Sensing method and related apparatus

Abstract

The application provides a sensing method and related devices. In the sensing method, a network device can indicate requirements of a terminal device for a first sensing task and / or an impact of participating in the first sensing task on the terminal device to the terminal device. The terminal device determines whether to participate in the first sensing task according to the indication and feeds back whether to participate in the first sensing task to the network device, so that more suitable terminal devices participate in the first sensing task, and the sensing effect of terminal-network cooperation is improved.

Description

Technical Field

[0001] This application relates to the field of communication sensing, and more particularly to a sensing method and related apparatus. Background Technology

[0002] Integrated sensing and communication (ISAC), a key technology in next-generation wireless communication systems, aims to integrate wireless communication and sensing functions into a single system. It utilizes the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification. Specifically, when only terminal devices participate in sensing measurements, they can locally process the sensing signals reflected from the target through self-transmission and self-reception or external transmission and self-reception, thus achieving pure terminal sensing. Similarly, when only access network devices participate in sensing measurements, pure network sensing can be achieved.

[0003] However, the above methods of achieving sensing measurement through pure terminal sensing or pure network sensing have drawbacks, namely low sensing accuracy and limited sensing area. Summary of the Invention

[0004] This application provides a sensing method and related apparatus to enable terminal devices participating in a first sensing task to provide valuable sensing measurement information, which is beneficial to improving the sensing effect of end-to-end network collaboration.

[0005] In a first aspect, embodiments of this application provide a sensing method applied to a terminal-side device, such as a terminal device or a communication module in the terminal device, or a circuit or chip in the terminal device responsible for communication functions. Taking the application of this method to a terminal device as an example, the method includes: receiving first information, the first information being associated with a first sensing task, the first information being used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals, the maximum processing delay of the terminal device for sensing signals, whether there is a privacy risk in the terminal device participating in the first sensing task, or whether sensing results can be provided to the terminal device; and sending second information according to the first information, the second information being used to indicate whether the terminal device participates in the first sensing task.

[0006] The first information associated with the first sensing task indicates the requirements of the first sensing task for the terminal device, and / or the impact of participating in the first sensing task on the terminal device. The terminal device can determine whether to participate in the first sensing task based on the first information, thereby enabling more suitable terminal devices to participate in the first sensing task, which is conducive to improving the sensing effect of end-to-end network collaboration.

[0007] In some implementations, the aforementioned first information is used to indicate whether there is a privacy risk in the terminal device's participation in the first sensing task, including: the first information is used to indicate the purpose of the first sensing task, and the purpose is related to whether there is a privacy risk in the terminal device's participation in the first sensing task.

[0008] In some implementations, the aforementioned first information is used to indicate whether there is a privacy risk in the terminal device's participation in the first sensing task, including: the first information includes a first indication field, which is used to indicate whether there is a privacy risk in the terminal device's participation in the first sensing task.

[0009] The first information above, by indicating the purpose of the first sensing task or including the first indication field, can implicitly or explicitly indicate whether there is a privacy risk in the terminal device's participation in the first sensing task, which is helpful for the terminal device to determine whether to participate in the first sensing task.

[0010] In some implementations, when the first information indicates that the terminal device can provide a sensing result, the first information is also used to indicate at least one of the following: area information, resource information, type information, or parameter information, wherein the area information indicates the area location corresponding to the sensing result, the resource information indicates the time-frequency resources for transmitting the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameters corresponding to the sensing result.

[0011] When the first information indicates that the terminal device can provide the sensing result, further indicating the location of the area corresponding to the sensing result through the first information, the time and frequency resources for transmitting the sensing result, and the type and parameters corresponding to the sensing result can help the terminal device determine the relevant content corresponding to the sensing result, which is beneficial for the terminal device to determine whether to participate in the first sensing task.

[0012] In some implementations, where the first information indicates that the terminal device can provide a sensing result, the method further includes: receiving third information, the third information indicating the first sensing result.

[0013] In some implementations, the first perception result is different from the second perception result, where the second perception result is the perception result corresponding to the first perception task.

[0014] The perception result corresponding to the first perception task is different from the first perception result received by the terminal device. This decouples the first perception result from the second perception result, which is beneficial for the terminal device to obtain perception results that are valuable to it, thereby increasing the terminal device's willingness to participate in the first perception task.

[0015] In some implementations, when the second information instructs the terminal device to participate in the first sensing task, the second information is also used to request the sensing result.

[0016] In some implementations, the above first information is also used to indicate the first perception result.

[0017] By using the first information to indicate the needs of the first sensing task and the impact of participating in the first sensing task, and further indicating the first sensing result, the overhead of sending the first sensing result through other information can be saved.

[0018] In some implementations, the second information is used to indicate whether the terminal device participates in the first sensing task, including: the second information includes a second indication field, which is used to indicate whether the terminal device participates in the first sensing task.

[0019] In some implementations, the first information above is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, and the minimum bandwidth for the terminal device to receive and / or transmit sensing signals.

[0020] In some implementations, the first information mentioned above is also used to indicate the measurement reporting type supported by the terminal device. The measurement reporting type includes at least one of the following: parameter estimation type, target presence detection type, channel knowledge map type, or area imaging type. Among them, the parameter estimation type corresponds to the terminal device supporting at least one of ranging, angle measurement, velocity measurement, or Doppler measurement; the target presence detection type corresponds to the terminal device supporting the ability to distinguish whether a target object exists; the channel knowledge map type corresponds to the terminal device supporting the ability to establish a mapping relationship between its location and channel knowledge parameters; and the area imaging type corresponds to the terminal device supporting synthetic aperture radar (SAR) imaging or point cloud imaging.

[0021] The first information can further indicate the antenna and bandwidth requirements of the first sensing task for the terminal device to receive and / or transmit sensing signals, as well as the required measurement reporting type, so that the terminal device can determine whether to participate in the first sensing task.

[0022] In some implementations, the first information mentioned above can also be used to indicate that the terminal device is required to act as a transmitter and / or receiver of the sensing signal.

[0023] In some implementations, the aforementioned first information is also used to indicate configuration information and indicator requirements. The configuration information is used to configure the first signal associated with the first sensing task, and the indicator requirements indicate the performance requirements of the first signal.

[0024] In some implementations, the performance requirements include at least one of the following: the reference signal received power (RSRP) measured according to the first signal is greater than a first threshold; the received power measured according to the first signal within the sensing area is greater than a second threshold; or the terminal device is determined according to the first signal to be located in the line of sight (LOS) region of the target object, wherein the sensing area includes the time delay range and / or Doppler range to be sensed.

[0025] In some implementations, when the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task. The reason includes at least one of the following: the terminal device's battery level is lower than a third threshold, the terminal device does not meet the requirements for the terminal device indicated by the first information, or there is a privacy risk for the terminal device to participate in the first sensing task.

[0026] The reason why the terminal device does not participate in the first sensing task, as indicated by the second information, can reflect the terminal device's capabilities related to the requirements of the first sensing task and whether the terminal device can receive the impact of participating in the first sensing task. This is helpful for the network device to determine whether to request the terminal device to participate in the sensing task in the future.

[0027] The requirements for the terminal devices indicated by the first information above can be understood as the requirements imposed on the terminal devices participating in the first sensing task based on the first sensing task. In some implementations, the terminal device not meeting the requirements indicated by the first information may manifest in at least one of the following situations: the coherence time of the terminal device receiving and / or transmitting sensing signals is less than the minimum coherence time indicated by the aforementioned first information; the processing delay of the terminal device for sensing signals is greater than the maximum processing delay indicated by the aforementioned first information; the number of antennas of the terminal device receiving and / or transmitting sensing signals is less than the minimum number of antennas indicated by the aforementioned first information; the bandwidth of the terminal device receiving and / or transmitting sensing signals is less than the minimum bandwidth indicated by the aforementioned first information; the terminal device does not support the measurement reporting type indicated by the aforementioned first information; the terminal device does not meet the performance requirements corresponding to the first signal indicated by the aforementioned first information; the location of the terminal device is outside the location range indicated by the aforementioned first information; or the speed of the terminal device is not within the speed range indicated by the aforementioned first information.

[0028] Secondly, embodiments of this application provide a sensing method applied to a network-side device, such as a sensing function network element or access network device, or a component (such as a chip, chip system, etc.) in the sensing function network element or access network device, or a logic module or software capable of implementing all sensing function network element functions or access network device functions, or a logic module or software capable of implementing some sensing function network element functions or access network device functions. Taking the application of this method to a sensing function network element as an example, the method includes: sending first information, the first information being associated with a first sensing task, the first information being used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals, the maximum processing delay of the terminal device for sensing signals, whether there is a privacy risk in the terminal device participating in the first sensing task, or whether sensing results can be provided to the terminal device; receiving second information, the second information being used to indicate whether the terminal device participates in the first sensing task.

[0029] In some implementations, the first information indicates whether there is a privacy risk in the terminal device's participation in the first sensing task, including: the first information is used to indicate the purpose of the terminal device's participation in the first sensing task, and the purpose is related to whether there is a privacy risk in the terminal device's participation in the first sensing task.

[0030] In some implementations, when the first information indicates that a sensing result can be provided to the terminal device, the first information is further used to indicate at least one of the following: area information, resource information, type information, or parameter information, wherein the area information indicates the area location corresponding to the sensing result, the resource information indicates the time-frequency resources for transmitting the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameters corresponding to the sensing result.

[0031] In some implementations, where the first information indicates that the terminal device can provide a sensing result, the method further includes: sending a third information, the third information indicating the first sensing result.

[0032] In some implementations, the first perception result is different from the second perception result, where the second perception result is the perception result corresponding to the first perception task.

[0033] In some implementations, when the second information instructs the terminal device to participate in the first sensing task, the second information is also used to request the sensing result.

[0034] In some implementations, the above first information is also used to indicate the first perception result.

[0035] In some implementations, the first information above is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, and the minimum bandwidth for the terminal device to receive and / or transmit sensing signals.

[0036] In some implementations, the first information mentioned above is also used to indicate the measurement reporting type supported by the terminal device. The measurement reporting type includes at least one of the following: parameter estimation type, target presence detection type, channel knowledge map type, or area imaging type. Among them, the parameter estimation type corresponds to the terminal device supporting at least one of ranging, angle measurement, velocity measurement, or Doppler measurement; the target presence detection type corresponds to the terminal device supporting the ability to distinguish whether a target object exists; the channel knowledge map type corresponds to the terminal device supporting the ability to establish a mapping relationship between its location and channel knowledge parameters; and the area imaging type corresponds to the terminal device supporting SAR imaging or point cloud imaging.

[0037] In some implementations, the first information mentioned above can also be used to indicate that the terminal device is required to act as a transmitter and / or receiver of the sensing signal.

[0038] In some implementations, the aforementioned first information is also used to indicate configuration information and indicator requirements. The configuration information is used to configure the first signal associated with the first sensing task, and the indicator requirements indicate the performance requirements of the first signal.

[0039] In some implementations, the requirement for this metric includes at least one of the following: the RSRP measured according to the first signal is greater than a first threshold, the received power measured according to the first signal within the sensing area is greater than a second threshold, or the terminal device is determined to be located in the LOS region of the target object according to the first signal, wherein the sensing area includes the time delay range and / or Doppler range to be sensed.

[0040] In some implementations, when the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task. The reason includes at least one of the following: the terminal device's battery level is lower than a third threshold, the terminal device does not meet the requirements for the terminal device indicated by the first information, or there is a privacy risk for the terminal device to participate in the first sensing task.

