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.).

[0052] In an embodiment of the present application, the terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, or a wireless terminal device in a smart home, etc.

[0053] As an example and not a limitation, in the embodiment of the present application, the terminal device may also be a wearable device. Wearable devices may also be called wearable smart devices, which are a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0054] In an embodiment of the present application, the network device may be a device for communicating with a mobile device. The network device may be an access point (AP) in a WLAN, an evolved base station (eNB or eNodeB) in LTE, or a relay station or access point, or a vehicle-mounted device, a wearable device, and a network device (gNB) in an NR network, or a network device in a future evolved PLMN network or a network device in an NTN network, etc.

[0055] As an example and not a limitation, in an embodiment of the present application, the network device may have a mobile feature, for example, the network device may be a mobile device. Alternatively, the network device may be a satellite or a balloon station. For example, the satellite may be a low earth orbit (LEO) satellite, a medium earth orbit (MEO) satellite, a geostationary earth orbit (GEO) satellite, a high elliptical orbit (HEO) satellite, etc. Optionally, the network device may also be a base station set up in a location such as land or water.

[0056] In an embodiment of the present application, the network device can provide services for a cell, and the terminal device communicates with the network device through the transmission resources used by the cell (for example, frequency domain resources, or spectrum resources). The cell can be a cell corresponding to the network device (for example, a base station). The cell can belong to a macro base station or a base station corresponding to a small cell. The small cells here may include: metro cells, micro cells, pico cells, femto cells, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0057] It should be understood that in the embodiments of the present application, devices having communication functions in the network / system may be referred to as communication devices. Communication devices may include network devices and terminal devices having communication functions. The network devices and terminal devices may be specific devices in the embodiments of the present application and will not be described in detail here. Communication devices may also include other devices in the communication system, such as network controllers, mobility management entities, and other network entities, which are not limited in the embodiments of the present application.

[0058] It should be understood that the terms "system" and "network" are often used interchangeably herein. The term "and / or" is simply a description of an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " generally indicates that the related objects are in an "or" relationship.

[0059] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0060] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and being indicated, configuration and being configured, etc.

[0061] To facilitate understanding of the technical solutions of the embodiments of the present application, the relevant technologies of the embodiments of the present application are described below. The following relevant technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application.

[0062] Figure 1 is a diagram of the 5G network system architecture. The UE establishes an access layer connection with the access network (AN) through the Uu port, exchanging access layer messages and wireless data transmission. The UE establishes a non-access stratum (NAS) connection with the access and mobility management function (AMF) through the N1 port, exchanging NAS messages. The AMF (Access and Mobility Management Function) is the mobility management function in the core network, and the SMF (Session Management Function) is the session management function in the core network. In addition to managing the mobility of the UE, the AMF is also responsible for forwarding session management-related messages between the UE and the SMF. The PCF (Policy Control Function, PCF) is a policy management function in the core network, responsible for formulating policies related to UE mobility management, session management, and billing. The UPF (User Plane Function, UPF) is a user plane function in the core network, transmitting data with the external data network through the N6 interface and with the AN through the N3 interface.

[0063] The radio electromagnetic wave signals used by cellular networks can be used not only for wireless data transmission and communication but also for environmental perception, such as user motion or gesture recognition, respiratory monitoring, terminal speed measurement, environmental imaging, and weather monitoring. Therefore, cellular networks can be used not only for communication and data transmission but also for acquiring sensory information. This technology is called communication-perception integration, or synaesthesia integration.

[0064] In related technologies, for example, perception capabilities are supported in beyond 5G (B5G) networks, and perception functions are supported in 3rd Generation Partnership Project (3GPP) networks by adding sensing function network elements (Sensing Function, SF) and corresponding processes. When the application function sends a perception request for the target UE to the core network of the 3GPP network, the core network selects the correct access network device or auxiliary UE through the sensing function network element or AMF, and triggers the ability to perform perception-related wireless measurements, starts the measurement of perception information and generates perception results.

[0065] The main wireless sensing scenarios for synaesthesia integration are as follows:

[0066] 1) Base station echo sensing link (single gNB sensing): The base station sends a sensing signal and receives an echo signal.

[0067] 2) Inter-base station sensing link (gNB-gNB sensing): Base station B receives the sensing signal sent by base station A;

[0068] 3) Air interface uplink perception link (UE-gNB uplink perception): The base station receives the perception signal sent by the terminal;

[0069] 4) Air interface downlink perception link (UE-gNB downlink perception): The terminal receives the perception signal sent by the base station;

[0070] 5) Terminal echo perception link (single UE perception): The terminal sends a perception signal and receives an echo signal;

[0071] 6) Inter-terminal perception link (UE-UE perception): Terminal B receives the perception signal sent by terminal A.

[0072] Figure 2 is an exemplary architecture diagram of B5G communication and perception integration. Taking into account the large amount of interactive data between the UE and the perception network element, the UE can complete the necessary interaction of the perception service with the perception network element through user plane data transmission. The UE can send perception data to the SF user plane (SF-U) through the UPF by establishing a special protocol data unit (PDU) session; at the same time, for some perception tasks, in order to save network resources, the perception node may be allowed to perform partial processing, and only a small amount of data will be transmitted to the SF through the control plane for processing. Among them, SF-U may also have other names, and may also be combined with the location management function network element (Location Management Function, LMF), which is not limited here. Figure 2 is only an exemplary architecture.

