Communication method and apparatus

Abstract

The application provides a communication method and device, relates to the technical field of communication, and the method comprises the following steps: a first node can configure the same time domain resource for a sensing reference signal sent to at least two second nodes through first information; the at least two second nodes can receive the sensing reference signal in the same time domain resource, so that the time and / or period of performing sensing measurement are aligned, the time difference when each node performs sensing measurement on the same sensing target is reduced, the problems such as the motion trail of the sensing target are alleviated, the accuracy of sensing measurement is improved, and the quality of the sensing service can be improved. Moreover, the at least two second nodes can form a sensing group, the nodes in the sensing group can be updated, and the sensing group can be dispersed, so that the effective management of each node is realized in the granularity of the group, the management complexity is reduced, and the sensing efficiency is improved.

Description

Technical Field

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

[0002] With the evolution of mobile communication technology, technologies such as the Internet of Things, artificial intelligence, big data, and automation are reshaping traditional industries and giving rise to intelligent applications such as smart cities and autonomous driving. As a crucial infrastructure supporting these emerging intelligent applications, mobile communication systems are gradually evolving into integrated sensing and communication (ISAC). ISAC enables existing network devices to have sensing capabilities, allowing mobile communication systems to provide sensing services to users.

[0003] Therefore, how to improve perceived service quality is an important issue. Summary of the Invention

[0004] This application provides a communication method and apparatus that can improve the quality of perceived services.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, a communication method is provided. This method can be executed by a first node, or by a component of the first node, such as a processor, circuit, chip, or chip system of the first node, or by a logic module or software capable of implementing all or part of the first node. The first node can be a network device or a terminal device. The method includes:

[0007] Send a first message; receive sensing measurement results from at least two second nodes; the first message is used to indicate a first time-domain resource carrying a sensing reference signal, the sensing measurement results are obtained by at least two second nodes based on the sensing reference signal received on the first time-domain resource, the at least two second nodes are in the same sensing group, or the at least two second nodes are nodes that perform sensing measurements on the same sensing target.

[0008] Therefore, by receiving sensing reference signals through at least two second nodes, breaking away from the self-transmitting and self-receiving or A-transmitting-B-receiving mode, the sensing distance can be increased, the sensing field of view broadened, and the quality of sensing services improved. For at least two second nodes within the same sensing group, the sensing reference signals sent to both nodes are carried on the same time-domain resource, achieving time and / or period alignment for performing sensing measurements. This reduces the time difference when nodes perform sensing measurements on the same sensing target, thereby mitigating problems such as motion blur of the sensing target and improving the accuracy of sensing measurements, thus further enhancing the quality of sensing services. Furthermore, since at least two second nodes can form a sensing group, management of each node can be achieved at the group level, reducing management complexity and improving sensing efficiency.

[0009] In one possible design, at least two second nodes receive different sensing reference signals on the first time-domain resource. For example, sensing reference signals can be sent to each of the at least two second nodes by different nodes, such as the at least two second nodes sending sensing reference signals to each other; thus, sensing measurements of the target can be performed on different devices from different angles and / or distances, thereby broadening the sensing field of view.

[0010] In one possible design, receiving sensing measurement results from at least two second nodes includes: receiving the sensing measurement results from at least two second nodes on a second time-domain resource. That is, at least two second nodes need to send sensing measurement results to the first node on the same time-domain resource. Therefore, the first node can align the sensing measurement results of each node to the sensing target in time, thereby improving the accuracy of performing sensing measurements on the sensing target. Furthermore, the first node does not need to wait for sensing measurement results from other nodes after receiving those from some nodes, thus reducing sensing latency.

[0011] Optionally, a second message is sent, which indicates a second time-domain resource carrying the sensing measurement results. The first node can indicate the second time-domain resource carrying the sensing measurement results, thereby achieving unified management of the time and / or period at which each node sends the sensing measurement results. Furthermore, the first node can dynamically configure the second time-domain resource through the second message, which allows for greater flexibility.

[0012] In one possible design, the perception group is updated when at least two second nodes are in the same perception group.

[0013] As an optional embodiment, updating the sensing group includes: releasing a third node from the sensing group, i.e., releasing a node that cannot perform sensing measurements on the sensing target, in order to reduce resource overhead and improve sensing efficiency, wherein the third node is any one of at least two second nodes.

[0014] Optionally, a first message is sent to the third node, instructing the third node to release itself from the sensing group. Once the third node knows it has been released from the sensing group, it can cease performing sensing and measurement operations, thereby achieving energy savings.

[0015] In one approach, releasing a third node from the sensing group includes: releasing the third node from the sensing group based on the sensing measurement results returned by the third node. For example, if it is determined from the sensing measurement results returned by the third node that the third node has lost its sensing target, the third node is released from the sensing group. Therefore, the first node can manage the nodes in the sensing group in real time and release them promptly if a sensing target is lost.

[0016] In one approach, releasing a third node from a sensing group includes: receiving a second message from the third node, the second message instructing the third node to request release from the sensing group; and releasing the third node from the sensing group according to the second message. For example, the third node can proactively request release from the sensing group in situations such as loss of sensing targets, lack of support for communication services, or limited computing power, thus enabling nodes to perform sensing measurements more flexibly.

[0017] As an optional embodiment, updating the sensing group includes adding a fourth node to the sensing group.

[0018] Optionally, a third message is sent to the fourth node, requesting the fourth node to join the sensing group; a fourth message is received from the fourth node, indicating that the fourth node confirms joining the sensing group. Therefore, the first node can request other nodes to join the sensing group to increase the number of nodes participating in sensing and improve sensing accuracy.

[0019] In one approach, sending a third message to a fourth node includes: sending a first sensing reference signal; receiving a sensing measurement result corresponding to the first sensing reference signal returned by the fourth node; and sending a third message to the fourth node based on the sensing measurement result returned by the fourth node. For example, if it is determined that the fourth node has sensed the target based on the sensing measurement result returned by the fourth node, a fourth message is sent to the fourth node. Therefore, the first node can use the first sensing reference signal to add nodes that can sense the target but are not in the sensing group to the sensing group, that is, place nodes that can perform sensing measurements on the same target in the same group, thereby achieving effective management of the sensing group.

[0020] In one possible design, if at least two second nodes are in the same sensing group, the sensing group is disbanded; a fourth message is sent to at least two second nodes, indicating that the sensing group has been disbanded; after the sensing group is disbanded, the nodes in the sensing group can stop performing sensing measurement operations to achieve energy saving.

[0021] Optionally, disbanding the sensing group includes: receiving a fifth message from each of at least two second nodes; and disbanding the sensing group if the fifth message from each of the at least two second nodes indicates that the corresponding node requests release from the sensing group. Therefore, the first node can disband the sensing group when all nodes request release from it, achieving flexible management of the sensing group.