[0041] The requirements for the terminal devices indicated by the first information above can be understood as the requirements imposed on the terminal devices participating in the first sensing task based on the first sensing task. In some implementations, the terminal device not meeting the requirements indicated by the first information may manifest in at least one of the following situations: the coherence time of the terminal device receiving and / or transmitting sensing signals is less than the minimum coherence time indicated by the aforementioned first information; the processing delay of the terminal device for sensing signals is greater than the maximum processing delay indicated by the aforementioned first information; the number of antennas of the terminal device receiving and / or transmitting sensing signals is less than the minimum number of antennas indicated by the aforementioned first information; the bandwidth of the terminal device receiving and / or transmitting sensing signals is less than the minimum bandwidth indicated by the aforementioned first information; the terminal device does not support the measurement reporting type indicated by the aforementioned first information; the terminal device does not meet the performance requirements corresponding to the first signal indicated by the aforementioned first information; the location of the terminal device is outside the location range indicated by the aforementioned first information; or the speed of the terminal device is not within the speed range indicated by the aforementioned first information.

[0042] Thirdly, embodiments of this application provide a sensing method applied to a terminal-side device, such as a terminal device or a communication module in the terminal device, or a circuit or chip in the terminal device responsible for communication functions. Taking the application of this method to a terminal device as an example, the method includes: determining a subscription exchange mechanism, the exchange mechanism including: the terminal device providing sensing measurement information to a network device, and the network device providing sensing results to the terminal device; and receiving a first sensing result when the subscription exchange mechanism is determined.

[0043] By establishing a contractual exchange mechanism, terminal devices and network-side devices can exchange sensing measurement information and sensing results based on the exchange mechanism, which is beneficial for collaborative sensing between terminal devices and network-side devices.

[0044] In some implementations, determining the subscription exchange mechanism includes: sending a fourth message, which is used to inquire whether the terminal device has subscribed to the exchange mechanism; and receiving a fifth message, which is used to instruct the terminal device to subscribe to the exchange mechanism.

[0045] In some implementations, the fifth piece of information is also used to indicate at least one of the following: the validity period of the exchange mechanism, the valid area of ​​the exchange mechanism, or the type of perception result supported by the exchange mechanism.

[0046] The fifth piece of information further indicates the content of the exchange mechanism, which helps the terminal device and the network-side device to perceive the cooperation.

[0047] In some implementations, the method further includes receiving sixth information, which indicates at least one of the following: region information, resource information, type information, or parameter information, wherein the region information indicates the region location corresponding to the sensing result, the resource information indicates the time-frequency resource corresponding to the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameter corresponding to the sensing result.

[0048] In some implementations, the method further includes sending a seventh message, which indicates at least one of the following: the number of antennas on which the terminal device receives and / or transmits sensing signals, the bandwidth on which the terminal device receives and / or transmits sensing signals, the coherence time on which the terminal device receives and / or transmits sensing signals, or the measurement reporting type supported by the terminal device.

[0049] The terminal device can indicate its corresponding capabilities through the seventh information, so that the network device can determine whether to send a sensing request to the terminal device based on its capabilities.

[0050] In some implementations, receiving the first perception result includes: sending an eighth message, which is used to request the perception result; and receiving a ninth message, which is used to indicate the first perception result.

[0051] In some implementations, the eighth information is also used to indicate at least one of the following: the type of the perception result, the location of the area corresponding to the perception result, and the parameters corresponding to the perception result.

[0052] In some implementations, the method also includes sending first perception measurement information, provided that a contractual exchange mechanism is determined.

[0053] In some implementations, the method further includes: receiving first information associated with a first sensing task, the first information indicating at least one of the following: the minimum coherence time for the terminal device to receive and / or transmit sensing signals, or the maximum processing delay of the terminal device for sensing signals; and transmitting second information based on the first information, the second information indicating whether the terminal device participates in the first sensing task.

[0054] In some implementations, the first information above is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, the minimum bandwidth for the terminal device to receive and / or transmit sensing signals, the location range of the terminal device and / or the speed range of the terminal device, the measurement reporting type supported by the terminal device, or the indicator requirements of the first signal associated with the first sensing task.

[0055] In some implementations, when the second information indicates that the terminal device does not participate in the sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the sensing task. The reason why the terminal device does not participate in the execution of the sensing task includes at least one of the following: the coherence time of the terminal device receiving and / or transmitting the sensing signal is less than the minimum coherence time; the processing delay of the terminal device for the sensing signal is greater than the maximum processing delay; the number of antennas of the terminal device receiving and / or transmitting the sensing signal is less than the minimum number of antennas indicated by the first information; the bandwidth of the terminal device receiving and / or transmitting the sensing signal is less than the minimum bandwidth indicated by the first information; the terminal device does not support the measurement reporting type indicated by the first information; the terminal device does not meet the performance requirements corresponding to the first signal indicated by the first information; the location of the terminal device is outside the location range of the terminal device indicated by the first information; or the speed of the terminal device is not within the speed range indicated by the first information.

[0056] Fourthly, embodiments of this application provide a sensing method applied to a network-side device, such as a sensing function network element or access network device, or a component (such as a chip, chip system, etc.) in the sensing function network element or access network device, or a logic module or software capable of implementing all the functions of the sensing function network element or access network device, or a logic module or software implementing some of the functions of the sensing function network element or access network device. Taking the application of this method to a sensing function network element as an example, the method includes: determining a subscription exchange mechanism, the exchange mechanism including: the terminal device providing sensing measurement information to the network device, and the network device providing sensing results to the terminal device; and, in the case of determining the subscription exchange mechanism, sending a first sensing result.

[0057] In some implementations, determining the subscription exchange mechanism includes: sending a first request to determine whether the terminal device has subscribed to the exchange mechanism; receiving a response to the first request to instruct the terminal device to subscribe to the exchange mechanism; and sending fifth information based on the response to the first request to instruct the terminal device to subscribe to the exchange mechanism.

[0058] In some implementations, the fifth piece of information is also used to indicate at least one of the following: the validity period of the exchange mechanism, the valid area of ​​the exchange mechanism, or the type of perception result supported by the exchange mechanism.

[0059] In some implementations, the method further includes sending a sixth message, which indicates at least one of the following: region information, resource information, type information, or parameter information, wherein the region information indicates the region location corresponding to the sensing result, the resource information indicates the time-frequency resource corresponding to the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameter corresponding to the sensing result.

[0060] In some implementations, the method further includes receiving seventh information, which indicates at least one of the following: the number of antennas of the terminal device for receiving and / or transmitting sensing signals, the bandwidth of the terminal device for receiving and / or transmitting sensing signals, the coherence time of the terminal device for receiving and / or transmitting sensing signals, or the measurement reporting type supported by the terminal device.

[0061] In some implementations, receiving the first perception result includes: receiving eighth information, which is used to request the perception result; and sending ninth information, which is used to indicate the first perception result.

[0062] In some implementations, this eighth piece of information is also used for at least one of the following: the type of the perception result, the location of the area corresponding to the perception result, and the parameters corresponding to the perception result.

[0063] In some implementations, the method also includes receiving first-sensory measurement information, provided that a contractual exchange mechanism is determined.

[0064] In some implementations, the method further includes: sending first information associated with a first sensing task, the first information indicating at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals, or the maximum processing delay of the terminal device for sensing signals; and sending second information based on the first information, the second information indicating whether the terminal device participates in the first sensing task.

[0065] In some implementations, the first information above is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, the minimum bandwidth for the terminal device to receive and / or transmit sensing signals, the location range of the terminal device and / or the speed range of the terminal device, the measurement reporting type supported by the terminal device, or the indicator requirements of the first signal associated with the first sensing task.

[0066] In some implementations, when the second information indicates that the terminal device does not participate in the sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the sensing task. The reason why the terminal device does not participate in the execution of the sensing task includes at least one of the following: the terminal device's battery level is lower than a third threshold, the coherence time of the terminal device receiving and / or transmitting sensing signals is less than the minimum coherence time, the processing delay of the terminal device for sensing signals is greater than the maximum processing delay, the number of antennas of the terminal device receiving and / or transmitting sensing signals is less than the minimum number of antennas indicated by the first information, the bandwidth of the terminal device receiving and / or transmitting sensing signals is less than the minimum bandwidth indicated by the first information, the terminal device does not support the measurement reporting type indicated by the first information, the terminal device does not meet the performance requirements corresponding to the first signal indicated by the first information, the location of the terminal device is outside the location range indicated by the first information, or the speed of the terminal device is not within the speed range indicated by the first information.

[0067] Fifthly, embodiments of this application provide a sensing device, including modules or units for implementing the methods of the first to fourth aspects and any possible implementations of the first to fourth aspects. Each module or unit can implement its corresponding function by executing a computer program.

[0068] For example, the sensing device in the fifth aspect is a terminal device or a component configured in a terminal device, such as a chip, chip system, processor, etc. Alternatively, the sensing device in the fifth aspect is a sensing function network element or a component configured in a sensing function network element, such as a chip, chip system, processor, etc. Alternatively, the sensing device in the fifth aspect is an access network device or a component configured in an access network device, such as a chip, chip system, processor, etc.

[0069] In a sixth aspect, embodiments of this application provide a sensing device, including a processor, which is configured to execute the sensing methods in the first to fourth aspects and any possible implementations of the first to fourth aspects.

[0070] Optionally, the sensing device includes a memory for storing instructions and data. The memory is coupled to a processor, which, when executing the instructions stored in the memory, can implement the methods described in the foregoing aspects.

[0071] Optionally, the sensing device includes a communication interface for communicating with other communication devices. For example, the communication interface may be a transceiver, circuit, bus, module, pin, or other type of communication interface.

[0072] For example, the sensing device provided in the sixth aspect is a chip or chip system, or it can be a terminal device, a sensing function network element, or an access network device.

[0073] In a seventh aspect, embodiments of this application provide a computer-readable storage medium including a computer program that, when run on a computer, causes the computer to implement the methods of the first to fourth aspects and any possible implementation of the first to fourth aspects.

[0074] Eighthly, embodiments of this application provide a computer program product, which includes a computer program (also referred to as code or instructions) that, when run, causes a computer to perform the methods of the first to fourth aspects and any possible implementation of the first to fourth aspects.

[0075] The fifth to eighth aspects of this application correspond to the technical solutions of the first and third aspects of this application. The beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. Attached Figure Description

[0076] Figure 1 A schematic diagram of the architecture of the communication system used in the embodiments of this application;

[0077] Figure 2 A flowchart illustrating a sensing method provided in one embodiment of this application;

[0078] Figure 3 A flowchart illustrating a sensing method provided in another embodiment of this application;

[0079] Figure 4 This is a schematic diagram of the structure of a sensing device provided in one embodiment of this application;

[0080] Figure 5 This is a schematic diagram of the structure of a sensing device provided in another embodiment of this application. Detailed Implementation

[0081] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0082] It should be understood that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship, but it does not exclude the possibility of indicating that the preceding and following related objects are in an "and" relationship. The specific meaning can be understood in conjunction with the context. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a and b and c. Here, a, b, and c can be single or multiple.

[0083] In this embodiment of the application, the use of prefixes such as "first" and "second" is merely for the purpose of distinguishing and describing different things belonging to the same name category, and does not constrain the order, size, or quantity of things. For example, "first parameter" and "second parameter" are simply different parameters, and there is no temporal or quantitative relationship between them.