[0073] In sensing technology, when the sensing node and / or the sensing target moves, the sensing node may no longer be able to cover the sensing target, causing the sensing service to be interrupted. Therefore, how to ensure the continuity of the sensing service is a problem that needs to be solved.

[0074] FIG3 is a schematic flow chart of a sensing method 300 according to an embodiment of the present application. The method can optionally be applied to the system shown in FIG1 or FIG2 , but is not limited thereto. The method includes at least part of the following contents.

[0075] S310: The first network device determines that the sensing target or sensing node leaves the target area;

[0076] S320. The first network device sends a sensing task release request to the sensing node.

[0077] Furthermore, the first network device may re-perform perception.

[0078] The first network device can release the original sensing task and trigger a new sensing task when the sensing target or sensing node leaves the target area, thereby avoiding the interruption of the sensing task caused by the movement of the sensing target or sensing node.

[0079] In some implementations, the first network device may include a SF.

[0080] Leaving the target area in the embodiment of the present application may refer to leaving the target area or having already left the target area.

[0081] The process of this embodiment may occur during the perception process. For example, before step S310, the process may further include:

[0082] The first network device receives a sensing request sent by the second network device or the terminal device, where the sensing request includes at least one of information about the first area and the target object;

[0083] The first network device performs perception based on the perception request. For example, the first network device selects and configures a perception node based on the perception request, receives perception data sent by the perception node, and perceives the perception target according to the perception data.

[0084] In some embodiments, the second network device may include at least one of an SF client, an application function network element (AF), a mobile local center gateway (GMLC), a network exposure function network element (NEF), and an AMF.

[0085] In some embodiments, the target object information may include at least one of an identifier of the target object and identification information of the target object. The target object information may include at least one of a UE ID associated with the target object and object feature information of the target object.

[0086] During the sensing process, the first network device determines whether the sensing target or the sensing node leaves the target area, and releases the sensing task when the sensing target or the sensing node leaves the target area.

[0087] The following describes how the first network device determines whether the sensing target leaves the target area and how the first network device determines whether the sensing node leaves the target area.

[0088] (1) Determining, for the first network device, whether the sensed target has left the target area:

[0089] The sensing target may include a UE or a non-UE.

[0090] In some implementations, the first network device determines that the sensing target leaves the target area, including:

[0091] The first network device receives the sensing data;

[0092] The first network device determines, based on the perception data, that the perception target has left the target area.

[0093] For example, after the first network device receives perception data from the perception node, it can determine whether the perception target is about to move out of the perception area or has already moved out of the perception area based on the perception data; or, after the first network device receives perception data from the perception node, it can determine the perception result based on the perception data, and determine whether the perception target is about to move out of the perception area or has already moved out of the perception area based on the perception result.

[0094] If it is determined that the sensing target is about to move out of the sensing area, or has already moved out of the sensing area, the first network device sends a sensing task release request to the current sensing node to stop the sensing task of the current sensing node. The first network device may also re-trigger the sensing task. When re-triggering the sensing task, the first network device may reselect the sensing node. For example, the first network device may select an appropriate sensing node using an updated first area. The updated first area may be determined based on the new location of the sensing target after it moves.

[0095] Furthermore, the first network device may also send the updated first area to the device initiating the sensing task, so that the device initiating the sensing task can make subsequent sensing requests. For example, after the first network device determines that the sensing target has left the target area, the following steps may also be performed:

[0096] The first network device sends an update message to the second network device or the terminal device, where the update message includes at least one of target object information and the updated first area;

[0097] The first network device receives an update response sent by the second network device or the terminal device, where the update response includes at least one of confirmation information, target object information, and an updated first area.

[0098] (2) Determining, for the first network device, whether the sensing node has left the target area:

[0099] The sensing node may include a UE.

[0100] In some implementations, the first network device determines that the sensing node leaves the target area, including:

[0101] The first network device sends a location request to the third network device, where the location request includes at least one of information of the second area and the sensing node;

[0102] The first network device receives a location response sent by the third network device;

[0103] The first network device determines, based on the location response, that the sensing node has left the target area.

[0104] The location response may include location information of the sensing node. The first network device can determine whether the sensing node is leaving or has left the target area based on the location information of the sensing node sent by the third network device.

[0105] In some embodiments, the third network device includes at least one of a GMLC, a LMF, an AMF, and a NEF. The third network device is capable of identifying the location of each UE within its coverage area. Therefore, the first network device can subscribe to the location information of the UE serving as a sensing node from the third network device; based on the subscription by the first network device, the third network device feeds back the location information of the sensing node to the first network device.

[0106] There are at least three ways for the first network device to subscribe to the location information of the sensing node from the third network device:

[0107] The first one is that the first network device sends the information of the perception node (such as the identifier of the perception node) to the third network device, and the third network device feeds back the location information of the perception node to the first network device; or, the third network device feeds back the location information of the perception node to the first network device multiple times, for example, periodically sends the location information of the perception node to the first network device.