[0022] Optionally, disbanding the sensing group includes: disbanding the sensing group based on sensing measurement results returned by at least two second nodes. For example, the sensing group is disbanded if it is determined, based on sensing measurement results returned by at least two second nodes, that at least two second nodes have lost their sensing targets. Therefore, the first node can manage the nodes in the sensing group in real time, and by disbanding the sensing group promptly when all nodes have lost their sensing targets, resource consumption and energy saving can be reduced.

[0023] In a second aspect, a communication device is provided. This communication device is used to execute the communication method described in any implementation of the first aspect.

[0024] In this application, the communication device described in the second aspect can be an access point device, a chip (system) or other component or assembly, or a device containing the access point device. The aforementioned chip (system) or other component or assembly can all be disposed within the access point device.

[0025] It should be understood that the communication apparatus described in the second aspect includes modules, units, or means that implement the communication method described in any of the first aspects above. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units for performing the functions involved in the aforementioned communication method.

[0026] For example, the communication device includes a transceiver module and a processing module; the transceiver module is used to transmit first information; receive sensing measurement results from at least two second nodes; the first information is used to indicate a first time-domain resource carrying a sensing reference signal, the sensing measurement results are obtained by at least two second nodes based on the sensing reference signal received on the first time-domain resource, the at least two second nodes are in the same sensing group, or the at least two second nodes are nodes performing sensing measurements on the same sensing target.

[0027] In one possible design, at least two second nodes receive different sensing reference signals on the first time-domain resource.

[0028] In one possible design, receiving sensing measurement results from at least two second nodes includes: receiving sensing measurement results from at least two second nodes on a second time-domain resource.

[0029] Optionally, a second message is sent, which indicates a second time-domain resource carrying the sensing measurement results.

[0030] In one possible design, the perception group is updated when at least two second nodes are in the same perception group.

[0031] As an optional embodiment, updating the sensing group includes: releasing a third node from the sensing group, wherein the third node is any one of at least two second nodes.

[0032] Optionally, a first message is sent to the third node, which instructs the third node to release itself from the sensing group.

[0033] In one approach, releasing a third node from a sensing group includes: releasing the third node from the sensing group based on sensing measurement results returned by the third node. For example, the third node is released from the sensing group if it is determined, based on the sensing measurement results returned by the third node, that the third node has lost its sensing target.

[0034] In one approach, releasing a third node from a sensing group includes: receiving a second message from the third node, the second message indicating that the third node requests release from the sensing group; and releasing the third node from the sensing group according to the second message.

[0035] As an optional embodiment, updating the sensing group includes adding a fourth node to the sensing group.

[0036] Optionally, a third message is sent to the fourth node, which requests the fourth node to join the sensing group; a fourth message is received from the fourth node, which indicates that the fourth node confirms joining the sensing group.

[0037] In one approach, sending a third message to a fourth node includes: sending a first sensing reference signal; receiving a sensing measurement result returned by the fourth node; and sending a third message to the fourth node based on the sensing measurement result returned by the fourth node. For example, if it is determined that the fourth node has sensed a sensing target based on the sensing measurement result returned by the fourth node, the fourth message is sent to the fourth node.

[0038] In one possible design, if at least two second nodes are in the same sensing group, the sensing group is disbanded; a fourth message is sent to at least two second nodes, indicating that the sensing group has been disbanded.

[0039] Optionally, disbanding the sensing group includes: receiving a fifth message from each of at least two second nodes; and disbanding the sensing group if the fifth message from each of at least two second nodes indicates that the corresponding node requests release from the sensing group.

[0040] Optionally, disbanding the sensing group includes: disbanding the sensing group based on sensing measurement results returned by at least two second nodes. For example, the sensing group is disbanded if it is determined, based on sensing measurement results returned by at least two second nodes, that at least two second nodes have lost their sensing target.

[0041] Thirdly, a communication device is provided. The communication device includes a processor configured to execute the communication method described in any possible implementation of the first aspect.

[0042] In some possible designs, the communication device described in the third aspect may also include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the third aspect and other communication devices.

[0043] In some possible designs, the communication device described in the third aspect may further include a memory. This memory may be integrated with the processor or disposed separately. The memory may be used to store computer programs and / or data related to the communication method described in any of the first aspects.

[0044] In this application, the communication device described in the third aspect can be an access point device, a chip (system) or other component or assembly, or a device containing the access point device. The aforementioned chip (system) or other component or assembly can all be disposed within the access point device.

[0045] Fourthly, a communication device is provided. The communication device includes a processor coupled to a memory, the processor executing a computer program stored in the memory, such that the communication device performs the communication method described in any possible implementation of the first aspect.

[0046] In some possible designs, the communication device described in the fourth aspect may also include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the fourth aspect and other communication devices.

[0047] In this application, the communication device described in the fourth aspect can be an access point device, a chip (system) or other component or assembly, or a device containing the access point device. The aforementioned chip (system) or other component or assembly can all be disposed in a terminal device or network device.

[0048] Fifthly, a communication device is provided, comprising: a processor and a memory; the memory is used to store a computer program, which, when executed by the processor, causes the communication device to perform the communication method described in any implementation of the first aspect.

[0049] In some possible designs, the communication device described in the fifth aspect may also include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the fifth aspect and other communication devices.

[0050] In this application, the communication device described in the fifth aspect can be an access point device, a chip (system) or other component or assembly, or a device containing the access point device. The aforementioned chip (system) or other component or assembly can all be disposed within the access point device.

[0051] In a sixth aspect, a communication device is provided, comprising: a processor; the processor being configured to be coupled to a memory, and after reading a computer program from the memory, to execute a communication method as described in any implementation of the first aspect according to the computer program.

[0052] In some possible designs, the communication device described in the sixth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the sixth aspect and other communication devices.

[0053] In this application, the communication device described in the sixth aspect can be an access point device, a chip (system) or other component or assembly, or a device containing the access point device. The aforementioned chip (system) or other component or assembly can all be disposed within the access point device.

[0054] In a seventh aspect, a processor is provided. The processor is configured to execute the communication method described in any possible implementation of the first aspect.

[0055] Eighthly, a communication system is provided. The communication system includes multiple devices, and may include at least one first device and at least one second device.

[0056] A ninth aspect provides a computer-readable storage medium comprising: a computer program or instructions; which, when executed on a computer, causes the computer to perform the communication method described in any possible implementation of the first aspect.

[0057] In a tenth aspect, a computer program product is provided, comprising a computer program or instructions that, when executed on a computer, cause the computer to perform the communication method described in any possible implementation of the first aspect.