[0084] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches are also possible.

[0085] Furthermore, in the embodiments of this application, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0086] "Instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information to indicate A, it can be understood that the instruction information carries A, directly indicates A, or indirectly indicates A.

[0087] Figure 1 This is a schematic diagram of the architecture of the communication system used in the embodiments of this application. Figure 1 A schematic diagram of a possible, non-limiting system architecture is shown. (e.g.) Figure 1 As shown, the communication system 1000 includes a radio access network (RAN) 100 and a core network (CN) 200. RAN 100 includes at least one RAN node (e.g., ...). Figure 1 110a and 110b (collectively referred to as 110) and at least one terminal device (such as Figure 1 RAN100, denoted as RAN100, comprises RAN nodes 120a-120j, collectively referred to as RAN120. RAN100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1 (Not shown in the image). Terminal device 120 is connected to RAN node 110 wirelessly. RAN node 110 is connected to core network 200 wirelessly or via wired connection. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions.

[0088] RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems (such as 6G mobile communication systems). RAN 100 can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (Wi-Fi) system. RAN 100 can also be a communication system that integrates two or more of the above systems.

[0089] RAN node 110, sometimes also referred to as access network equipment, RAN entity, or access node, is part of the communication system and is used to help terminal equipment achieve wireless access. Multiple RAN nodes 110 in the communication system 1000 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal device 120 are relative, for example... Figure 1 Network element 120i can be a helicopter or a drone, and it can be configured as a mobile base station. For terminal devices 120j that access RAN 100 through network element 120i, network element 120i is a base station; however, for base station 110a, network element 120i is a terminal device. RAN node 110 and terminal device 120 are sometimes referred to as communication devices, for example... Figure 1Network elements 110a and 110b can be understood as communication devices with base station functions, while network elements 120a-120j can be understood as communication devices with terminal functions.

[0090] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a Wi-Fi system, etc. A RAN node can also be a macro base station (such as...) Figure 1 110a), micro base stations or indoor stations (such as Figure 1 In CRAN scenarios, RAN nodes can be 110b), relay nodes or donor nodes, or wireless controllers. Optionally, RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in vehicle-to-everything (V2X) technology, the access network equipment can be a roadside unit (RSU).

[0091] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with different RAN nodes each implementing a portion of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control planes (CU-CPs), CU-user planes (CU-UPs), or radio units (RUs). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0092] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open-CU (open-CU, O-CU), DU can also be called an open-DU (open-DU, O-DU), CU-CP can also be called an open-CU-CP (open-CU-CP, O-CU-CP), CU-UP can also be called an open-CU-UP (open-CU-UP, O-CU-UP), and RU can also be called an open-RU (open-RU, O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0093] Terminal devices can also be called terminals, user equipment (UE), mobile stations, mobile terminals, etc. They can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), the Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, and smart cities. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc.

[0094] In this embodiment of the application, the access network device may be, for example, a... Figure 1 The RAN node 110 shown can be, for example, a terminal device that could be Figure 1 The terminal device 120 shown can be transmitted to a single terminal device simultaneously by multiple access network devices. This application does not specifically limit the types of access network devices and terminal devices.

[0095] In addition, terminal devices and access network devices can be hardware devices, software functions running on dedicated hardware, or software functions running on general-purpose hardware. For example, they can be virtualization functions instantiated on a platform (e.g., a cloud platform). Alternatively, they can be entities that include dedicated or general-purpose hardware devices and software functions. This application does not limit the specific form of terminal devices and access network devices.

[0096] To facilitate understanding of the embodiments of this application, the technical terms related to this application are explained below.

[0097] Sensing signal: A signal used to sense (or detect) a target (or object). Sensing signals are also called detection signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be any signal possible in a wireless communication system, such as orthogonal frequency division multiplexing (OFDM) signals, pulse signals, or linear frequency modulated (LFM) signals, etc.

[0098] Echo signal: The echo signal is the signal reflected back to the receiver after the sensing signal is emitted from the transmitter to the target object. By performing correlation processing on the echo signal and the sensing signal, and then transforming them, the time delay of the echo signal relative to the sensing signal in the time domain can be analyzed. By comparing the echo signals reflected back from the same target by the transmitted signal at different times, the Doppler effect experienced by the echo signal relative to the sensing signal can be analyzed. Combining the time delay and Doppler effect, the distance and velocity of the sensing target can be determined. Furthermore, by observing the beam direction of the antenna emitting the sensing signal, the direction of the sensing target relative to the transmitting source can be determined. The echo signal can be understood as the reflected sensing signal; therefore, the echo signal can also be called the sensing signal.

[0099] For ease of description, in this application, the detection signal emitted by the transmitter toward the target object is uniformly referred to as the sensing signal, and the signal reflected back to the receiver is referred to as the echo signal.

[0100] Integrated sensing and communication (ISAC), also known as harmonized communication and sensing (HCS), is a key technology in next-generation wireless communication systems. ISAC aims to integrate wireless communication and sensing functions into the same system, utilizing the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the surrounding physical environment, improving communication performance, and enhancing user experience.

[0101] In ISAC technology, access network devices or terminal devices perform sensing by sending sensing signals and receiving echo signals to obtain information such as the position and velocity of targets in the environment. The echo signal is generated by the reflection of the sensing signal from a target in the environment. The time delay of the echo signal relative to the transmitted sensing signal reflects the distance to the target, and the Doppler frequency shift of the echo signal relative to the transmitted sensing signal reflects the velocity of the target. Both access network devices and terminal devices can participate in sensing measurements; that is, both access network devices and terminal devices can be considered sensing devices.

[0102] According to the discussions in 3GPP SA1, the sensing modes involved in ISAC technology can be divided into the following six modes:

[0103] 1. Access network equipment self-transmission and self-reception: The access network equipment sends a sensing signal, which is reflected by a target in the environment, and then the echo signal is received by the access network equipment itself.

[0104] 2. Access network device A transmits, access network device B receives: Access network device A transmits a sensing signal, which is reflected by a target in the environment, and then the echo signal is received by access network device B.

[0105] 3. Access network equipment transmits, terminal equipment receives: The access network equipment transmits sensing signals, which are reflected by targets in the environment, and then the terminal equipment receives the echo signals.

[0106] 4. Terminal equipment transmits, access network equipment receives: The terminal equipment sends a sensing signal, which is reflected by a target in the environment, and then the echo signal is received by the access network equipment.

[0107] 5. Terminal device self-transmission and self-reception: The terminal device sends a sensing signal, which is reflected by a target in the environment, and then the terminal device receives the echo signal.

[0108] 6. Terminal device A transmits, terminal device B receives: Terminal device A transmits a sensing signal, which is reflected by a target in the environment, and then terminal device B receives the echo signal.

[0109] In the two modes of self-transmission and self-reception by access network equipment and transmission by access network equipment A and reception by access network equipment B, the access network equipment can perform local processing after receiving the echo signal reflected from the sensing target to obtain the corresponding sensing measurement data. When only access network equipment participates in sensing measurement, this sensing measurement method can be called pure network sensing. Since access network equipment is usually a fixed-location base station, the sensing range supported in pure network sensing is limited to a certain area.

[0110] Similarly, for the two modes of self-transmission and self-reception by terminal devices and transmission by both terminal devices A and B, when only the terminal devices participate in the sensing and measurement, this sensing and measurement method is called pure terminal sensing. Due to the limited processing power of terminal devices, the sensing accuracy supported in the pure terminal sensing method is not high.

[0111] Compared to pure network sensing or pure terminal sensing, end-to-end network collaboration combines the advantages of both terminal and network devices. Specifically, end-to-end network collaboration doesn't just refer to sensing modes where access network devices transmit and terminal devices receive, or vice versa. It can also fuse sensing measurement data obtained from multiple sensing modes and various types of sensing devices to achieve wider-area and higher-precision sensing. Understandably, the larger number and mobility of terminal devices allow them to acquire more sensing measurement data compared to pure network sensing. Network devices have stronger processing capabilities and the ability to coordinate and schedule sensing resources, enabling them to produce higher-quality sensing results. Network devices can be sensing function (SF) network elements or access network devices, such as base stations. For example, a terminal device can encapsulate locally processed sensing measurement data into sensing measurement information and report it to an SF network element. The SF network element can then further process the sensing measurement information from different devices to obtain corresponding sensing results, which can be understood as the final sensing measurement data, such as the location and velocity of the sensed target, or regional imaging results.

[0112] Among them, SF network elements are mainly responsible for functions such as selecting sensing devices, controlling sensing services, and processing sensing measurement data independently or jointly with other network elements. It is understandable that, as mobile devices, the participation of terminal equipment in sensing measurements can expand the sensing range it supports compared to pure network sensing. Furthermore, the sensing processing capabilities of SF network elements are stronger than those of terminal equipment; therefore, the sensing results obtained by SF network elements based on the processing of different sensing measurement information can further improve sensing accuracy.

[0113] The above-mentioned SF network element can be understood as a network-side device. The SF network element can be deployed in the core network, or in the access network device, or it can be independent of the access network device and the core network device. The deployment method of the SF network element in this application embodiment is not limited.

[0114] In the aforementioned end-to-end collaborative sensing mechanism, terminal devices can both transmit sensing signals as transmitters and receive sensing signals reflected from sensing targets as receivers, thereby participating in corresponding sensing services. However, terminal devices may not be able to adapt to the needs of sensing services in different scenarios, failing to provide effective sensing measurement information, resulting in poor sensing performance.

[0115] In addition, when the terminal device reports the locally obtained sensing measurement data to the network device, there may be a risk of privacy leakage. For example, this sensing service involves the perception of people. Based on the sensing measurement data, information such as a person's breathing and heartbeat can be calculated. Users may not be willing to expose this kind of information to the network device.

[0116] To address the aforementioned technical problems, embodiments of this application provide a sensing method and related apparatus, wherein the network-side device can indicate to the terminal device the requirements of a first sensing task for the terminal device, and / or the impact of participating in the first sensing task on the terminal device. The terminal device determines whether to participate in the first sensing task based on the indication and provides a corresponding response to the network-side device. The above sensing method is beneficial for selecting a more suitable terminal device to participate in the first sensing task and for improving the sensing effect of end-network collaboration.

[0117] In the embodiments described below, the interaction between a terminal device and an SF network element is used as an example. It should be understood that the terminal device can be replaced by components configured in the terminal device (such as chips, chip systems, processors, etc.), or logical modules or software capable of implementing all or part of the functions of the terminal device; the SF network element can also be replaced by components configured in the SF network element (such as chips, chip systems, processors, etc.), or logical modules or software capable of implementing all or part of the functions of the SF network element. In addition, the SF network element can also be replaced by other network-side devices, such as access network devices, components configured in the access network device (such as chips, chip systems, processors, etc.), or logical modules or software capable of implementing all or part of the functions of the access network device.

[0118] Figure 2 This is a flowchart illustrating a sensing method provided in one embodiment of this application. It is understood that... Figure 2 This is merely an example; the sensing method provided in this application may include more or similar steps. For example... Figure 2 As shown, the sensing method may include the following steps:

[0119] S201, the SF network element sends first information to the terminal device. This first information is associated with a first sensing task and indicates at least one of the following: the minimum coherence time for the terminal device to receive and / or transmit sensing signals; the maximum processing delay of the sensing signals by the terminal device; whether there is a privacy risk in the terminal device's participation in the first sensing task; or whether sensing results can be provided to the terminal device. Accordingly, the terminal device receives the first information from the SF network element.