[0108] The second type is that the first network device sends the information of the perception node (such as the identifier of the perception node) to the third network device. When the third network device detects that the position of the perception node has changed, or the position change of the perception node meets the predetermined requirements, it feeds back the position information of the perception node to the first network device, or reports the position change of the perception node to the first network device.

[0109] The third type is that the first network device sends the information of the sensing node (such as the identifier of the sensing node) and the second area to the third network device. When the third network device detects that the sensing node is about to move or has moved out of the second area, the third network device feeds back the location information of the sensing node to the first network device, or reports to the first network device that the sensing node is about to move or has moved out of the second area.

[0110] Among them, the above-mentioned second area can be the area indicated in the perception request received by the first network device, or it can be the area determined by the first network device based on the location information of the perception target and the location information of the perception node before moving.

[0111] For example, before the first network device sends a location request to the third network device, the process also includes: the first network device determines the second area based on the first area in the perception request.

[0112] In another example, before the first network device sends a location request to the third network device, the first network device may further determine the second area based on at least one of the target location information and the location information of the sensing node. The target location information includes location information of the sensing target, which may be determined by the first network device based on received sensing data; and the location information of the sensing node refers to the location information of the sensing node before it moves.

[0113] This embodiment of the present application also provides a perception method. FIG4 is a schematic flowchart of a perception method 400 according to an embodiment of the present application. This method can optionally be applied to the system shown in FIG1 or FIG2 , but is not limited thereto. The method includes at least part of the following contents.

[0114] S410: The second network device or the terminal device receives an update message sent by the first network device, where the update message includes at least one of target object information and an updated first area;

[0115] S420: The second network device or the terminal device sends an update response, where the update response includes at least one of the confirmation information, the target object information, and the updated first area.

[0116] The second network device may include at least one of an SF client, an AF, a GMLC, a NEF, and an AMF.

[0117] The first network device may include a SF.

[0118] The second network device or terminal device may be the device that issues the perception request. During the perception task execution process, when the second network device or terminal device receives an update message from the first network device, it can determine that the perception target has left the target area requested by the perception request and moved to the updated target area. Therefore, the second network device or terminal device can use the updated first area when subsequently issuing perception requests.

[0119] In some embodiments, the target object information includes: at least one of an identifier of the target object and identification information of the target object. The identification information of the target object may include: at least one of an identifier of a user device associated with the target object and object feature information of the target object.

[0120] In some embodiments, before step S410, the second network device or terminal device may send a sensing request, where the sensing request includes at least one of information about the first area and the target object. The second network device or terminal device may send the sensing request directly to the first network device; alternatively, the second network device or terminal device may send the sensing request to another network device, which may then forward the sensing request to the first network device.

[0121] For a specific example of the second network device executing the method 400 of this embodiment, reference may be made to the relevant description of the second network device in the above method 300 , which will not be repeated here for the sake of brevity.

[0122] This embodiment of the present application also provides a perception method. Figure 5 is a schematic flowchart of a perception method 500 according to one embodiment of the present application. This method can optionally be applied to the system shown in Figure 1 or Figure 2, but is not limited thereto. The method includes at least part of the following content.

[0123] S510: The third network device receives a location request sent by the first network device, where the location request includes at least one of information of the second area and the sensing node;

[0124] S520: The third network device sends a location response to the first network device.

[0125] The third network device includes at least one of GMLC, LMF, AMF and NEF.

[0126] The first network device may include a SF.

[0127] Based on the location request from the first network device, the third network device can provide the first network device with the location of the requested sensing node, so that the first network device can release the sensing task when it determines that the sensing node has left the target area. For example, the LMF performs the positioning of the sensing node.

[0128] In some implementations, the location response includes location information of the sensing node.

[0129] In some implementations, step S520 includes, when the sensing node leaves the second area, the third network device sending a location response to the first network device.

[0130] For a specific example of the third network device executing the method 500 in this embodiment, reference may be made to the relevant description of the third network device in the above method 300 , which will not be repeated here for the sake of brevity.

[0131] The present application is described in detail below with reference to the accompanying drawings with reference to specific embodiments.

[0132] Example 1:

[0133] In this embodiment, the first network device is taken as SF as an example for introduction.

[0134] In this embodiment, the SF can determine, based on the perception results or perception data, that the perception target is about to or has moved out of the perception area, trigger the reselection of the perception node, send a request to the perception node, and stop the perception task of the current perception node. In addition, the SF updates the target location area information to a second network device such as a mobile local center gateway (GMLC) to facilitate the subsequent issuance of perception requests by the second network device. In some embodiments, the perception area refers to the range that the perception node of the perception target can effectively perceive; when the perception target has moved out of the perception area, the original perception node cannot effectively perceive the perception target.

[0135] In this embodiment, the sensing target is non-UE.