[0058] Furthermore, the technical effects of the communication devices described in the second to tenth aspects above can be referred to the technical effects of the communication methods described in the first aspect above, and will not be repeated here. Attached Figure Description

[0059] Figure 1a A schematic diagram of a scene in the perception mode;

[0060] Figure 1b A schematic diagram of a scenario for establishing a perception group as provided in an embodiment of this application;

[0061] Figure 1c This is a schematic diagram of the architecture of the communication system provided in the embodiments of this application;

[0062] Figure 2a A flowchart illustrating the sensing method provided in this application embodiment;

[0063] Figure 2b A schematic diagram of a scenario for the first time-domain resource provided in an embodiment of this application;

[0064] Figure 3 A schematic flowchart of the sensing method provided in this application embodiment is shown in Figure 2.

[0065] Figure 4 Flowchart of the sensing method provided in the embodiments of this application Figure 3 ;

[0066] Figure 5 A schematic diagram illustrating a scenario of releasing a node from a sensing group, provided as an embodiment of this application;

[0067] Figure 6 Flowchart of the sensing method provided in the embodiments of this application Figure 4 ;

[0068] Figure 7 This is a schematic diagram illustrating a scenario of adding a new node to a perception group, as provided in an embodiment of this application.

[0069] Figure 8 Flowchart of the sensing method provided in the embodiments of this application Figure 5 ;

[0070] Figure 9 Flowchart of the sensing method provided in the embodiments of this application Figure 6 ;

[0071] Figure 10 A schematic diagram of a scenario for disbanding a sensing group, provided in an embodiment of this application;

[0072] Figure 11 A schematic diagram of the structure of the sensing device provided in the embodiments of this application is shown below;

[0073] Figure 12 The second schematic diagram shows the structure of the sensing device provided in the embodiment of this application. Detailed Implementation

[0074] The technical solutions of this application embodiment can be applied to various communication systems, such as Wi-Fi wireless network systems, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, fourth-generation (4G) mobile communication systems, such as long-term evolution (LTE) systems, worldwide interoperability for microwave access (WiMAX) communication systems, fifth-generation (5G) mobile communication systems, such as new radio (NR) systems, and future communication systems.

[0075] The technical terms and related technical solutions in this application will be described below with reference to the accompanying drawings.

[0076] I. Perception

[0077] With the rapid development of mobile communication technology, the functions and application scenarios of network equipment (such as base stations, BS) and terminal equipment are constantly expanding. Terminal equipment can also be called user equipment (UE). For example, in addition to traditional communication capabilities, network equipment and terminal equipment in mobile communication networks can also possess sensing capabilities. When network equipment and terminal equipment have sensing capabilities, they can perceive the surrounding environment and targets (or sensing targets) by sending sensing reference signals and receiving echo signals. For example, they can obtain information such as the position and speed of targets in the surrounding environment. The echo signal can be the signal reflected from the sensing reference signal by the target in the environment.

[0078] It is hereby clarified that, in the embodiments of this application, "sensing" can also be referred to as "sensing measurement." The sensing reference signal can also be referred to as a sensing signal, sensing measurement signal, sensing measurement pilot, sensing reference signal, sensing measurement reference signal, sensing pilot signal, etc. The sensing reference signal can be an existing reference signal, such as a channel state information reference signal (CSI-RS), a positioning reference signal (PRS), a demodulation reference signal (DMRS), a phase tracking reference signal (PTRS), etc., or it can be a sensing-specific reference signal; the embodiments of this application do not limit this.

[0079] For example, the perception capabilities of communication networks can be applied to scenarios such as target detection, autonomous driving, driver assistance, vehicle-to-everything (V2X) communication, intelligent transportation, map building, smart industry, monitoring and management of drones and vehicles, intelligent interaction, and posture detection and recognition. For instance, high-precision dynamic maps can be generated based on perception to assist drones / smart cars in autonomous driving.

[0080] II. Sensing Target: This can be any tangible object in the environment capable of reflecting electromagnetic waves, such as mountains, forests, or buildings, and can also include movable objects such as vehicles, drones, pedestrians, and terminal devices. A sensing target can also be an area in the environment. The sensing target can also be referred to as the perceived target, the detected target, the perceived object, the detected object, or the sensed device, etc., and this application does not impose any limitations on these terms.

[0081] The environment contains perceived targets, which can be categorized into moving targets (e.g., vehicles, drones) and stationary targets (e.g., roads, tall buildings) based on whether they are moving. Depending on the method used to model scattering points, perceived targets can also be classified into point targets (e.g., small drones) and extended multi-point targets (also known as area targets, such as large buildings).

[0082] III. Perception Mode (or Perception Style, Perception Type, etc.)

[0083] Sensing modes can be classified based on the deployment of the transmitting and receiving nodes of the sensing reference signal. When the transmitting and receiving nodes of the sensing reference signal are deployed on the same device, it is called mono-static sensing; when the receiving and transmitting nodes are deployed on different devices, it is called bi-static sensing. For sensing needs in complex environments, multiple transmitting and receiving nodes can also be deployed to construct a multi-static sensing network that supports multi-dimensional information fusion.

[0084] like Figure 1a As shown, six sensing modes are illustrated exemplarily:

[0085] like Figure 1a As shown in (1), the network device can send and receive signals on its own. For example, the sensing reference signal is sent by the network device, reflected by the target in the environment, and then received by the network device.

[0086] like Figure 1a As shown in (2), network devices cooperate (or network device A sends and network device B receives). For example, a sensing reference signal is sent by network device A, reflected by a target in the environment, and received by network device B.

[0087] like Figure 1a As shown in (3), the network device sends and the terminal device receives. For example, the sensing reference signal is sent by the network device, reflected by the target in the environment, and then received by the terminal device.

[0088] like Figure 1a As shown in (4), the terminal device transmits and receives signals on its own. For example, the sensing reference signal is sent by the terminal device, reflected by the target in the environment, and then received by the terminal device.

[0089] like Figure 1a As shown in (5), the terminal device sends and the network device receives. For example, the sensing reference signal is sent by the terminal device, reflected by the target in the environment, and then received by the network device.

[0090] like Figure 1a As shown in (6), the terminal devices cooperate (or the terminal device A sends and the terminal device B receives). For example, the sensing reference signal is sent by the terminal device A, reflected by the target in the environment, and then received by the terminal device B.

[0091] It should be noted that self-transmission and self-reception by network devices and self-transmission and self-reception by terminal devices can be referred to as single-site sensing, while the other four sensing methods can be referred to as dual-site sensing. Single-site sensing and dual-site sensing usually have drawbacks such as short sensing distance and limited field of view.

[0092] In this embodiment of the application, the receiving node and the transmitting node of the sensing reference signal can be collectively referred to as sensing nodes or nodes. It should be understood that the transmitting node can send the sensing reference signal, and the sensing reference signal can reach the receiving node after passing through the sensing target (such as after being reflected by the sensing target), and the receiving node can measure the received sensing reference signal.