[0120] As the control network element for sensing services, the SF network element can send sensing requests to terminal devices, which trigger a first sensing task. The first sensing task can represent a single sensing service or a specific task within a class of sensing services; this embodiment does not impose such a limitation.

[0121] As an example, an SF network element can broadcast a sensing request, which carries first information. Correspondingly, a terminal device can receive the sensing request broadcast by the SF network element, that is, the terminal device can receive the first information from the SF network element. The sensing request is used to trigger a first sensing task, and the first information carried is associated with triggering the first sensing task; it can be understood that the first information is associated with the first sensing task. Where the requirements of the first sensing task triggered by the sensing request change, the content indicated by the first information associated with the first sensing task also changes accordingly; that is, different sensing tasks triggered by the sensing request will result in different first information associated with the sensing task.

[0122] In another example, when an SF network element broadcasts a sensing request, the SF network element can also broadcast first information independently. The content indicated by the first information is used by the terminal device to determine whether to participate in the first sensing task. This can be understood as the first information being associated with the first sensing task. The first information mentioned above can be broadcast information, multicast information, or unicast information; this application embodiment does not limit this.

[0123] Different sensing tasks correspond to different Doppler measurement requirements. For example, to measure the Doppler parameters of a sensing target, the sensing device needs to transmit multiple sensing signals within a certain time period. The Doppler parameters of the sensing target can be estimated based on the phase changes between these multiple sensing signals. To avoid the influence of non-ideal hardware factors of the sensing device on the phase of the sensing signals (such as introducing different phase noise to different sensing signals), the sensing task requires that the multiple sensing signals received or transmitted by the sensing device within the aforementioned certain time period have phase consistency. This ensures that the phase changes between the multiple sensing signals originate only from the surrounding wireless propagation environment, thereby better estimating the Doppler parameters of the sensing target in the propagation environment. In this embodiment, the time period during which the received or transmitted signals have phase consistency can be understood as the coherence time.

[0124] The minimum coherence time for the terminal device to receive and / or transmit sensing signals, indicated in the first information, represents the performance requirements for the terminal device participating in the first sensing task based on the Doppler measurement requirements of the first sensing task. When the coherence time for the terminal device to receive and / or transmit sensing signals is greater than or equal to this minimum coherence time, multiple sensing signals received and / or transmitted by the terminal device within a certain time period have phase consistency, thus avoiding the influence of hardware factors of the terminal device on the phase of the sensing signals.

[0125] It should be noted that in some implementations, the first information can also indicate the range of coherence time for the terminal device to receive and / or transmit sensing signals, with the minimum coherence time for the terminal device to receive and / or transmit sensing signals as the lower limit. Similarly, different sensing tasks correspond to different latency requirements. For example, sensing tasks can be divided into real-time tasks and non-real-time tasks. Real-time tasks have high latency requirements and require low latency, while non-real-time tasks are not sensitive to latency and can tolerate larger latency.

[0126] The maximum processing delay of the sensing signal by the terminal device indicated in the first information represents the performance requirement for the terminal device participating in the first sensing task based on the delay requirements of the first sensing task. In this embodiment, the processing delay can refer to the time interval between the first moment when the terminal device receives the echo signal and the second moment when the terminal device reports the sensing measurement information to the SF network element. For example, if the terminal device receives the echo signal reflected by the sensing target at time T1, processes the echo signal locally, and reports the sensing measurement information to the SF network element at time T2, the duration corresponding to T2-T1 is the processing delay of the sensing signal by the terminal device. When the processing delay of the sensing signal by the terminal device is less than or equal to the maximum processing delay, the processing delay of the sensing signal by the terminal device can meet the delay requirements of the first sensing task.

[0127] In some implementations, the first information can also indicate the processing delay range of the sensing signal by the terminal device. For example, the first information can indicate that the processing delay range of the sensing signal by the terminal device is a closed interval [10ms, 100ms]. If the processing delay of the sensing signal by the terminal device falls within this interval, it is equivalent to the processing delay of the sensing signal by the terminal device meeting the delay requirement of the first sensing task.

[0128] It is understandable that the minimum coherence time for the terminal device to receive and / or transmit sensing signals, as indicated by the first information above, and the maximum processing delay of the sensing signals by the terminal device, are the requirements of the first sensing task on the terminal device. The impact of participating in the first sensing task on the terminal device is further described below.

[0129] The first information can indicate whether there is a privacy risk in the terminal device's participation in the first sensing task. As one possible implementation, the first information may include a first indication field, which is used to indicate whether there is a privacy risk in the terminal device's participation in the first sensing task, essentially meaning the first information explicitly indicates whether there is a privacy risk.

[0130] For example, the first indication field is a bit in the first information. When the value of this bit is 1, it indicates that there is a privacy risk in the terminal device's participation in the first sensing task; when the value of this bit is 0, it indicates that there is no privacy risk in the terminal device's participation in the first sensing task. Alternatively, when the value of this bit is 0, it indicates that there is a privacy risk in the terminal device's participation in the first sensing task; when the value of this bit is 1, it indicates that there is no privacy risk in the terminal device's participation in the first sensing task.

[0131] It should be noted that the first indication field can also be multiple bits in the first information. These multiple bits can take other values ​​to further distinguish the level of privacy risk. For example, if the first indication field consists of two bits in the first information, a value of 0 indicates that there is no privacy risk in the terminal device participating in the first sensing task (no risk). A value of 1 indicates that the privacy risk of the terminal device participating in the first sensing task is low. A value of 2 indicates that the privacy risk of the terminal device participating in the first sensing task is medium. A value of 3 indicates that the privacy risk of the terminal device participating in the first sensing task is high.

[0132] In some implementations, the first information can be used to indicate the purpose of the first sensing task, and this purpose is related to whether there is a privacy risk in the terminal device's participation in the first sensing task. This correlation means that the terminal device can determine whether there is a privacy risk in its participation in the first sensing task based on its purpose; in other words, the first information implicitly indicates whether there is a privacy risk.

[0133] For example, the first information may instruct the first sensing task to be used for the detection of a specific target, where the specific target includes people, etc. The terminal device determines that there is a privacy risk based on this purpose. That is, when the first information instructs the first sensing task to be used for the detection of a specific target, it may implicitly instruct the terminal device to participate in the first sensing task, which may pose a privacy risk.

[0134] Besides indicating whether there are privacy risks, the first information can also be used to instruct the SF network element whether to provide sensing results to the terminal device. It is understood that if the first information instructs the SF network element to provide sensing results to the terminal device, it is equivalent to the SF network element promising to provide sensing results to the terminal device, and the terminal device can determine whether to participate in the first sensing task based on this promise.

[0135] It should be noted that the first information can instruct the SF network element to provide sensing results to the terminal device through specific fields. When the SF network element does not provide sensing results, this field in the first information can be empty or a specific preset value. Specifically, a specific preset value in the first information can be understood as the first information explicitly instructing the SF network element not to provide sensing results; an empty field can be understood as the first information implicitly instructing the SF network element not to provide sensing results. Alternatively, if the first information does not include a corresponding field indicating whether sensing results are provided, it can be understood as the first information implicitly instructing the SF network element not to provide sensing results.

[0136] In some implementations, where the first information indicates that it can provide a perception result to the terminal device, the first information is also used to indicate at least one of the following: area information, resource information, type information, or parameter information.

[0137] Referring to the foregoing description, SF network elements can further process the sensing measurement information from different devices to obtain corresponding sensing results. The sensing measurement information corresponds to a certain sensing range, and the sensing results obtained by the SF network element based on this information also correspond to a certain sensing range. The first piece of information can indicate the area location corresponding to the sensing results provided by the SF network element to the terminal device.

[0138] Resource information indicates the time and frequency resources used by the SF network element when transmitting the sensing results to the terminal device, so that the terminal device can receive the sensing results according to the time and frequency resources indicated by the resource information after receiving the first information.

[0139] Type information indicates the type of sensing result provided by the SF network element to the terminal device. For example, type information may indicate that the sensing result corresponds to at least one of the following categories: target detection, channel knowledge map, or area imaging. Specifically, target detection sensing results may indicate the presence of a sensing target in the sensing environment. Channel knowledge map sensing results may indicate the mapping relationship between the location of the terminal device and the RSRP / beam / size-scale channel parameters of one or more cells. Area imaging sensing results may indicate point cloud imaging or SAR imaging of the corresponding area.

[0140] The parameter information represents the parameters corresponding to the sensing results provided by the SF network element to the terminal device. For example, the first information may indicate the number of sensing targets, the location of the sensing targets, the velocity of the sensing targets, and the Doppler parameters of the sensing targets, etc., corresponding to the sensing results.

[0141] In some implementations, if the first information indicates that the terminal device can provide a sensing result, the SF network element can send third information to the terminal device, the third information indicating the first sensing result. Accordingly, the terminal device receives the third information from the SF network element.

[0142] In this implementation, if the SF network element promises to provide sensing results to the terminal device, and the terminal device in this embodiment has not yet determined whether to participate in the first sensing task, the first sensing result can be indicated to the terminal device in advance through third information. Since the terminal device has not yet determined whether to participate in the first sensing task, the SF network element naturally does not receive sensing measurement information from the terminal device. Therefore, the first sensing result can be understood as the sensing result obtained by the SF network element from processing the sensing measurement information reported by other terminal devices.

[0143] In some implementations, the first sensing result and the second sensing result may differ, with the second sensing result being the sensing result corresponding to the first sensing task. It is understood that the SF network element, as the control network element for the first sensing task, can process sensing measurement information from different sensing devices according to the requirements of the first sensing task, thereby obtaining the sensing result corresponding to the first sensing task. However, the first sensing result may not necessarily be the sensing result obtained according to the requirements of the first sensing task; therefore, the first sensing result and the second sensing result may differ.

[0144] The difference between the first perception result and the second perception result can be understood as the first perception result and the second perception result corresponding to different regional locations, different types, different parameters, or one or more of the above. This application does not limit this.

[0145] For example: if the location corresponding to the first sensing result is region A, and the location corresponding to the second sensing result is region B, then the first and second sensing results can be understood as different. Alternatively, if the first sensing result corresponds to a target detection category, and the second sensing result corresponds to a channel knowledge map category, then the first and second sensing results can be understood as different. Or, if the first sensing result corresponds to the number of sensed targets, and the second sensing result corresponds to the speed of the sensed targets, then the first and second sensing results are different. In cases where one or more of these conditions are different, the first and second sensing results are considered different.

[0146] In this implementation, the first sensing result is different from the second sensing result, and the two are decoupled from each other. This is beneficial for SF network elements to provide terminal devices with sensing results that are helpful in assisting their communication, thereby increasing the willingness of terminal devices to participate in the first sensing task and provide sensing measurement information to SF network elements.

[0147] It should be noted that the first perception result and the second perception result can also be the same, that is, the first perception result can be the perception result corresponding to the requirements of the first perception task.

[0148] In some implementations, the first information can also be used to indicate the first sensing result. In this implementation, the SF network element directly indicates the first sensing result through the first information. For the terminal device to determine whether to participate in the first sensing task based on the first information, the effect is equivalent to the first information indicating that it can provide sensing results to the terminal device.