[0136] FIG6 is a flowchart of an implementation of the first embodiment of the present application, including the following steps:

[0137] S601: A second network device or UE sends a sensing request to the SF. The sensing request includes target area information and may also include target object information. The target object information may include at least one of a target object ID and identification information of the target object. The identification information of the target object may include at least one of a user equipment ID (UE ID) associated with the target object and feature information of the target object.

[0138] Among them, the second network device can be called a user (Consumer) network function (NF), and the Consumer NF may be SF Client, application function (AF), network exposure function network element (NEF), GMLC, AMF, etc.

[0139] The first network device may be SF, or may have other names. The first network device may also be co-located with other network elements, such as LMF.

[0140] S602: The SF selects and configures sensing nodes based on the first area and target object information in the sensing request. The sensing nodes include Radio Access Network (RAN) nodes and / or UE nodes. The SF may select multiple sensing nodes to perform the sensing process.

[0141] S603: The sensing node executes the sensing process and sends the sensing data to the SF.

[0142] S604: The SF detects, based on the sensing data or sensing result, that the sensing target is leaving the target area or has left the target area. Based on the sensing data or sensing result, the SF can also determine the new position of the sensing target after its movement, and determine an updated first area based on the new position. The sensing result can be determined by the SF based on the received sensing data.

[0143] S605. The SF sends an update message to the second network device or the UE. The update message may be a perception target update message, which includes the updated first area and may also include target object information.

[0144] S606: The second network device or UE sends an update response to the SF. The update response may be a perception target update response, which may include change confirmation information, an updated first area, and the like.

[0145] S607. The SF sends a sensing task release request to the sensing node (RAN node or UE node) to stop the sensing task configured for the sensing node.

[0146] S608. SF may reselect and configure the perception node based on the updated first area to perform subsequent perception processes.

[0147] Through this embodiment, SF can be supported to judge whether the perception target has left the target area based on the perception data or perception results, and reversely notify the network element or UE that issued the perception request to inform the new location information of the perception target, and then update the perception task, reselect the perception node, etc.

[0148] Example 2:

[0149] In this embodiment, the first network device is an SF and the third network device is an LMF. In this embodiment, the SF determines the location of the sensing node and releases the sensing task and restarts a new sensing task when the sensing node leaves the target area. In this embodiment, the sensing node is a UE.

[0150] In this embodiment, the SF subscribes to the location information of the sensing node. When the UE acting as the sensing node moves out of the target area, the SF stops the sensing task of the sensing node and reselects and configures a new sensing node. In some embodiments, the target area is the area range determined by the SF for the UE acting as the sensing node; when the UE acting as the sensing node leaves the target area, it can be considered that it can no longer perform effective sensing.

[0151] FIG7 is a flowchart of an implementation of the second embodiment of the present application, which includes the following steps:

[0152] S701: A second network device or UE sends a sensing request to the SF. The sensing request includes target area information and may also include target object information. The target object information may include at least one of a target object ID and identification information of the target object. The identification information of the target object may include at least one of a user equipment ID (UE ID) associated with the target object and feature information of the target object.

[0153] Among them, the second network device can be called a user (Consumer) network function (NF), and the Consumer NF may be SF Client, application function (AF), network exposure function network element (NEF), GMLC, AMF, etc.

[0154] The first network device may be SF, or may have other names. The first network device may also be co-located with other network elements, such as LMF.

[0155] S702: The SF selects and configures sensing nodes based on the first area and target object information in the sensing request. The sensing nodes include Radio Access Network (RAN) nodes and / or UE nodes. The SF may select multiple sensing nodes to perform the sensing process.

[0156] S703: The sensing node executes the sensing process and sends the sensing data to the SF.

[0157] S704: The SF subscribes to the LMF for location information of the UE, where the UE is one or more of the sensing nodes selected by the SF in step S702. For example, the SF sends a location request to the LMF, or the SF sends a location request to the LMF via a network element such as the GMLC, NEF, or AMF. The location request includes at least one of information about the second area and a sensing node (i.e., the UE), for determining whether the sensing node has left the second area. For example, the location request may be a UE positioning request, and the sensing node information included in the UE positioning request may specifically be a UE ID.

[0158] The SF may determine the second area based on the first area in the received perception request, for example, by using the area range indicated by the first area as the second area. If the second area is determined in this manner, this step may also be performed after step S701, for example, before step S702, or simultaneously with steps S702 and S703.

[0159] Alternatively, the SF may determine the second area based on the target location information and the location information of the sensing node, wherein the target location information may be determined by the SF based on the sensing data received in step S703.

[0160] S705: The sensing node (ie, UE) leaves the second area.

[0161] S706. The LMF notifies the SF of the current location information of the perception node (i.e., UE). The current location information is the location information of the perception node after movement. The LMF may directly send the current location information of the perception node (i.e., UE) to the SF, or the LMF may send the current location information of the perception node (i.e., UE) to the SF through network elements such as the GMLC, NEF, and AMF. For example, the current location information of the perception node (i.e., UE) may be UE location information.

[0162] S707. The SF sends a sensing task release request to the sensing node (ie, UE) to stop the sensing task that has been configured for the sensing node (ie, UE).

[0163] S708. SF reselects and configures the perception nodes based on the first area and target object information in the perception request, and performs subsequent perception processes.