[0093] The sensing node can be any type of node or sensing function, such as BS, UE, roadside unit (RSU), sensing function (SeMF or SF), or integrated access and backhaul node (IAB-node).

[0094] IV. Collaborative Perception

[0095] In this embodiment, collaborative sensing can be understood as multiple pairs of node groups cooperating to perform sensing and jointly complete the sensing task, such as synthesizing the sensing data obtained from multiple pairs of node groups to obtain the sensing result. Each pair of node groups may include a sensing reference signal transmitting node and a sensing reference signal receiving node, and the sensing mode used by each pair of node groups can be one of the six types mentioned above. It is understood that by performing sensing measurements on the same sensing target based on multiple pairs of node groups, and then synthesizing the sensing measurement results obtained from the multiple pairs of node groups to obtain the sensing result, the accuracy of the sensing result can be improved. In this embodiment, the sensing measurement result can also be referred to as sensing measurement data, sensing data / result, measurement data / result, etc. Furthermore, the sensing measurement result can be the received raw sensing reference signal or the channel information of the raw sensing reference signal, or it can be further processed information such as Doppler information, angle information, signal strength, and velocity, or it can be further processed information such as the distance, velocity, orientation, acceleration, position, trajectory, and point cloud information of the sensing target. This embodiment does not limit the specific details of these parameters. Multi-station collaborative sensing can broaden the sensing perspective. Therefore, the data format and content of the sensing data have been defined to facilitate unification and data fusion, as shown in Table 1 below:

[0096] Table 1

[0097] Site info (sensing link IDTX ID RXID Time orientation config / capability) Scatter 1 (Scatter ID xyz angle likelihood power velocity) Scatter 2 (Scatter ID xyz angle likelihood power velocity) … … Scatter N (Scatter ID xyz angle likelihood power velocity)

[0098] V. Sensing Groups (or Cooperative Sensing Groups, CSGs, etc.)

[0099] A sensing group refers to a network unit consisting of multiple transmitting and receiving nodes of sensing reference signals. The spatial locations of the sensing nodes in the sensing group can be known, and the synchronous acquisition and joint processing of multi-source sensing data can be achieved through a time synchronization mechanism.

[0100] In a scenario of integrated communication and sensing, the process of establishing sensing groups is as follows: A coarse sensing scan / sensing measurement is performed on terminal devices within the network device's coverage area that possess sensing capabilities. Terminal devices capable of sensing and observing targets in the surrounding environment are selected, and one or more sensing groups are established based on these terminal devices. Each sensing group can correspond to the same sensing target, and sensing nodes within that group collaborate to perform sensing measurements on this target. It should be understood that sensing groups can also be divided based on the area covered by the network device, in which case one sensing group may correspond to multiple sensing targets. For ease of description, this embodiment uses the example of sensing nodes within a sensing group performing sensing measurements on the same sensing target. It should be understood that the sensing targets mentioned below are all sensing targets for which sensing nodes within a sensing group need to perform sensing measurements.

[0101] Specifically, the coarse sensing scan / sensing measurement of terminal devices within the network device's coverage area and possessing sensing capabilities can include: the terminal device reporting its capabilities to the network device, which may include an indication of whether it possesses sensing capabilities and supported sensing modes; the network device sending CSG grouping information to the terminal device to trigger coarse sensing measurements, and sending the measurement results back to the network device; the CSG grouping information may include information on sensing resources (information on resources for sending sensing reference signals) used to indicate which sensing resources the terminal device needs to perform sensing measurements, and may also include the resource configuration for the terminal device to send measurement results to the network device; the network device establishing one or more CSGs based on the measurement results reported by the terminal device. For example, the network device can establish a sensing group for terminal devices that measure the same sensing target, or the network device can establish a sensing group for terminal devices that measure the same sensing target in the same beam space, such as... Figure 1b As shown, two sensing groups (CSG1 and CSG2) can be established for two sensing targets (vehicles); and so on. It should be understood that network devices can periodically perform coarse sensing scans or randomly perform coarse sensing scans at intervals to establish or add newly connected sensing-capable terminal devices to a sensing group.

[0102] Each CSG's group information (CSG_INFO) may include one or more of the following: CSG identifier / index (CSG_ID), CSG size (the number of terminal devices contained in the group, referred to as CSG_Size), CSG group leader node identifier / index (CSG_Leader), cell identifier / index (Cell_ID), network device identifier / index (BS_ID), target index / identifier (Target-ID), and information of terminal devices within the group (CSG_Node_Info), etc. The information of terminal devices within the group may include the identifier / index of all terminal devices (UE_ID) and the location information of all terminal devices within the group (UE_position). Assuming there are N nodes in the sensing group, the data format of the CSG group information is shown in Table 2 below:

[0103] Table 2 (Data Format of CSG_INFO)

[0104]

[0105]

[0106] Network devices can choose to inform other nodes in the group of all or part of the group information in the CSG.

[0107] Furthermore, when sensing nodes in a sensing group collaborate to perform sensing measurements on the same sensing target, a significant issue arises: how to utilize the sensing nodes within the sensing group to perform these measurements, and how to manage the sensing group itself. This can affect the accuracy of the sensing results, the allocation of sensing resources, and so on.

[0108] To address the aforementioned technical problems, this application proposes the following technical solutions. The technical solutions in this application will now be described in conjunction with the accompanying drawings.

[0109] 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.

[0110] Furthermore, in the embodiments of this application, words such as "exemplarily" and "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as an "example" in this application should not be construed as being better or more advantageous than other embodiments or designs. Rather, the use of the word "example" is intended to present the concept in a specific manner.

[0111] First, in this application, "for indicating" can include both direct and indirect indication. When describing "information" for indicating A, it can include whether the information directly indicates A or indirectly indicates A, but does not necessarily mean that the information carries A.

[0112] The information indicated by a given piece of information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as, but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or its index. It can also be indirectly indicated by indicating other information, where there is a relationship between the other information and the information to be indicated. It can also indicate only a part of the information to be indicated, while the other parts are known or pre-agreed upon. For example, the indication of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing the indication overhead to some extent. At the same time, common parts of various pieces of information can be identified and indicated uniformly to reduce the indication overhead caused by individually indicating the same information.

[0113] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0114] The information to be instructed can be sent as a whole or divided into multiple sub-information messages, and the sending period and / or timing of these sub-information messages can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device. This configuration information can include, for example, but not limited to, one or a combination of at least two of radio resource control (RRC) signaling, medium access control (MAC) layer signaling, and physical layer signaling. MAC layer signaling includes, for example, a MAC control element (CE); physical (PHY) layer signaling includes, for example, downlink control information (DCI).