[0149] In some implementations, the first information can also be used to indicate the location range and / or speed range of the terminal device required by the first sensing task. For example, if the first sensing task requires target detection in cell A and cell B, then the first information indicates that the location range of the terminal device is the range corresponding to cell A and cell B. If the first sensing task requires detecting targets moving at a speed of approximately 30 kilometers per hour (km / h), a higher speed of the terminal device may reduce the accuracy of the target speed estimation. Therefore, it is necessary to limit the speed range of the terminal device; for example, the first information may indicate that the speed range of the terminal device is within 0 to 3 km / h.

[0150] In some implementations, the first information may also be used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, and the minimum bandwidth for the terminal device to receive and / or transmit sensing signals.

[0151] Different sensing tasks correspond to different angle measurement and / or ranging requirements. The resolution of angle measurement is affected by the number of antennas, while the resolution of ranging is affected by bandwidth. The minimum number of antennas for receiving and / or transmitting sensing signals indicated in the first information represents the hardware requirements for the terminal devices participating in the first sensing task based on the angle measurement requirements of the first sensing task. If the number of antennas for receiving and / or transmitting sensing signals of the terminal device is greater than or equal to this minimum number of antennas, the terminal device can meet the angle measurement resolution requirements corresponding to the first sensing task. It should be noted that the number of antennas used for receiving sensing signals and the number of antennas used for transmitting sensing signals of the above-mentioned terminal devices may be different.

[0152] Similarly, the minimum bandwidth for the terminal device to receive and / or transmit sensing signals in the first information represents the hardware requirements for the terminal device participating in the first sensing task, based on the ranging requirements of the first sensing task. If the bandwidth for the terminal device to receive and / or transmit sensing signals is greater than or equal to this minimum bandwidth, the terminal device can meet the ranging resolution requirements corresponding to the first sensing task.

[0153] In some implementations, the first information can also be used to instruct the terminal device to act as a transmitter and / or receiver of the sensing signal. For example, the first information can instruct the terminal device to act as a transmitter of the sensing signal, such as in a sensing mode where the terminal device transmits and the access network device receives; it can also instruct the terminal device to act as a receiver of the sensing signal, such as in a sensing mode where the access network device transmits and the terminal device receives; it can also instruct the terminal device to act as both a transmitter and receiver of the sensing signal, such as in a sensing mode where the terminal device transmits and receives independently; or it can employ multiple sensing modes.

[0154] It is understandable that when a terminal device participating in the first sensing task acts as a transmitter of sensing signals, it needs to meet the relevant requirements for transmitting sensing signals indicated by the first information. When a terminal device participating in the first sensing task acts as a receiver of sensing signals, it needs to meet the relevant requirements for receiving sensing signals indicated by the first information. When a terminal device participating in the first sensing task acts as both a transmitter and a receiver of sensing signals, it needs to meet the relevant requirements for both transmitting and receiving sensing signals indicated by the first information.

[0155] In some implementations, the first information can also be used to indicate the measurement reporting type supported by the terminal device, which includes at least one of the following: parameter estimation type, target presence detection type, channel knowledge map type, or area imaging type.

[0156] It is understandable that the first information indicates the measurement reporting type supported by the terminal device, which is equivalent to the sensing reporting capability required by the first sensing task. Specifically, the parameter estimation type corresponds to the terminal device supporting at least one of ranging, angle measurement, velocity measurement, or Doppler measurement; that is, the sensing measurement information reported by the terminal device to the SF network element may include one or more of the distance, angle, velocity, or Doppler measurement of the sensed target. The target presence detection type corresponds to the terminal device supporting the ability to distinguish whether a target object exists; that is, the sensing measurement information reported by the terminal device to the SF network element may indicate whether the sensed target exists or not. The channel knowledge map type corresponds to the terminal device supporting the ability to establish a mapping relationship between its location and channel knowledge parameters, where channel knowledge parameters may include one or more parameters such as RSRP, beamforming, or large-scale channel parameters; the sensing measurement information reported by the terminal device to the SF network element may include the terminal device's location information and its corresponding channel knowledge parameters. The area imaging type corresponds to the terminal device supporting SAR imaging or point cloud imaging; accordingly, the sensing measurement information reported by the terminal device to the SF network element may include the area location of the terminal device and the imaging coefficients of each corresponding point.

[0157] In some implementations, the first information can also be used to indicate configuration information and indicator requirements. The configuration information is used to configure the first signal associated with the first sensing task, and the indicator requirements indicate the performance requirements of the first signal.

[0158] The configuration information, serving as resource configuration information for the first signal, indicates the time-frequency resources for transmitting the first signal. The first information indicates the performance requirements of the first signal, representing the performance metrics that the first signal used by the terminal device must meet if the terminal device participates in the first sensing task.

[0159] As an example, the aforementioned indicator requirements may include at least one of the following: the RSRP measured by the terminal device based on the first signal is greater than a first threshold; the received power of the terminal device within the sensing area based on the first signal is greater than a second threshold; or the terminal device is determined to be located in the LOS region of the target object based on the first signal. The sensing area may be the time delay and / or Doppler range to be sensed.

[0160] The first threshold and / or the second threshold mentioned above can be preset thresholds, or they can be indicated in the first information. The terminal device being located within the LOS region of the target object can be understood as having a direct path between the terminal device and the target object. If the terminal device can be determined to be located within the LOS region of the target object based on the first signal, it is beneficial to obtain higher-quality sensing measurement data during the terminal device's participation in the first sensing task. The terminal device meeting the above indicator requirements helps improve the service quality provided by the first sensing task to the sensing demander.

[0161] S202, the terminal device sends second information to the SF network element, the second information indicating whether the terminal device participates in the first sensing task. Correspondingly, the SF network element receives the second information from the terminal device.

[0162] As described above, the terminal device can determine whether to participate in the first sensing task based on the requirements of the first sensing task indicated in the first information and / or the impact of participating in the first sensing task on the terminal device, and then indicate to the SF network element whether it participates in the first sensing task through the second information.

[0163] In some implementations, the second information may include a second indication field, which indicates whether the terminal device participates in the first sensing task. This is equivalent to the second information explicitly indicating whether or not the device participates in the first sensing task. For example, the second indication field is a bit in the second information; a value of 1 indicates participation in the first sensing task, and a value of 0 indicates non-participation. Alternatively, a value of 0 indicates participation in the first sensing task, and a value of 1 indicates non-participation.

[0164] It is understood that, in the embodiments of this application, the participation of the terminal device in the first sensing task can refer to the terminal device acting as a transmitter of sensing signals, a receiver of sensing signals, or both. For example, when using a sensing mode where the access network device transmits and the terminal device receives, the terminal device can act as a transmitter of sensing signals; when using a sensing mode where the terminal device transmits and the access network device receives, the terminal device can act as a transmitter of sensing signals; when using a sensing mode where the terminal device transmits and receives, the terminal device can act as both a transmitter and a receiver of sensing signals; or when using multiple sensing modes, such as both a transmitter-and-receiver sensing mode and a transmitter-and-receiver sensing mode, the terminal device can act as both a transmitter and a receiver of sensing signals.

[0165] In some implementations, the sensing device performs sensing measurements to determine the sensing measurement information. It is understandable that, when the terminal device determines to participate in the first sensing task based on the first information, for sensing modes where the access network device transmits and the terminal device receives, or where the terminal device transmits and receives independently, or where terminal device A transmits and terminal device B receives, the terminal device can perform local processing after receiving the echo signal reflected from the sensing target, thereby obtaining the corresponding sensing measurement information.

[0166] This implementation takes a sensing mode where the access network device transmits and the terminal device receives as an example. The access network device sends a sensing signal, and the terminal device receives the echo signal. The terminal device determines the sensing measurement information based on the received echo signal. In this implementation, the second information mentioned above can indicate the sensing measurement information, which is equivalent to informing the SF network element that the terminal device has participated in the first sensing task through the sensing measurement information.

[0167] As one possible implementation, when the second information indicates that the terminal device participates in the first sensing task, the SF network element can further send configuration information for indicating the time-frequency resources of the sensing signal and / or configuration information for indicating the time-frequency resources of the transmitted sensing measurement information to the terminal device. For the three sensing modes in which the terminal device receives echo signals, the terminal device can acquire the corresponding sensing measurement information and send the sensing measurement information to the SF network element. Accordingly, when the second information indicates that the terminal device participates in the first sensing task, the SF network element can further receive sensing measurement information from the terminal device. The configuration information for indicating the time-frequency resources of the sensing signal can be the same configuration information as the aforementioned configuration information for configuring the first signal associated with the first sensing task, or it can be different configuration information.

[0168] In some implementations, when the second information instructs the terminal device to participate in the first sensing task, the second information can also be used to request sensing results. It is understood that the terminal device can request sensing results from the SF network element through the second information, or it can request sensing results from the SF network element through other information. Accordingly, the SF network element can issue sensing results to the terminal device based on the terminal device's request. For example... Figure 2 As shown in optional steps S203 and S204, in step S203, the terminal device may send information to the SF network element requesting the sensing result. Correspondingly, the SF network element receives the information from the terminal device requesting the sensing result. In step S204, the SF network element may send the sensing result to the terminal device. Correspondingly, the terminal device receives the sensing result from the SF network element.

[0169] Furthermore, when the terminal device sends a sensing result request to the SF network element, this request can also be used to indicate the type of sensing result, the corresponding area location, and the parameters of the sensing result. The type, location, and parameters of the sensing result are as described above and will not be repeated here. The sensing result requested by the terminal device from the SF network element can be the same as or different from the sensing result corresponding to the first sensing task; the two can be decoupled.

[0170] It should be noted that in the aforementioned implementation method, there is no temporal order between the terminal device sending sensing measurement information to the SF network element and the SF network element sending sensing results to the terminal device.

[0171] In some implementations, when the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task.

[0172] Understandably, the terminal device determines whether to participate in the first sensing task based on the first information. If the terminal device does not meet the requirements of the first sensing task, or if participating in the first sensing task poses a privacy risk, it will indicate not to participate in the first sensing task through the second information. The reason for instructing the terminal device not to participate in the first sensing task in the second information is the basis for the terminal device's judgment. This reason includes at least one of the following: the terminal device's battery level is below a third threshold, the terminal device does not meet the requirements indicated by the first information, or participating in the first sensing task poses a privacy risk.

[0173] The requirements for the terminal devices indicated by the first information can be understood as the requirements imposed on the terminal devices participating in the first sensing task based on the first sensing task. As described above, a terminal device failing to meet the requirements indicated by the first information can manifest in at least one of the following situations: the coherence time of the terminal device receiving and / or transmitting sensing signals is less than the minimum coherence time indicated by the first information; the processing delay of the terminal device for sensing signals is greater than the maximum processing delay indicated by the first information; the number of antennas used by the terminal device to receive and / or transmit sensing signals is less than the minimum number of antennas indicated by the first information; the bandwidth of the terminal device to receive and / or transmit sensing signals is less than the minimum bandwidth indicated by the first information; the terminal device does not support the measurement reporting type indicated by the first information; the terminal device does not meet the performance requirements corresponding to the first signal indicated by the first information; the location of the terminal device is outside the range indicated by the first information; or the speed of the terminal device is not within the speed range indicated by the first information.

[0174] The reasons why the above-mentioned terminal devices do not participate in the first sensing task reflect, to some extent, the sensing-related capabilities of the terminal devices. SF network elements can determine the capabilities of the terminal devices based on these reasons, which helps SF network elements to determine whether to continue to send sensing requests to the terminal devices.

[0175] It should be noted that the terminal device can indicate the reason for not participating in the first sensing task through the second information, or it can send an indication information other than the second information to the SF network element, which indicates the reason for the terminal device not participating in the first sensing task.