[0164] This embodiment can support SF to subscribe to the location of the UE as a sensing node, and when the location of the UE changes, release the current sensing task, trigger a new sensing task, and reselect a suitable sensing node for sensing.

[0165] The present application also provides a first network device. FIG8 is a schematic block diagram of a first network device 800 according to an embodiment of the present application. The first network device 800 may include:

[0166] A first processing unit 810 is configured to determine whether a sensing target or sensing node leaves a target area;

[0167] The first transceiver unit 820 is configured to send a sensing task release request to the sensing node.

[0168] In some embodiments, the first transceiver unit 820 is further configured to receive sensing data;

[0169] The first processing unit 810 is configured to determine, based on the perception data, whether the perception target has left the target area.

[0170] In some implementations, the first transceiver unit 820 is further configured to:

[0171] Sending an update message to the second network device or the terminal device, wherein the update message includes at least one of the target object information and the updated first area;

[0172] An update response sent by the second network device or the terminal device is received, where the update response includes at least one of confirmation information, the target object information, and the updated first area.

[0173] In some embodiments, the sensing target includes a non-UE target.

[0174] In some embodiments, the first transceiver unit 820 is further configured to send a location request to a third network device, the location request including at least one of information about the second area and the sensing node; and receive a location response sent by the third network device.

[0175] The first processing unit 810 is configured to determine, based on the location response, whether the sensing node has left the target area.

[0176] In some embodiments, the location response includes location information of the sensing node.

[0177] In some embodiments, the first processing unit 810 is further configured to determine the second area based on the first area in the perception request.

[0178] In some embodiments, the first processing unit 810 is further configured to determine the second area based on at least one of the target location information and the location information of the sensing node.

[0179] In some embodiments, the first transceiver unit 820 is further configured to receive a sensing request sent by a second network device or a terminal device, where the sensing request includes at least one of the first area and the target object information;

[0180] The first processing unit 810 is further configured to perform perception based on the perception request.

[0181] In some implementations, the first processing unit 810 is further configured to re-perform sensing after the first transceiver unit sends a sensing task release request to the sensing node.

[0182] In some embodiments, the target object information includes at least one of an identifier of the target object and identification information of the target object.

[0183] In some embodiments, the identification information of the target object includes: at least one of a user device identifier associated with the target object and object feature information of the target object.

[0184] In some implementations, the first network device includes a SF.

[0185] In some embodiments, the second network device includes at least one of a sensing function SF client, AF, GMLC, NEF, and AMF.

[0186] In some implementations, the third network device includes at least one of a GMLC, a LMF, an AMF, and a NEF.

[0187] The first network device 800 of the embodiment of the present application can implement the corresponding functions of the first network device in the aforementioned method embodiment. The corresponding processes, functions, implementation methods and beneficial effects of each unit (sub-unit, unit or component, etc.) in the first network device 800 can be found in the corresponding description in the above method embodiment, and will not be repeated here. It should be noted that the functions described for each unit (sub-unit, unit or component, etc.) in the first network device 800 of the embodiment of the application can be implemented by different units (sub-units, units or components, etc.) or by the same unit (sub-unit, unit or component, etc.).

[0188] The present application also provides a second network device. FIG9 is a schematic block diagram of a second network device 900 according to an embodiment of the present application. The second network device 900 may include:

[0189] The second transceiver unit 910 is used to receive an update message sent by the first network device, wherein the update message includes target object information and at least one of the updated first areas; and is also used to send an update response, wherein the update response includes confirmation information, the target object information and at least one of the updated first areas.

[0190] In some embodiments, the second transceiver unit 910 is further configured to send a perception request, where the perception request includes at least one of the first area and the target object information.

[0191] In some embodiments, the target object information includes at least one of an identifier of the target object and identification information of the target object.

[0192] In some embodiments, the identification information of the target object includes: at least one of a user device identifier associated with the target object and object feature information of the target object.

[0193] In some implementations, the second network device includes at least one of: a SF client, an AF, a GMLC, a NEF, and an AMF.

[0194] In some implementations, the first network device includes a SF.

[0195] The second network device 900 of the embodiment of the present application can implement the corresponding functions of the second network device in the aforementioned method embodiment. The corresponding processes, functions, implementation methods and beneficial effects of each unit (sub-unit, unit or component, etc.) in the second network device 900 can be found in the corresponding description in the above method embodiment, and will not be repeated here. It should be noted that the functions described in the various units (sub-units, units or components, etc.) in the second network device 900 of the embodiment of the application can be implemented by different units (sub-units, units or components, etc.) or by the same unit (sub-unit, unit or component, etc.).

[0196] The present application also provides a terminal device. FIG10 is a schematic block diagram of a terminal device 1000 according to an embodiment of the present application. The terminal device 1000 may include:

[0197] The third transceiver unit 1010 is used to receive an update message sent by the first network device, wherein the update message includes target object information and at least one of the updated first areas; and is also used to send an update response, wherein the update response includes confirmation information, the target object information and at least one of the updated first areas.

[0198] In some embodiments, the third transceiver unit 1010 is further configured to send a perception request, where the perception request includes at least one of the first area and the target object information.