[0115] Second, in the embodiments shown below, the first, second, and various numerical designations are merely distinctions for descriptive convenience and are not intended to limit the scope of the embodiments of this application. For example, to distinguish different indication information.

[0116] Third, "pre-defined," "pre-configured," or "pre-specified" can be achieved by pre-saving corresponding codes, tables, or other means of indicating relevant information in the device (e.g., including terminal devices and network devices), or by pre-defining them in a protocol. This application does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0117] Fourth, the “protocol” involved in the embodiments of this application may refer to standard protocols in the field of communication, such as 3GPP’s LTE protocols (such as technical specification (TS) 36, i.e., the TS36 series of technical specifications), NR protocols (such as the TS38 series of technical specifications), and related protocols applied to future communication systems. This application does not limit this.

[0118] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0119] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0120] To facilitate understanding of the embodiments of this application, a communication system applicable to the embodiments of this application will be described in detail. This communication system may include a first node and at least two second nodes. For example, Figure 1c This is a schematic diagram of the architecture of a communication system to which the method provided in the embodiments of this application applies; the communication system includes a radio access network (RAN) 100 and a core network (CN) 200. The first node can be any network device or terminal device in the RAN 100, or a device (such as a sensing functional entity) in the core network 200, or a processor, circuit, chip, or chip system within the device; each of the at least two second nodes, the sensing node, can also be any network device or terminal device in the RAN 100, or a processor, circuit, chip, or chip system within the device.

[0121] like Figure 1c As shown, RAN100 includes at least one RAN node / network device (such as...) Figure 1c 110a and 110b (collectively referred to as 110) and at least one terminal device (such as Figure 1c 120a-120j, collectively referred to as 120, are included in the RAN. The RAN may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices. Figure 1c (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.

[0122] RAN 100 can be a cellular system related to the 3rd generation partnership project (3GPP), such as 4G, 5G mobile communication systems, non-terrestrial network (NTN) systems, or future-oriented evolution systems. RAN 100 can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system, or a communication system that integrates two or more of the above systems.

[0123] A network device / RAN node is a network-side device with wireless transceiver capabilities. For example, this network device can be a network device, an evolved NodeB (eNodeB), a next-generation NodeB (gNB) in a 5G mobile communication system, a transmission reception point (TRP), a 3GPP later-evolved network device, an access node in a WiFi system, a wireless relay node, a wireless backhaul node, a satellite in a non-terrestrial network (NTN), an high-altitude platform, or a ground gateway station. A network device can contain one or more co-located or non-co-located transmission and reception points. Furthermore, a network device can include a central unit (CU), a distributed unit (DU), or both CU and DU. This allows multiple network functional entities to implement some of the functions of the wireless access network device. These network functional entities can be network elements within hardware devices, software functions running on dedicated hardware, or virtualized functions instantiated on a platform (e.g., a cloud platform). For example, in vehicle-to-everything (V2X) technology, the network device can be an RSU (Relay Unit). Multiple network devices in a communication system can be of the same type or different types. Network devices can communicate with terminal devices directly or via relay stations. The network device in this application can also be a device with sensing capabilities, capable of emitting sensing reference signals and receiving and processing echo signals reflected from targets in the environment. In the embodiments of this application, the communication device used to implement the network device's functions can be a network device itself, or a network device with some of the network device's functions, such as a CU (Cellular Unit) or DU (Digital Unit). It can also be a device capable of supporting the network device in implementing this function, such as a chip system, which can be installed within the network device.

[0124] The terminal device can be a user-side device with wireless transceiver capabilities, including fixed devices, mobile devices, handheld devices (such as mobile phones), wearable devices, in-vehicle devices, or wireless devices built into the aforementioned devices (e.g., communication modules, modems, or chip systems). Terminal devices are used to connect people, things, and machines, and can be widely used in various scenarios, such as: cellular communication, device-to-device (D2D) communication, V2X communication, machine-to-machine / machine-type communications (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, and robots. For example, a terminal device can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a camera in intelligent transportation and smart cities, or a communication device on a drone, etc. Terminal devices are sometimes referred to as user equipment, user terminal, user device, user unit, user station, terminal, access terminal, access station, UE station, remote station, mobile device, or wireless communication device, etc.

[0125] The equipment in the core network 200 can be referred to as core network equipment, which provides service support for terminal equipment. Currently, it includes the following core network equipment: access and mobility management function (AMF) entity, user plane function (UPF) entity, network data analytics function (NWDAF) entity, unified data management (UDM) entity, policy control function (PCF) entity, location management function (LMF) entity, network exposure function (NEF) entity, application function (AF) entity, session management function (SMF) entity, sensing function (SeMF or SF), etc., which are not listed here. It should be noted that in this application, entities can also be referred to as network elements or functional entities. For example, a SeMF entity can also be called a SeMF network element or SeMF functional entity, and an SMF entity can also be called an SMF network element or SMF functional entity, etc.

[0126] In the aforementioned communication system, the first node can be a master node or control node in a sensing group, capable of synchronously processing sensing measurement results reported by one or more sensing nodes in the sensing group, and managing the sensing nodes within the sensing group. At least two second nodes can be all or some of the sensing nodes in the sensing group, capable of sending and / or receiving sensing reference signals and processing them to obtain sensing measurement results. It should be understood that if the first node is a network device or a terminal device, the first node can also send and / or receive sensing reference signals and process them to obtain sensing measurement results.

[0127] For example, the first node can configure the same time-domain resources for the sensing reference signals sent to at least two second nodes via first information. The at least two second nodes can receive the sensing reference signals on the same time-domain resources, thereby achieving time and / or period alignment for performing sensing measurements. This reduces the time difference when nodes perform sensing measurements on the same sensing target, mitigating problems such as motion blur of the sensing target, improving the accuracy of sensing measurements, and ultimately enhancing the quality of the sensing service. Furthermore, since at least two second nodes can form a sensing group, operations such as updating nodes within the sensing group and disbanding the sensing group can be performed. This enables effective management of each node at the group level, reducing management complexity and improving sensing efficiency.

[0128] It should be understood that the communication method provided in the embodiments of this application can be applied to... Figure 1c The communication systems shown include those between terminal devices and network devices, between terminal devices, between network devices and sensing network elements, etc. Specific implementations can be found in the following method embodiments, which will not be repeated here. The solutions in this application embodiment can also be applied to other communication systems, and the corresponding names can be replaced with the names of the corresponding functions in other communication systems.

[0129] It should also be understood that Figure 1c This is a simplified diagram for ease of understanding only. The communication system may also include other network devices, and / or other terminal devices, and / or other functional entities. Figure 1c It was not drawn in the middle.

[0130] The following will combine Figure 2a This paper describes the interaction process between devices in the above-described communication system through specific method embodiments. The communication method provided in this application can be applied to the above-described communication system, such as the interaction between network devices and terminal devices. The following description uses an example where the first node is a network device and each of at least two second nodes is a terminal device. Figure 2a The flowchart shown includes steps S201-S203.