[0176] In this embodiment, the terminal device can determine whether to participate in the first sensing task based on the requirements of the first sensing task indicated by the first information and / or the impact of participating in the first sensing task. This is beneficial for selecting a more suitable terminal device to participate in the first sensing task and for improving the sensing effect of end-to-end network collaboration.

[0177] exist Figure 2 In the illustrated embodiment, the terminal device determines whether to participate in the first sensing task based on the first information from the SF network element. This can be understood as the participation in the first sensing task depending on the terminal device. As another possible implementation, the terminal device can send capability information to the SF network element, indicating at least one of the following: the coherence time of the terminal device receiving and / or transmitting sensing signals, and the processing delay of the sensing signals by the terminal device. Accordingly, the SF network element receives the capability information from the terminal device.

[0178] In this implementation, the SF network element can determine whether the terminal device can meet the requirements of the first sensing task based on the terminal device's capability information and the requirements of the first sensing task. If the terminal device meets the requirements of the first sensing task, the SF network element can send a sensing request to the terminal device. That is, the SF network element can designate a specific terminal device from multiple terminal devices to participate in the first sensing task. Whether the terminal device participates in the first sensing task depends on the SF network element.

[0179] As another possible implementation, the access network device can act as a sensing requester. This access network device can determine which terminal devices can participate in the first sensing task through the core network device, such as an SF network element or a location management function (LMF) network element. For example, the access network device can send a request for the first sensing task to the SF network element, requesting the SF network element to recommend terminal devices that meet the requirements of the first sensing task. Correspondingly, after receiving the request for the first sensing task from the access network device, the SF network element can further send the aforementioned first information to the terminal device and determine whether it can participate in the first sensing task based on the second information from the terminal device. The interaction process between the SF network element and the terminal device can refer to the aforementioned steps S201 and S202. After determining which terminal devices can participate in the first sensing task, the SF network element can return the corresponding terminal device's identifier to the access network device.

[0180] In the above embodiments, by determining whether the terminal device meets the requirements of the first sensing task, it is beneficial to select a more suitable terminal device to participate in the first sensing task, which is beneficial to improving the sensing results of end-to-end network collaboration. The following further introduces the sensing method provided by the embodiments of this application that is beneficial to improving the end-to-end network collaboration effect.

[0181] Figure 3 This is a flowchart illustrating a sensing method provided in another embodiment of this application. It is understood that... Figure 3 This is merely an example; the sensing method provided in this application may include more or similar steps. For example... Figure 3 As shown, the sensing method may include the following steps:

[0182] S301, the terminal equipment and SF network element determine the subscription exchange mechanism, which includes: the terminal equipment provides sensing measurement information to the network equipment, and the network equipment provides sensing results to the terminal equipment.

[0183] In this context, "network device" can be understood as either an access network device or an SF network element; this embodiment uses an SF network element as an example. It should be noted that in a sensing mode where the access network device transmits and the terminal device receives, or where terminal device A transmits and terminal device B receives, the terminal device can obtain corresponding sensing measurement information based on the echo signal reflected from the sensing target, thereby providing sensing measurement information to the network device. However, in a sensing mode where the terminal device transmits and the access network device receives, the access network device receives the echo signal reflected from the sensing target and obtains the sensing measurement information. In this sensing mode, if the terminal device subscribes to an exchange mechanism, it means that the access network device provides sensing measurement information to the corresponding network device, such as an SF network element.

[0184] In some implementations, the aforementioned terminal equipment and SF network elements determine a subscription exchange mechanism, such as... Figure 3 As shown in optional steps S301a to S301d, in step S301a, the terminal device sends fourth information to the SF network element. The fourth information is used to inquire whether the terminal device has subscribed to the exchange mechanism. Correspondingly, the SF network element receives the fourth information from the terminal device.

[0185] In step S301b, based on the fourth information, the SF network element sends a first request to the data management function network element. The first request is used to determine whether the terminal device has subscribed to the exchange mechanism. Accordingly, the data management function network element receives the first request from the SF network element.

[0186] Terminal devices can sign up for the exchange mechanism with network operators offline or online. After signing up, the terminal device's signing information is registered in the data management function network element. For example, the data management function network element can be a unified data management (UDM) network element in the 5G core network. With the terminal device's signing information registered in the UDM network element, it can be determined that the terminal device has signed up for the exchange mechanism based on the first request from the SF network element. Corresponding to step S301c, the data management function network element sends a response to the first request to the SF network element, which instructs the terminal device to sign up for the exchange mechanism. Accordingly, the SF network element receives the response to the first request from the data management function network element.

[0187] In response to the first request, in step S301d, the SF network element sends the fifth information to the terminal device, which is used to instruct the terminal device on the subscription exchange mechanism.

[0188] In some implementations, the fifth piece of information above also indicates at least one of the following: the validity period of the exchange mechanism, the valid area of ​​the exchange mechanism, or the type of perception result supported by the exchange mechanism.

[0189] For example, the fifth information may indicate the start date to the end date of the effective period of the exchange mechanism, or indicate the start date of the effective period of the exchange mechanism and the effective duration of the exchange mechanism. That is, during the effective period, the SF network element can provide the terminal device with the sensing results, and the terminal device provides the SF network element with the sensing measurement information.

[0190] The fifth information indicates the effective area of ​​the exchange mechanism, meaning that the exchange mechanism can only be effective within the effective area. The effective area can be at the cell level, cell set level, or city level, but this application embodiment does not limit this.

[0191] The fifth information indicates the sensing result type of the switching mechanism, representing the type of sensing result that the SF network element can provide to the terminal device. Referring to the foregoing embodiments, the sensing result types supported by the switching mechanism may include at least one of target detection, channel knowledge map, or area imaging.

[0192] It should be noted that steps S301a to S301d above are equivalent to the terminal device explicitly confirming the subscription to the exchange mechanism. In some implementations, corresponding to steps S301b and S301c above, the SF network element can also send a first request to the data management function network element and receive a response to the first request from the data management function network element. That is, even if the terminal device does not send the fourth information to the SF network element, the SF network element can request the data management function network element to determine whether the terminal device has subscribed to the exchange mechanism.

[0193] In step S301c, if the response to the first request indicates a subscription exchange mechanism for the terminal device, the SF network element can directly send the first sensing result to the terminal device. This is equivalent to the SF network element indirectly instructing the terminal device to determine the subscription exchange mechanism through the first sensing result without sending the fifth information to the terminal device.

[0194] In some implementations, such as Figure 3 As shown in optional step S302, the SF network element can send sixth information to the terminal device. The sixth information indicates at least one of the following: area information, resource information, type information, or parameter information. The area information indicates the area location corresponding to the sensing result; the resource information indicates the time-frequency resources corresponding to the sensing result; the type information indicates the type corresponding to the sensing result; and the parameter information indicates the parameters corresponding to the sensing result. Accordingly, the terminal device receives the sixth information from the SF network element.

[0195] Understandably, in the case of a terminal device subscription exchange mechanism, this sixth piece of information is equivalent to the configuration information of the sensing results provided by the SF network element to the terminal device. The above-mentioned area information, resource information, type information, and parameter information are consistent with... Figure 2The first information indicated in the illustrated embodiment is consistent and will not be repeated here.

[0196] In some implementations, such as Figure 3 As shown in step S303, the terminal device may send seventh information to the SF network element. The seventh information is used to indicate at least one of the following: the number of antennas of the terminal device for receiving and / or transmitting sensing signals, the bandwidth of the terminal device for receiving and / or transmitting sensing signals, the coherence time of the terminal device for receiving and / or transmitting sensing signals, or the measurement reporting type supported by the terminal device.

[0197] S304, under the condition of establishing a subscription exchange mechanism, the SF network element sends the first sensing result to the terminal device. Correspondingly, the terminal device receives the first sensing result from the SF network element.

[0198] For example, an SF network element can periodically send sensing results to a terminal device. The first sensing result can be understood as the sensing result sent in a certain period. The first sensing result may include one or more of the aforementioned target detection type, channel knowledge map type, or area imaging type. The sending periods of different types of sensing results may be the same or different, and this application embodiment does not limit this. When the SF network element periodically sends sensing results to the terminal device, the resource information indicated in the aforementioned sixth information can represent the time-frequency resources for periodically transmitting the sensing results.

[0199] In some implementations, such as Figure 3 As shown in optional steps S304a and S304b, in step S304a, the terminal device sends the eighth information to the SF network element. The eighth information can be used to request the sensing result. If the terminal device determines the subscription exchange mechanism, it can directly request the sensing result through the eighth information. Correspondingly, the SF network element receives the eighth information from the terminal device.

[0200] In step S304b, the SF network element sends a ninth message to the terminal device, which indicates the first sensing result. Correspondingly, the terminal device receives the ninth message from the SF network element. The fact that the SF network element sends the ninth message to the terminal device upon being triggered by the request of the eighth message can be understood as the first sensing result being a sensing result triggered and sent by the terminal device.

[0201] In some implementations, the eighth information can also be used to indicate at least one of the following: the type of the perception result, the location of the area corresponding to the perception result, and the parameters corresponding to the perception result.

[0202] The content indicated by the eighth information above can be understood as the type, location, or parameter corresponding to the sensing result that the terminal device expects to obtain. For example, the type of sensing result indicated by the eighth information can be a sensing result type supported by the aforementioned exchange mechanism, the area location corresponding to the sensing result indicated by the eighth information can be the effective area of ​​the aforementioned exchange mechanism, and the parameter corresponding to the sensing result indicated by the eighth information can be the parameter configured in the aforementioned sixth information, which will not be elaborated here.

[0203] In some implementations, if the terminal device participates in sensing and measurement, such as Figure 3 As shown in optional step S305, if the subscription exchange mechanism is determined, the terminal device sends first sensing measurement information to the SF network element. Correspondingly, the SF network element receives the first sensing measurement information from the terminal device.

[0204] If a terminal device participates in the sensing task and acts as a receiving device to receive the echo signal reflected from the sensing target, the terminal device can process the echo signal to obtain the first sensing measurement information. Under a defined subscription exchange mechanism, the terminal device follows the exchange mechanism and sends the first sensing measurement information to the SF network element. For example, the terminal device can periodically send sensing measurement information to the SF network element; this first sensing measurement information can be understood as the sensing measurement information sent within a certain period.

[0205] It should be noted that, Figure 3 The steps related to the terminal device's participation in sensing and measurement are omitted in the illustrated embodiment. This sensing task and the first sensing task described below can be different sensing tasks. Alternatively, this sensing task and the first sensing task described below can be the same sensing task, combined with... Figure 2 As can be seen from the embodiments shown, the terminal device can also indirectly instruct the SF network element to participate in the first sensing task by instructing the terminal device to participate in the first sensing task through the second information described below, or, when the second information instructs the terminal device to participate in the first sensing task, the terminal device can send the first sensing measurement information to the SF network element separately.

[0206] S306, the SF network element sends the first information to the terminal device. Correspondingly, the terminal device receives the first information from the SF network element.

[0207] S307, the terminal device sends the second information to the SF network element. Correspondingly, the SF network element receives the second information from the terminal device.

[0208] The above steps S306 and S307 are the same as Figure 2Steps S201 and S202 in the illustrated embodiment are similar. Step S306 corresponds to step S201. The first information is associated with the first sensing task and can be used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or transmit the sensing signal, or the maximum processing delay of the terminal device for the sensing signal. Step S307 corresponds to step S202. The second information is used to indicate whether the terminal device participates in the first sensing task.