[0199] In some embodiments, the target object information includes at least one of an identifier of the target object and identification information of the target object.

[0200] In some embodiments, the identification information of the target object includes: at least one of a user device identifier associated with the target object and object feature information of the target object.

[0201] In some implementations, the first network device includes a SF.

[0202] The terminal device 1000 of the embodiment of the present application can implement the corresponding functions of the terminal device in the aforementioned method embodiment. The processes, functions, implementation methods and beneficial effects corresponding to the various units (sub-units, units or components, etc.) in the terminal device 1000 can be found in the corresponding descriptions in the above-mentioned method embodiments, which will not be repeated here. It should be noted that the functions described in the various units (sub-units, units or components, etc.) in the terminal device 1000 of the embodiment of the application can be implemented by different units (sub-units, units or components, etc.) or by the same unit (sub-units, units or components, etc.).

[0203] The present application also provides a third network device. FIG11 is a schematic block diagram of a third network device 1100 according to an embodiment of the present application. The third network device 1100 may include:

[0204] The fourth transceiver unit 1110 is used to receive a location request sent by the first network device, where the location request includes at least one of information about the second area and the sensing node; and is also used to send a location response to the first network device.

[0205] In some embodiments, the location response includes location information of the sensing node.

[0206] In some implementations, the fourth transceiver unit 1110 sends a location response to the first network device when the sensing node leaves the second area.

[0207] In some implementations, the third network device includes at least one of a GMLC, a LMF, an AMF, and a NEF.

[0208] In some implementations, the first network device includes a SF.

[0209] The third network device 1100 of the embodiment of the present application can implement the corresponding functions of the third network device in the aforementioned method embodiment. The corresponding processes, functions, implementation methods and beneficial effects of each unit (sub-unit, unit or component, etc.) in the third network device 1100 can be found in the corresponding description in the above method embodiment, and will not be repeated here. It should be noted that the functions described for each unit (sub-unit, unit or component, etc.) in the third network device 1100 of the embodiment of the application can be implemented by different units (sub-units, units or components, etc.) or by the same unit (sub-unit, unit or component, etc.).

[0210] Figure 12 is a schematic structural diagram of a communication device 1200 according to an embodiment of the present application. The communication device 1200 includes a processor 1210, which can call and execute a computer program from a memory to enable the communication device 1200 to implement the method in the embodiment of the present application.

[0211] In one embodiment, the communication device 1200 may further include a memory 1220. The processor 1210 may call and execute a computer program from the memory 1220 to enable the communication device 1200 to implement the method in the embodiment of the present application.

[0212] The memory 1220 may be a separate device independent of the processor 1210 , or may be integrated into the processor 1210 .

[0213] In one embodiment, the communication device 1200 may further include a transceiver 1230 , and the processor 1210 may control the transceiver 1230 to communicate with other devices. Specifically, the transceiver 1230 may send information or data to other devices, or receive information or data sent by other devices.

[0214] The transceiver 1230 may include a transmitter and a receiver. The transceiver 1230 may further include an antenna, and the number of antennas may be one or more.

[0215] In one embodiment, the communication device 1200 may be the first network device of the embodiment of the present application, and the communication device 1200 may implement the corresponding processes implemented by the first network device in each method of the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0216] In one embodiment, the communication device 1200 may be the second network device of the embodiment of the present application, and the communication device 1200 may implement the corresponding processes implemented by the second network device in each method of the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0217] In one embodiment, the communication device 1200 may be a terminal device of an embodiment of the present application, and the communication device 1200 may implement the corresponding processes implemented by the terminal device in each method of the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0218] In one embodiment, the communication device 1200 may be the third network device of the embodiment of the present application, and the communication device 1200 may implement the corresponding processes implemented by the third network device in each method of the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0219] 13 is a schematic structural diagram of a chip 1300 according to an embodiment of the present application. The chip 1300 includes a processor 1310, which can call and execute a computer program from a memory to implement the method according to the embodiment of the present application.

[0220] In one embodiment, the chip 1300 may further include a memory 1320. The processor 1310 may call and execute a computer program from the memory 1320 to implement the method executed by the terminal device or the network device in the embodiment of the present application.

[0221] The memory 1320 may be a separate device independent of the processor 1310 , or may be integrated into the processor 1310 .

[0222] In one embodiment, the chip 1300 may further include an input interface 1330. The processor 1310 may control the input interface 1330 to communicate with other devices or chips, and specifically, may obtain information or data sent by other devices or chips.

[0223] In one embodiment, the chip 1300 may further include an output interface 1340. The processor 1310 may control the output interface 1340 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

[0224] In one embodiment, the chip can be applied to the first network device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the network device in each method of the embodiment of the present application. For the sake of brevity, it will not be repeated here.

[0225] In one embodiment, the chip can be applied to the second network device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the network device in each method of the embodiment of the present application. For the sake of brevity, it will not be repeated here.

[0226] In one embodiment, the chip can be applied to the terminal device in the embodiments of the present application, and the chip can implement the corresponding processes implemented by the terminal device in each method of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0227] In one embodiment, the chip can be applied to the third network device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the third network device in each method of the embodiment of the present application. For the sake of brevity, it will not be repeated here.