[0131] S201. The first node sends the first information, and correspondingly, at least two second nodes receive the first information.

[0132] The first information is used to indicate the first time-domain resource carrying the sensing reference signal. The first time-domain resource can refer to a radio frame, subframe, slot, symbol, mini-slot, or other time-domain resources of granularity in the evolution of mobile communication systems; this application embodiment does not impose specific limitations. The first time-domain resource can be a time-domain resource configured for a sensing group or at least two second nodes. That is, if each node in the sensing group or at least two second nodes needs to transmit the sensing reference signal, it can transmit it on the first time-domain resource. The at least two second nodes can be in the same sensing group, or the at least two second nodes can be nodes performing sensing measurements on the same sensing target; for ease of understanding, at least two second nodes are used as an example, therefore, the at least two second nodes mentioned below can also be replaced with nodes in the sensing group.

[0133] For example, the first information can indicate the index / sequence number of the first time-domain resource; if the first time-domain resource is a symbol, the first information can indicate the sequence number of the symbol within a time slot. If a time slot includes 14 symbols, the first information can indicate sequence numbers 0-3, indicating that the first 4 symbols of a time slot are used to carry sensing reference signals. As another example, if the first time-domain resource is a time slot, the first information can indicate the sequence number of the time slot within a subframe. If a subframe includes 2 time slots, the first information can indicate sequence number 0, indicating that the previous time slot in a subframe is used to carry sensing reference signals. Optionally, the first time-domain resource can be a periodic time-domain resource, and the first information can also indicate the period, such as including information about the period, specifically the duration of the period.

[0134] In one possible design, if the first node is a network device, the first information can be carried in signaling that can carry resource configuration information, such as RRC signaling or MAC layer signaling. Alternatively, the first information can be carried in a broadcast message (such as in a master information block (MIB)). For example, a field value or information element (IE) in the broadcast message can be predefined (e.g., protocol predefined) to carry resource configuration information (the first information). This information element can be called a cooperative sensing group reference single IE (CSG-RS IE).

[0135] In one possible design, the first node can send the first information via unicast, multicast, or broadcast. For example, the first node can send the first information to at least two second nodes via multicast. After receiving the first information, the at least two second nodes can perform the following step S202.

[0136] It should be understood that the sensing measurement can be a continuous operation; that is, the following steps S202-S203 can be executed periodically, or can be executed multiple times non-periodically, i.e., S201-S203 can be executed multiple times. For ease of understanding, the embodiments of this application are described using a certain cycle / a certain instance as an example.

[0137] S202, at least two second nodes receive sensing reference signals on the first time domain resource and obtain sensing measurement results based on the received sensing reference signals.

[0138] In one possible design, the sensing reference signal received by at least two second nodes on the first time domain resource can be sent by the first node or sent between at least two second nodes. The following describes the different cases.

[0139] Case 1: The sensing reference signals received by at least two second nodes on the first time domain resource can be sent by the first node.

[0140] For example, a first node transmits a sensing reference signal to at least two second nodes on a first time-domain resource; correspondingly, at least two second nodes receive the sensing reference signal transmitted by the first node on the first time-domain resource and obtain the sensing measurement result based on the received sensing reference signal. That is, the time-domain positions at which the first node transmits the sensing reference signal to each of the at least two second nodes should be consistent, or the first node transmits the sensing reference signal to each of the at least two second nodes on the same time-domain resource; wherein, consistent time-domain positions or the same time-domain resource can mean that, in the same sensing measurement, the time difference between the first node transmitting the sensing reference signal to each node must be less than a time difference threshold; the time difference threshold is not limited, such as the time difference threshold can refer to the duration of one or more symbols, the duration of one or more time slots, the duration of one or more subframes, or the duration of a frame, etc.

[0141] For example, the first time-domain resource refers to a symbol, and the time difference threshold is one symbol; the first node transmits sensing reference signals to at least two second nodes on different or the same frequency-domain resources of the same symbol. Assuming that the at least two second nodes include node 1 and node 2, and node 1 and node 2 are within the coverage area of ​​the first node in the same beamspace, then... Figure 2bAs shown in (1), a sensing reference signal to be sent to node 1 can be carried on RB1 of symbol 1, and a sensing reference signal to be sent to node 2 can be carried on RB2 of symbol 1. Assuming that node 1 is within the coverage area of ​​beamspace 1 of the first node and node 2 is within the coverage area of ​​beamspace 2 of the first node, sensing reference signals can be sent to node 1 and node 2 on different frequency domain resources or the same frequency domain resources of the same symbol. Therefore, the time difference between the sensing reference signals sent to node 1 and node 2 will be less than one symbol, which can reduce the time difference during sensing measurement and thus improve the accuracy of sensing measurement.

[0142] For example, the first time-domain resource refers to a time slot, with a time difference threshold of one time slot. The first node sends sensing reference signals to at least two second nodes on different symbols within the same time slot, such as... Figure 2b As shown in (2), the sensing reference signal to be sent to node 1 can be carried on RB1 of symbol 1, and the sensing reference signal to be sent to node 2 can be carried on RB2 of symbol 3. Alternatively, the sensing reference signal can be sent to at least two second nodes on different frequency domains of the same symbol in the same time slot; or the sensing reference signal can be sent to at least two second nodes on different or the same frequency domains of different symbols in the same time slot; and so on. The time difference between the sensing reference signals sent to node 1 and node 2 will be less than one time slot, which means that resources can be configured more flexibly while minimizing the time difference during sensing measurements.

[0143] Scenario 2: The sensing reference signal received by at least two second nodes on the first time domain resource is transmitted between at least two second nodes.

[0144] For example, each of the at least two second nodes can send sensing reference signals to each other on the first time-domain resource and receive sensing reference signals sent by other nodes, obtaining sensing measurement results based on the received sensing reference signals. For instance, the at least two second nodes include node 1, node 2, and node 3. Node 1 can send sensing reference signals to nodes 2 and 3 on the first time-domain resource and receive sensing reference signals sent by nodes 2 and 3 on the same time-domain resource. Similarly, nodes 2 and 3 can do the same. It should be understood that if nodes 1, 2, and 3 have beamforming capabilities, they can send sensing reference signals in the direction of the sensing target; for example, if node 1 sends a sensing reference signal in the direction of the sensing target, nodes 2 and 3 receive the sensing reference signal; or if node 2 sends a sensing reference signal in the direction of the sensing target, nodes 1 and 3 receive the sensing reference signal. Alternatively, each of the at least two second nodes can send and receive its own sensing reference signals on the first time-domain resource. Optionally, the time-domain positions of the sensing reference signals sent by each node should be consistent or sent on the same time-domain resource. The consistency of the time-domain positions can be referred to the above, and will not be repeated here. The situation where at least two second nodes send sensing reference signals to each other, that is, the situation where at least two second nodes receive different sensing reference signals on the first time domain resource, is equivalent to using different devices to perform sensing measurements on the sensing target from different angles and / or distances, thereby broadening the sensing field of view.