[0209] Understandable, Figure 3 In the illustrated embodiment, since the terminal device determines the subscription exchange mechanism, the SF network element can provide sensing results to the terminal device according to the content of the exchange mechanism, and the terminal device tends to participate in the first sensing task. Therefore, unlike the first information in step S201, the first information in step S306 no longer indicates whether the SF network element provides sensing results to the terminal device, and the first information no longer indicates whether there is a privacy risk in the terminal device participating in the first sensing task.

[0210] according to Figure 2 As can be seen from the illustrated embodiments, in some implementations, the first information can also be used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, the minimum bandwidth for the terminal device to receive and / or transmit sensing signals, the location range of the terminal device and / or the speed range of the terminal device, the measurement reporting type supported by the terminal device, or the indicator requirements of the first signal associated with the first sensing task. The specific content indicated by the first information can be referred to the foregoing embodiments, and will not be repeated here.

[0211] In some implementations, when the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task. The reason includes at least one of the following: the coherence time of the terminal device receiving and / or transmitting sensing signals is less than the minimum coherence time; the processing delay of the terminal device for sensing signals is greater than the maximum processing delay; the number of antennas of the terminal device receiving and / or transmitting sensing signals is less than the minimum number of antennas indicated by the first information; the bandwidth of the terminal device receiving and / or transmitting sensing signals is less than the minimum bandwidth indicated by the first information; the terminal device does not support the measurement reporting type indicated by the first information; the terminal device does not meet the performance requirements corresponding to the first signal indicated by the first information; the location of the terminal device is outside the location range of the terminal device indicated by the first information; or the speed of the terminal device is not within the speed range indicated by the first information.

[0212] Understandably, Figure 2As shown in the embodiment, under the condition of determining the subscription exchange mechanism, the terminal device may still not participate in the first sensing task because it does not meet the requirements of the first sensing task. Therefore, the terminal device can indicate to the SF network element the reason for not participating in the first sensing task through the second information.

[0213] It should be noted that when the terminal device sends the aforementioned seventh information to the SF network element, the SF network element can determine whether the terminal device can meet the requirements of the first sensing task based on the seventh information and the requirements of the first sensing task.

[0214] Since the seventh information can indicate the coherence time for the terminal device to receive and / or transmit sensing signals, if the terminal device meets the requirements of the first sensing task, then the first information above does not need to indicate the minimum coherence time for the terminal device to receive and / or transmit sensing signals. Similarly, the seventh information can also indicate the bandwidth for the terminal device to receive and / or transmit sensing signals. If the terminal device meets the requirements of the first sensing task, then the first information above does not need to indicate the minimum bandwidth for the terminal device to receive and / or transmit sensing signals. That is, based on the content indicated by the seventh information, the SF network element can determine that the specific capabilities of the terminal device have met the requirements of the first sensing task. In this case, the first information does not need to indicate the corresponding requirements again. To avoid redundancy, this will not be elaborated further here.

[0215] If the terminal device does not meet the requirements of the first sensing task, the SF network element will not send a sensing request to the terminal device, and correspondingly, the terminal device will not send a response to the sensing request to the SF network element. The above steps S306 and S307 are two optional steps.

[0216] It should be noted that the above Figure 3 The execution order of the steps in the illustrated embodiment is only an example, and the actual execution order may change. For example, step S305 may be executed before step S304.

[0217] In this embodiment, the confirmation and signing exchange mechanism enables the terminal device and the network-side device to exchange sensing measurement information and sensing results, which is beneficial for the terminal device to improve the sensing effect of end-to-end network collaboration.

[0218] Figure 4 and Figure 5 This is a schematic diagram illustrating the possible structures of sensing devices provided in embodiments of this application. These sensing devices can be used to implement the functions of terminal devices or SF network elements in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. In the embodiments of this application, the sensing device can be as follows: Figure 2 or Figure 3The terminal device or SF network element in the method embodiment shown can also be a component (such as a chip, chip system, processor, etc.) configured in the terminal device or SF network element, or a logic module or software that can realize some or all of the functions of the terminal device or SF network element.

[0219] Figure 4 This is a schematic diagram of the structure of a sensing device provided in one embodiment of this application. Figure 4 As shown, the sensing device 400 includes a processing module 410 and a transceiver module 420.

[0220] The transceiver module 420 can implement corresponding communication functions and can also be referred to as an input / output interface or communication unit. The processing module 410 can be used to perform processing operations. It should be understood that if the device 400 is a component configured in a terminal device or SF network element, such as a chip, the transceiver module 420 can be an input / output interface.

[0221] Optionally, the transceiver module 420 may include a sending module and a receiving module. The sending module is used to perform the above-described... Figure 2 or Figure 3 The receiving module is used to perform the above-mentioned transmitting operations of the terminal equipment or SF network element. Figure 2 or Figure 3 The receiving operation of the terminal equipment or SF network element.

[0222] It should be understood that when the device 400 is a component configured in a terminal device or SF network element, such as a chip, the transmitting module can be an output interface, and the transmitting operation involved in the embodiments of this application can be performed by the output interface; the receiving module can be an input interface, and the receiving operation involved in the embodiments of this application can be performed by the input interface.

[0223] Optionally, the device 400 may further include a storage module for storing instructions and / or data, and the processing module 410 may read the instructions and / or data from the storage module to enable the device to perform the preceding operations. Figure 2 or Figure 3 The method embodiment shown.

[0224] In one possible design, the aforementioned device 400 can be used to implement the above. Figure 2 or Figure 3 The terminal device functions in the method embodiments shown, or the above-described apparatus 400 may include functions for implementing the above-described methods. Figure 2 or Figure 3 Any function or operation unit of the terminal device in the method embodiment shown can be implemented in whole or in part by software, hardware, firmware or any combination thereof.

[0225] When device 400 is used to achieve Figure 2 or Figure 3 In the method embodiment shown, when the terminal device performs its function, the transceiver module 420 (specifically, a receiving module) can be used to perform... Figure 2 In step S201, the terminal device receives first information from the SF network element. This first information is associated with the first sensing task and is used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or transmit sensing signals; the maximum processing delay of the terminal device for sensing signals; whether there is a privacy risk in the terminal device's participation in the first sensing task; or whether sensing results can be provided to the terminal device. The transceiver module 420 (specifically, a transmitting module) can also be used to perform... Figure 2 In step S201, a second message is sent to the SF network element, indicating whether the terminal device participates in the first sensing task.

[0226] In another possible design, the aforementioned device 400 can be used to achieve the above. Figure 2 or Figure 3 The method embodiment shown may include the function of the SF network element, or the above-mentioned device 400 may include components for implementing the above-mentioned functions. Figure 2 or Figure 3 In the method embodiments shown, any function or operation of an SF network element can be implemented entirely or partially through software, hardware, firmware, or any combination thereof.

[0227] When device 400 is used to achieve Figure 2 or Figure 3 In the method embodiment shown, when the SF network element functions, the transceiver module 420 (specifically, the transmitting module) can be used to perform... Figure 2 In step S201, first information is sent to the terminal device. This first information is associated with the first sensing task and indicates at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals; the maximum processing delay of the sensing signals by the terminal device; whether there is a privacy risk in the terminal device's participation in the first sensing task; or whether sensing results can be provided to the terminal device. The transceiver module 420 (specifically, a receiving module) can be used to perform this step. Figure 2 In step S202, a second message is received from the terminal device, which indicates whether the terminal device participates in the first sensing task.

[0228] For a more detailed description of the processing module 410 and the transceiver module 420 mentioned above, please refer to [link / reference needed]. Figure 2 or Figure 3 The relevant descriptions in the method embodiments shown are directly obtained and will not be repeated here.

[0229] It should be noted that the transceiver module can also be called a transceiver unit, transceiver, transceiver machine, or transceiver device, etc. The processing module can also be called a processor, processing board, processing unit, or processing device, etc. Optionally, the transceiver module is used to perform the sending and receiving operations of the terminal equipment or SF network element in the above method. The device in the communication module that implements the receiving function can be considered as the receiving module, and the device in the communication module that implements the sending function can be considered as the sending module; that is, the transceiver module includes both a receiving module and a sending module.

[0230] In another possible design, the aforementioned transceiver module and / or processing module can be implemented using virtual modules. For example, the processing module can be implemented using software functional modules or virtual devices, and the transceiver module can also be implemented using software functional modules or virtual devices. In another possible design, the processing module or transceiver module can also be implemented using physical devices. For example, if the device is implemented using a chip / chip circuit, the transceiver module can be an input / output circuit and / or a communication interface, performing input operations (corresponding to the aforementioned receiving operation) and output operations (corresponding to the aforementioned sending operation); the processing module is an integrated processor, microprocessor, or integrated circuit.

[0231] It should be understood that the module division in the embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0232] Figure 5 This is a schematic diagram of a sensing device provided in another embodiment of this application. The device 500 can be a chip system, or it can be a device configured with a chip system to implement the above-described method embodiments. In this embodiment, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0233] like Figure 5 As shown, device 500 can be implemented using a processing system including one or more processors 501. Processor 501 includes microprocessors, microcontrollers, digital signal processors, field-programmable gate arrays, graphics processors, programmable logic devices, state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to various functions. That is, the processor used in device 500 can be used to implement any one or more of the embodiments described above.

[0234] The processing system in device 500 can be implemented using a bus architecture, typically represented by bus 502. Bus 502 may include any number of interconnect buses and bridges, depending on the specific application and overall design constraints of the processing system. The bus communicatively couples various circuits together, including one or more processors 501 (typically represented by a processor), memory 503, and computer-readable medium 504 (typically represented by a computer-readable medium). Bus 502 may also link various other circuits, such as timing sources, peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further. Bus interface 505 provides an interface between bus 502 and transceivers, and between bus 502 and interfaces. Bus interface 505 may use, but is not limited to, transceivers to enable communication between device 500 and other devices or apparatuses.

[0235] A transceiver provides a communication interface or means for communicating with various other devices via a wireless transmission medium. The transceiver may be coupled to an antenna array, and the transceiver and antenna array may be used together for communication with a corresponding network type. At least one interface (e.g., a network interface and / or a user interface) provides a communication interface or means for communication via an internal bus or via an external transmission medium.

[0236] Processor 501 is responsible for managing bus 502 and general processing, including executing software stored on computer-readable medium 504. When executed by processor 501, the software causes the processing system to perform the various functions described below for any particular device.

[0237] The processor 501, memory 503, and computer-readable medium 504 can perform the following functions: encoding, decoding, rate matching, rate dematching, scrambling, descrambling, modulation, demodulation, layer mapping, fast Fourier transform, inverse fast Fourier transform, inverse discrete Fourier transform, precoding, resource element (RE) mapping, channel equalization, RE demapping, digital beamforming (BF), adding cyclic prefix (CP), removing CP, etc.

[0238] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art.

[0239] This application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the methods described above.

[0240] This application also provides a computer program product, including computer instructions that, when executed by a processor, implement the various steps in the methods described above.

[0241] It should be noted that the modules or components shown in the above embodiments can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more microprocessors, or one or more field-programmable gate arrays (FPGAs). Furthermore, when a module is implemented by a processing element calling program code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code, such as a controller. Additionally, these modules can be integrated together and implemented as a System-on-a-Chip (SoC).

[0242] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, software modules, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0243] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and intent of this application are indicated by the following claims.