[0228] The chips used in the network device and the terminal device may be the same chip or different chips.

[0229] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0230] The processor mentioned above may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or other programmable logic devices, transistor logic devices, discrete hardware components, etc. The general-purpose processor mentioned above may be a microprocessor or any conventional processor, etc.

[0231] The memory mentioned above may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM).

[0232] It should be understood that the above-mentioned memories are exemplary but not restrictive. For example, the memories in the embodiments of the present application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM RAM (DR RAM), etc. In other words, the memories in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0233] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function in accordance with the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode to another website, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0234] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0235] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0236] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A sensing method, comprising: A first network device determines that a sensing target or a sensing node leaves a target area; The first network device sends a sensing task release request to the sensing node.

2. The method according to claim 1, wherein, The first network device determines that the sensing target leaves the target area, including: The first network device receives sensing data; The first network device determines that the sensing target leaves the target area according to the sensing data.

3. The method according to claim 1 or 2, after the first network device determines that the sensing target leaves the target area, further comprising: The first network device sends an update message to a second network device or a terminal device, and the update message includes at least one of target object information and an updated first area; The first network device receives an update response sent by the second network device or the terminal device, and the update response includes at least one of confirmation information, the target object information, and the updated first area.

4. The method according to any one of claims 1-3, wherein the sensing target includes a non-user equipment (UE) target.

5. The method according to claim 1, wherein, The first network device determines that the sensing node leaves the target area, including: The first network device sends a location request to a third network device, and the location request includes at least one of a second area and information of the sensing node; The first network device receives a location response sent by the third network device; The first network device determines that the sensing node leaves the target area according to the location response.

6. The method according to claim 5, wherein, The location response includes location information of the sensing node.

7. The method according to claim 5 or 6, wherein, Before the first network device sends the location request to the third network device, it further includes: The first network device determines the second area according to the first area in the sensing request.

8. The method according to claim 5 or 6, wherein, Before the first network device sends the location request to the third network device, it further includes: The first network device determines the second area according to at least one of target location information and location information of the sensing node.

9. The method according to any one of claims 1-8, before the first network device determines that the sensing target or the sensing node leaves the target area, further comprising: The first network device receives a sensing request sent by a second network device or a terminal device, and the sensing request includes at least one of a first area and target object information; The first network device performs sensing based on the sensing request.

10. The method according to any one of claims 1-9, after the first network device sends the sensing task release request to the sensing node, further comprising: The first network device performs sensing again.

11. The method according to claim 3 or 9, wherein, The target object information includes at least one of an identifier of the target object and identification information of the target object.

12. The method according to claim 11, wherein, The identification information of the target object includes at least one of the user equipment identifier associated with the target object and the object feature information of the target object.

13. The method according to any one of claims 1-12, wherein, The first network device includes a sensing function SF.

14. The method according to claim 3 or 9, wherein, The second network device includes at least one of an SF client, an application function AF, a mobile local central gateway GMLC, a network exposure function NEF, and a mobility management function AMF.

15. The method according to any one of claims 5-8, wherein, The third network device includes at least one of a GMLC, a positioning management function LMF, an AMF, and a NEF.

16. A sensing method, including: The second network device or the terminal device receives an update message sent by the first network device, where the update message includes at least one of target object information and an updated first area; The second network device or the terminal device sends an update response, where the update response includes at least one of confirmation information, the target object information, and the updated first area.

17. Before the second network device or the terminal device receives the update message sent by the first network device according to the method of claim 16, it also includes: The second network device or the terminal device sends a sensing request, where the sensing request includes at least one of a first area and the target object information.

18. The method according to claim 16 or 17, wherein, The target object information includes at least one of an identifier of the target object and identification information of the target object.

19. The method according to claim 18, wherein, The identification information of the target object includes at least one of the user equipment identifier associated with the target object and the object feature information of the target object.

20. The method according to any one of claims 16 to 19, wherein, The second network device includes at least one of an SF client, an AF, a GMLC, a NEF, and an AMF.

21. The method according to any one of claims 16 to 20, wherein, The first network device includes an SF.

22. A sensing method, including: The third network device receives a location request sent by the first network device, where the location request includes at least one of a second area and information of a sensing node; The third network device sends a location response to the first network device.

23. The method according to claim 22, wherein, The location response includes the location information of the sensing node.

24. The method according to claim 22 or 23, wherein, The third network device sending the location response to the first network device includes: When the sensing node leaves the second area, the third network device sends a location response to the first network device.

25. The method according to any one of claims 22-24, wherein, The third network device includes at least one of a GMLC, an LMF, an AMF, and a NEF.

26. The method according to any one of claims 22-25, wherein, The first network device includes an SF.

27. A first network device, comprising: A first processing unit for determining that a sensing target or a sensing node has left a target area; A first transceiver unit for sending a sensing task release request to the sensing node.

28. The first network device according to claim 27, wherein, The first transceiver unit is further configured to receive sensing data; The first processing unit is configured to determine that the sensing target has left the target area according to the sensing data.