[0145] It should be understood that if the first node is a network device or a terminal device, at least two second nodes may also send sensing reference signals to the first node on the first time domain resource; accordingly, the first node receives the sensing reference signals sent by at least two second nodes on the first time domain resource, and obtains the sensing measurement results based on the received sensing reference signals.

[0146] S203, at least two second nodes send sensing measurement results to the first node; correspondingly, the first node receives sensing measurement results from at least two second nodes.

[0147] At least two second nodes can send sensing measurement results to the first node on the second time domain resources; correspondingly, the first node can receive sensing measurement results from at least two second nodes on the second time domain resources.

[0148] The second time-domain resource can refer to a radio frame, subframe, time slot, symbol, mini-time slot, or other time-domain resources of granularity in the evolution of mobile communication systems. The second time-domain resource can be a time-domain resource configured for at least two second nodes; that is, if each of the at least two second nodes needs to transmit sensing measurement results, it can be carried on the second time-domain resource. Specifically, at least two second nodes need to transmit sensing measurement results to the first node on the same time-domain resource, or their time-domain positions should be consistent. The consistency of the same time-domain resource or time-domain position can be found in the description related to transmitting sensing reference signals, which will not be elaborated here. Therefore, it facilitates the first node in aligning the sensing measurement results of each node to the sensing target in time, thereby improving the accuracy of performing sensing measurements on the sensing target. Furthermore, the first node does not need to wait for the sensing measurement results of other nodes after receiving the sensing measurement results of some nodes, thus reducing sensing latency.

[0149] Optionally, the first node can indicate a second time-domain resource carrying the sensing measurement results. For example, the first node can send second information to indicate the second time-domain resource carrying the sensing measurement results. The second information can be carried in the same or different signaling as the first information, and the description of the second information is relevant to the first information and will not be repeated here. Therefore, by indicating the second time-domain resource carrying the sensing measurement results, the first node can uniformly manage the time and / or period at which each node sends the sensing measurement results, and the first node can dynamically configure the second time-domain resource through the second information, providing greater flexibility.

[0150] It should be understood that the relationship between the second time-domain resources and the first time-domain resources can also be defined through a protocol. Once at least two second nodes receive the sensing reference signal, they can determine the second time-domain resource carrying the sensing measurement results based on this relationship. Alternatively, the sensing reference signal can be identified. After at least two second nodes receive the sensing reference signal and obtain the sensing measurement results, they can mark the sensing measurement results with an identifier that corresponds one-to-one with the sensing reference signal, thereby facilitating the alignment of the sensing measurement results by the first node.

[0151] In summary, by having at least two second nodes receive sensing reference signals, breaking away from the self-transmitting / self-receiving or A-transmitting-B-receiving mode, the sensing distance can be increased, the sensing field of view broadened, and thus the quality of sensing services improved. For at least two second nodes within the same sensing group, the sensing reference signals sent to both nodes are carried on the same time-domain resource, achieving time and / or period alignment for performing sensing measurements. This reduces the time difference when nodes perform sensing measurements on the same target, thereby mitigating issues such as motion blur of the target and improving the accuracy of sensing measurements, further enhancing the quality of sensing services. Furthermore, since at least two second nodes can form a sensing group, management of each node can be achieved at the group level, reducing management complexity and improving sensing efficiency.

[0152] In conjunction with the above embodiments, when at least two second nodes are in the same sensing group, the first node can perform unified and effective management of the sensing group. The interaction process between devices in the above communication system will be specifically described below with reference to the accompanying drawings and through method embodiments. The communication method provided in this application can be applied to the above communication system, such as the interaction between network devices and terminal devices. The following description uses an example where the first node is a network device and each of the at least two second nodes is a terminal device.

[0153] In one embodiment, the first node can update the sensing group. Updating the sensing group may include releasing nodes in the sensing group and / or adding new nodes to the sensing group, as detailed below.

[0154] The following is for reference Figure 3 and Figure 4 The present application provides an exemplary description of releasing nodes from a sensing group, and it should be understood that... Figure 3 and Figure 4 The process shown is merely an example and does not limit this application. Figure 3 and Figure 4 The third node mentioned is any one of at least two second nodes, or any node in the perception group other than the first node. It should be understood that "release" is only an illustrative description and may also be referred to as "remove," "remove," "delete," etc.

[0155] As an optional embodiment, the first node can release the third node from the sensing group based on the sensing measurement results returned by the third node. For example, Figure 3 The flowchart shown includes steps S301-S303:

[0156] S301. The first node determines whether the third node has perceived the target based on the perception measurement results returned by the third node.

[0157] Each time the first node receives the perception measurement result returned by the third node, it can determine whether the third node has perceived the target. If the target is not perceived for K consecutive times, the third node has lost the target; K is a positive integer greater than or equal to 1. The first node can determine whether the third node has perceived the target based on the current target's shape, velocity, position, edge, and other information, as well as the shape, velocity, position, edge, and other information corresponding to the previous perception measurement result.

[0158] S302. If the first node determines that the third node has lost the sensing target based on the sensing measurement results returned by the third node, the first node will release the third node from the sensing group.

[0159] Releasing a third node from a sensing group can include updating the group information of the sensing group. For example, assuming there are N nodes in a sensing group, and the third node (node ​​k in Table 3 below) is released, the information about the third node in the group information will be deleted, such as the third node's identifier (UE_ID k) and its position information (UE_position k). For instance, the changes to the sensing group's group information can be shown in Table 3 below:

[0160] Table 3 shows the changes in group information before and after the node was released.

[0161]

[0162] S303, the first node sends a first message to the third node; correspondingly, the third node receives the first message. The first message instructs the third node to release itself from the sensing group.

[0163] The first message may include at least one of the following: the sensing group index / identifier CSG-ID, or the sensing target index / identifier Target-ID. Once the third node knows it has been released from the sensing group, it can stop performing sensing measurement operations, thus saving energy.

[0164] It should be understood that the first node can also send the first message via broadcast or multicast. For example, the first node can send the first message to each node in the perception group via multicast.

[0165] It should be understood that S303 can be an optional step. For example, when the third node loses the sensing target, it can stop performing the sensing measurement operation on the sensing target and assume that it has been released from the sensing group. In this case, step S303 can be omitted.

[0166] In summary, the first node can manage the nodes in the sensing group in real time, and release the node in time when it loses the sensing target, which can reduce resource consumption and save energy.