[0244] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A sensing method, characterized in that, The method includes: Receive first information, which is associated with a first sensing task. The first information is used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals, the maximum processing delay of the terminal device for sensing signals, whether there is a privacy risk in the terminal device's participation in the first sensing task, or whether the terminal device can provide sensing results. Based on the first information, a second information is sent, which is used to indicate whether the terminal device participates in the first sensing task.

2. The method according to claim 1, characterized in that, The first information is used to indicate whether there is a privacy risk in the terminal device's participation in the first sensing task, including: The first information is used to indicate the purpose of the first sensing task, and the purpose is related to whether there is a privacy risk in the terminal device participating in the first sensing task.

3. The method according to claim 1 or 2, characterized in that, When the first information indicates that a sensing result can be provided to the terminal device, the first information is further used to indicate at least one of the following: area information, resource information, type information, or parameter information, wherein the area information represents the area location corresponding to the sensing result, the resource information represents the time-frequency resources for transmitting the sensing result, the type information represents the type corresponding to the sensing result, and the parameter information represents the parameters corresponding to the sensing result.

4. The method according to any one of claims 1 to 3, characterized in that, If the first information indication can provide a sensing result for the terminal device, the method further includes: Receive third information, which indicates the first perception result.

5. The method according to claim 4, characterized in that, The first perception result is different from the second perception result, which is the perception result corresponding to the first perception task.

6. The method according to any one of claims 1 to 5, characterized in that, When the second information instructs the terminal device to participate in the first sensing task, the second information is also used to request the sensing result.

7. The method according to claim 1 or 2, characterized in that, The first information is also used to indicate the first perception result.

8. The method according to any one of claims 1 to 7, characterized in that, The first information is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, and the minimum bandwidth for the terminal device to receive and / or transmit sensing signals.

9. The method according to any one of claims 1 to 8, characterized in that, The first information is also used to indicate the measurement reporting types supported by the terminal device, the measurement reporting types including at least one of the following: parameter estimation type, target presence detection type, channel knowledge map type, or area imaging type; The parameter estimation type corresponds to the terminal device supporting at least one of ranging, angle measurement, velocity measurement, or Doppler measurement; the target presence detection type corresponds to the terminal device supporting the ability to distinguish whether a target object exists; the channel knowledge map type corresponds to the terminal device supporting the ability to establish a mapping relationship between its location and channel knowledge parameters; and the area imaging type corresponds to the terminal device supporting synthetic aperture radar (SAR) imaging or point cloud imaging.

10. The method according to any one of claims 1 to 9, characterized in that, The first information is also used to indicate configuration information and indicator requirements, wherein the configuration information is used to configure a first signal associated with the first sensing task, and the indicator requirements indicate the performance requirements of the first signal.

11. The method according to claim 10, characterized in that, The required metrics include at least one of the following: the reference signal received power (RSRP) measured based on the first signal is greater than a first threshold; the received power measured based on the first signal within the sensing area is greater than a second threshold; or the terminal device is determined based on the first signal to be located within the line-of-sight (LOS) region of the target object, wherein the sensing area includes the time delay range and / or Doppler range to be sensed.

12. The method according to any one of claims 1 to 11, characterized in that, When the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task. The reason includes at least one of the following: the terminal device's battery level is lower than a third threshold, the terminal device does not meet the requirements for the terminal device indicated by the first information, or there is a privacy risk in the terminal device participating in the first sensing task.

13. A sensing method, characterized in that, The method includes: Send first information, which is associated with a first sensing task. The first information is used to indicate at least one of the following: the minimum coherence time for the terminal device to receive and / or send sensing signals, the maximum processing delay of the terminal device for sensing signals, whether there is a privacy risk in the terminal device's participation in the first sensing task, or whether the terminal device can provide sensing results. Receive second information, which is used to indicate whether the terminal device participates in the first sensing task.

14. The method according to claim 13, characterized in that, The first information indicates whether there is a privacy risk in the terminal device's participation in the first sensing task, including: The first information is used to indicate the purpose of the terminal device participating in the first sensing task, and the purpose is related to whether there is a privacy risk in the terminal device participating in the first sensing task.

15. The method according to claim 13 or 14, characterized in that, When the first information indicates that a sensing result can be provided to the terminal device, the first information is further used to indicate at least one of the following: area information, resource information, type information, or parameter information, wherein the area information represents the area location corresponding to the sensing result, the resource information represents the time-frequency resources for transmitting the sensing result, the type information represents the type corresponding to the sensing result, and the parameter information represents the parameters corresponding to the sensing result.

16. The method according to any one of claims 13 to 15, characterized in that, If the first information indication can provide a sensing result for the terminal device, the method further includes: A third message is sent, which indicates the first perception result.

17. The method according to claim 16, characterized in that, The first perception result is different from the second perception result, which is the perception result corresponding to the first perception task.

18. The method according to any one of claims 13 to 17, characterized in that, When the second information instructs the terminal device to participate in the first sensing task, the second information is also used to request the sensing result.

19. The method according to claim 13 or 14, characterized in that, The first information is also used to indicate the first perception result.

20. The method according to any one of claims 13 to 19, characterized in that, The first information is also used to indicate at least one of the following: the minimum number of antennas for the terminal device to receive and / or transmit sensing signals, and the minimum bandwidth for the terminal device to receive and / or transmit sensing signals.

21. The method according to any one of claims 13 to 20, characterized in that, The first information is also used to indicate the measurement reporting types supported by the terminal device, the measurement reporting types including at least one of the following: parameter estimation type, target presence detection type, channel knowledge map type, or area imaging type; The parameter estimation type corresponds to the terminal device supporting at least one of ranging, angle measurement, velocity measurement, or Doppler measurement; the target presence detection type corresponds to the terminal device supporting the ability to distinguish whether a target object exists; the channel knowledge map type corresponds to the terminal device supporting the ability to establish a mapping relationship between its location and channel knowledge parameters; and the area imaging type corresponds to the terminal device supporting SAR imaging or point cloud imaging.

22. The method according to any one of claims 13 to 21, characterized in that, The first information is also used to indicate configuration information and indicator requirements, wherein the configuration information is used to configure a first signal associated with the first sensing task, and the indicator requirements indicate the performance requirements of the first signal.

23. The method according to claim 22, characterized in that, The required metrics include at least one of the following: the RSRP measured based on the first signal is greater than a first threshold; the received power measured based on the first signal within the sensing area is greater than a second threshold; or the terminal device is determined to be located in the LOS region of the target object based on the first signal, wherein the sensing area includes the time delay range and / or Doppler range to be sensed.

24. The method according to any one of claims 13 to 23, characterized in that, When the second information indicates that the terminal device does not participate in the first sensing task, the second information is also used to indicate the reason why the terminal device does not participate in the first sensing task. The reason includes at least one of the following: the terminal device's battery level is lower than a third threshold, the terminal device does not meet the requirements for the terminal device indicated by the first information, or there is a privacy risk in the terminal device participating in the first sensing task.

25. A sensing method, characterized in that, The method includes: A subscription exchange mechanism is established, the exchange mechanism including: the terminal device provides sensing measurement information to the network device, and the network device provides sensing results to the terminal device; Upon confirmation of the exchange mechanism described in the agreement, the first perception result is received.

26. The method according to claim 25, characterized in that, The mechanism for determining the signing and exchange includes: Send a fourth message, which is used to inquire whether the terminal device has signed up for the exchange mechanism; The fifth message is received, which instructs the terminal device to subscribe to the exchange mechanism.

27. The method according to claim 26, characterized in that, The fifth piece of information is also used to indicate at least one of the following: the validity period of the exchange mechanism, the effective area of ​​the exchange mechanism, or the type of perception result supported by the exchange mechanism.

28. The method according to any one of claims 25 to 27, characterized in that, The method further includes: Receive sixth information, the sixth information being used to indicate at least one of the following: area information, resource information, type information, or parameter information, wherein the area information indicates the area location corresponding to the sensing result, the resource information indicates the time-frequency resource corresponding to the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameter corresponding to the sensing result.

29. The method according to any one of claims 25 to 28, characterized in that, The method further includes: Send a seventh message, which indicates at least one of the following: the number of antennas of the terminal device for receiving and / or transmitting sensing signals, the bandwidth of the terminal device for receiving and / or transmitting sensing signals, the coherence time of the terminal device for receiving and / or transmitting sensing signals, or the measurement reporting type supported by the terminal device.

30. The method according to any one of claims 25 to 29, characterized in that, The receiving of the first sensing result includes: Send an eighth message, which is used to request the perception result; Receive a ninth message, which is used to indicate the first perception result.

31. The method according to claim 30, characterized in that, The eighth piece of information is also used to indicate at least one of the following: the type of the perception result, the location of the area corresponding to the perception result, and the parameters corresponding to the perception result.

32. The method according to any one of claims 25 to 31, characterized in that, The method further includes: Upon confirming the signing of the exchange mechanism, first sensing measurement information is sent.

33. A sensing method, characterized in that, The method includes: A subscription exchange mechanism is established, the exchange mechanism including: the terminal device provides sensing measurement information to the network device, and the network device provides sensing results to the terminal device; If the exchange mechanism described in the agreement is confirmed, the first perception result is sent.

34. The method according to claim 33, characterized in that, The mechanism for determining the signing and exchange includes: Send a first request, the first request being used to determine whether the terminal device has signed up for the exchange mechanism; Receive a response to the first request, wherein the response to the first request is used to instruct the terminal device to subscribe to the exchange mechanism; Based on the response to the first request, a fifth message is sent, which instructs the terminal device to subscribe to the exchange mechanism.

35. The method according to claim 34, characterized in that, The fifth piece of information is also used to indicate at least one of the following: the validity period of the exchange mechanism, the effective area of ​​the exchange mechanism, or the type of perception result supported by the exchange mechanism.

36. The method according to any one of claims 33 to 35, characterized in that, The method further includes: Send a sixth message, which indicates at least one of the following: area information, resource information, type information, or parameter information, wherein the area information indicates the area location corresponding to the sensing result, the resource information indicates the time-frequency resource corresponding to the sensing result, the type information indicates the type corresponding to the sensing result, and the parameter information indicates the parameter corresponding to the sensing result.

37. The method according to any one of claims 33 to 36, characterized in that, The method further includes: Receive seventh information, which indicates at least one of the following: the number of antennas of the terminal device for receiving and / or transmitting sensing signals, the bandwidth of the terminal device for receiving and / or transmitting sensing signals, the coherence time of the terminal device for receiving and / or transmitting sensing signals, or the measurement reporting type supported by the terminal device.

38. The method according to any one of claims 33 to 37, characterized in that, The receiving of the first sensing result includes: Receive the eighth message, which is used to request the perception result; A ninth message is sent, which is used to indicate the first sensing result.

39. The method according to claim 38, characterized in that, The eighth piece of information is also used for at least one of the following: the type of the perception result, the location of the region corresponding to the perception result, and the parameters corresponding to the perception result.

40. The method according to any one of claims 33 to 39, characterized in that, The method further includes: Upon confirmation of the exchange mechanism described in the agreement, first sensing measurement information is received.

41. A sensing device, characterized in that, The sensing device includes a module for implementing the sensing method as described in any one of claims 1 to 40.

42. A sensing device, characterized in that, include: Processor and memory; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the sensing device to perform the sensing method as described in any one of claims 1 to 40.

43. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the sensing method as described in any one of claims 1 to 40.

44. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the sensing method as described in any one of claims 1 to 40.

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