29. The first network device according to claim 27 or 28, the first transceiver unit is further configured to: Send an update message to a second network device or a terminal device, where the update message includes at least one of target object information and an updated first area; Receive an update response sent by the second network device or the terminal device, where the update response includes at least one of confirmation information, the target object information, and the updated first area.

30. The first network device according to any one of claims 27-29, wherein the sensing target includes a non-UE target.

31. The first network device according to claim 27, wherein, The first transceiver unit is further configured to send a location request to a third network device, where the location request includes at least one of a second area and information about the sensing node; receive a location response sent by the third network device; The first processing unit is configured to determine that the sensing node has left the target area according to the location response.

32. The first network device according to claim 31, wherein, The location response includes location information of the sensing node.

33. The first network device according to claim 31 or 32, wherein, The first processing unit is further configured to determine the second area according to the first area in the sensing request.

34. The first network device according to claim 32 or 33, wherein, The first processing unit is further configured to determine the second area according to at least one of target location information and location information of the sensing node.

35. The first network device according to any one of claims 27-34, wherein, The first transceiver unit is further configured to receive a sensing request sent by a second network device or a terminal device, where the sensing request includes at least one of a first area and target object information; The first processing unit is further configured to perform sensing based on the sensing request.

36. The first network device according to any one of claims 27-35, wherein, The first processing unit is further configured to re-perform sensing after the first transceiver unit sends a sensing task release request to the sensing node.

37. The first network device according to claim 29 or 35, wherein, The target object information includes at least one of an identifier of the target object and identification information of the target object.

38. The first network device according to claim 37, wherein, The identification information of the target object includes at least one of a user equipment identifier associated with the target object and object feature information of the target object.

39. The first network device according to any one of claims 27 - 38, wherein, the first network device includes an SF.

40. The first network device according to claim 29 or 35, wherein, the second network device includes at least one of a sensing function SF client, an application function AF, a GMLC, a NEF, and an AMF.

41. The first network device according to any one of claims 31 - 34, wherein, the third network device includes at least one of a GMLC, an LMF, an AMF, and a NEF.

42. A second network device, comprising: A second transceiver unit, configured to receive an update message sent by a first network device, where the update message includes at least one of target object information and an updated first area; and is further configured to send an update response, where the update response includes at least one of confirmation information, the target object information, and the updated first area.

43. For the second network device according to claim 42, the second transceiver unit is further configured to send a sensing request, where the sensing request includes at least one of a first area and the target object information.

44. The second network device according to claim 42 or 43, wherein, the target object information includes at least one of an identifier of the target object and identification information of the target object.

45. The second network device according to claim 44, wherein, the identification information of the target object includes at least one of a user equipment identifier associated with the target object and object feature information of the target object.

46. The second network device according to any one of claims 42 to 45, wherein, the second network device includes at least one of an SF client, an AF, a GMLC, a NEF, and an AMF.

47. The second network device according to any one of claims 42 to 46, wherein, the first network device includes an SF.

48. A terminal device, comprising: A third transceiver unit, configured to receive an update message sent by a first network device, where the update message includes at least one of target object information and an updated first area; and is further configured to send an update response, where the update response includes at least one of confirmation information, the target object information, and the updated first area.

49. For the terminal device according to claim 48, the third transceiver unit is further configured to send a sensing request, where the sensing request includes at least one of a first area and the target object information.

50. The terminal device according to claim 48 or 49, wherein, the target object information includes at least one of an identifier of the target object and identification information of the target object.

51. The terminal device according to claim 50, wherein, the identification information of the target object includes at least one of a user equipment identifier associated with the target object and object feature information of the target object.

52. The terminal device according to any one of claims 48 to 51, wherein, the first network device includes an SF.

53. A third network device, comprising: A fourth transceiver unit, configured to receive a location request sent by a first network device, where the location request includes at least one of information about a second area and a sensing node; It is further configured to send a location response to the first network device.

54. The third network device according to claim 53, wherein, the location response includes the location information of the sensing node.

55. The third network device according to claim 53 or 54, wherein, the fourth transceiver unit sends a location response to the first network device when the sensing node leaves the second area.

56. The third network device according to any one of claims 53-55, wherein, the third network device includes at least one of a GMLC, an LMF, an AMF, and a NEF.

57. The third network device according to any one of claims 53-56, wherein, the first network device includes an SF.

58. A communication device, comprising: a transceiver, a processor, and a memory, where the memory is used to store a computer program, the transceiver is used to communicate with other devices, and the processor is used to call and run the computer program stored in the memory, so that the network device executes the method according to any one of claims 1 to 26.

59. A chip, comprising: a processor, configured to call and run a computer program from a memory, so that a device installed with the chip executes the method according to any one of claims 1 to 26.

60. A computer-readable storage medium, configured to store a computer program, and when the computer program is run by a device, the device executes the method according to any one of claims 1 to 26.

61. A computer program product, comprising computer program instructions, and the computer program instructions cause a computer to execute the method according to any one of claims 1 to 26.

62. A computer program, and the computer program causes a computer to execute the method according to any one of claims 1 to 26.

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