[0167] As an optional embodiment, the third node may proactively request release from the sensing group. For example, such as... Figure 4 As shown, Figure 4 The flowchart shown includes steps S401-S404:

[0168] S401, the third node can determine whether to request release from the perception group.

[0169] In one possible design, after receiving the sensing measurement results, the third node can determine whether it has sensed the target. If it fails to sense the target for K consecutive times, i.e., the third node has lost the target, it requests to be released from the sensing group, generates a second message, and executes step S402. Here, K is a positive integer greater than or equal to 1. The third node determines whether it has sensed the target based on the shape, speed, position, and edge information of the target corresponding to the current sensing measurement results, as well as the shape, speed, position, and edge information of the target corresponding to the previous sensing measurement results. For example, under conditions of changing interference or noise levels, the third node may be unable to provide effective sensing results, lose its sensing service capability, and further lose the target. Alternatively, the target may move and leave the third node's sensing range, causing the third node to lose the target. Figure 5 As shown, if the car moves, the third node will lose the perceived target (the car). Alternatively, if the third node moves to the point that its perception range can no longer cover the perceived target, the perceived target will be lost.

[0170] In one possible design, if the third node does not intend to participate in the sensing service, it can determine that the request is being released from the sensing group, generate a second message, and execute step S402. For example, in situations such as communication service limitations or insufficient computing power, the third node will not intend to participate in the sensing service.

[0171] It should be understood that step S401 is an optional step. For example, if the third node can be randomly or periodically released from the sensing group to perform other communication tasks, step S402 can be executed directly.

[0172] S402, the third node sends a second message to the first node. Correspondingly, the first node receives the second message from the third node.

[0173] The second message is used to instruct the third node to request release from the perception group.

[0174] The second message may include at least one of the following: the perceived group index CSG-ID, or the perceived target index Target-ID.

[0175] S403. Based on the second message, the first node releases the third node from the perception group.

[0176] The first node can release the third node from the perception group based on the perception group index and / or the perception target index. The specific implementation of releasing the third node from the perception group can be found in step S302, and will not be elaborated here.

[0177] S404: The first node sends a first message to the third node; correspondingly, the third node receives the first message. The first message instructs the third node to release itself from the sensing group. Step S404 can be referred to as step S303, and will not be repeated here. Step S404 is an optional step.

[0178] In summary, the third node can proactively request to be released from the sensing group in situations such as loss of sensing targets, lack of support for communication services, or shortage of computing power, thus enabling nodes to perform sensing measurements more flexibly.

[0179] As an optional embodiment, over time, new nodes may perceive the target, and the first node can add it to the perception group. For example, as... Figure 6 As shown, the addition of a new node to a sensing group provided in the embodiments of this application is described exemplarily. It should be understood that... Figure 6 The process shown is merely an example and does not limit this application. The term "join" is only an illustrative description and may also be referred to as "add," "increase," "newly added," etc. Figure 6 The flowchart shown includes steps S601-S605:

[0180] S601, the first node sends a first sensing reference signal; correspondingly, the fourth node receives the first sensing reference signal.

[0181] The first sensing reference signal can be used to add a sensing-capable terminal device (such as the fourth node) associated with the first node to a sensing group or to establish a new sensing group for it. If the first node is a network device, the fourth node can be a sensing-capable terminal device within the coverage area of ​​the first node; the fourth node can also be a network device.

[0182] In one possible design, if the first node is a network device, the first sensing reference signal can be the sensing reference signal sent by the network device when performing a coarse sensing scan. The coarse sensing can be referred to the relevant introduction of the sensing group mentioned above, which will not be repeated here.

[0183] The first node can send the first sensing reference signal via broadcast or multicast; for example, the first node can send the first sensing reference signal to a terminal device with sensing capabilities via multicast.

[0184] S602, the fourth node returns the sensing measurement result corresponding to the first sensing reference signal to the first node; correspondingly, the first node receives the sensing measurement result returned by the fourth node.

[0185] S603, the first node sends a third message to the fourth node; correspondingly, the fourth node receives the third message.

[0186] The third message is used to request the fourth node to join the perception group.

[0187] In one possible design, the first node sends a third message to the fourth node based on the perception measurement results returned by the fourth node. For example, if the first node determines that it has perceived a target based on the perception measurement results returned by the fourth node, it sends a fourth message to the fourth node. For example, if the target moves and enters the perception range of the fourth node, the fourth node can perceive the target; as... Figure 7 As shown, assuming the car moves, it can enter the perception range of the fourth node. Alternatively, if the fourth node moves to the point where it can perceive the target, then the fourth node can perceive the target. Therefore, nodes that can perceive the target but are not in the perception group can be added to the perception group using the first perception reference signal.

[0188] In one possible design, the first node can predict the movement trajectory of the target in real time based on the sensing measurement results corresponding to the target, and can also predict the movement trajectory of the fourth node. When it is determined that the target has moved into the sensing range of the fourth node, a third message can be sent to the fourth node. In this case, steps S601 and S602 are optional steps.

[0189] S604, the fourth node returns a fourth message to the first node; correspondingly, the first node receives the fourth message returned by the fourth node.

[0190] The fourth message instructs the fourth node to confirm joining the perception group.

[0191] The third and fourth messages may include at least one of the following: the perceived group index / identifier CSG-ID, or the perceived target index / identifier Target-ID.

[0192] S605, The first node adds the fourth node to the perception group.

[0193] Adding a fourth node to a sensing group can include updating the group information of the sensing group. For example, assuming there are originally N nodes in the sensing group, after adding the fourth node (node ​​N+1 in Table 4 below), the group information of the sensing group will be updated with information about the fourth node, such as its identifier (UE_ID N+1) and its position information (UE_position N+1). For example, the changes to the group information of the sensing group can be shown in Table 4 below:

[0194] Table 4 shows the changes in group information before and after a node was added.

[0195]

[0196] It should be understood that after the first node adds the fourth node to the perception group, steps S201-S203 can be executed for the fourth node.

[0197] In one embodiment, the first node can send a request message to the target second node, which instructs the target second node to discover a node that can sense the sensing target but is not in the sensing group. The target second node can be any of at least two second nodes, which can be a terminal device or a network device. Accordingly, the target second node receives the request message from the first node and, in response to the request message, executes steps S601 and S602. If the target second node stores the group information of the sensing group, the target second node can further execute steps S603-S605 and send the updated group information of the sensing group to the first node, or it can send it to other second nodes in the sensing group. If the target second node does not have the group information of the sensing group, the target second node can send the sensing measurement result of the fourth node to the first node. After receiving the sensing measurement result, the first node executes steps S603-S605.

[0198] In summary, the first node can request other nodes to join the sensing group to increase the number of nodes participating in sensing and improve sensing accuracy. Furthermore, the first node can use the first sensing reference signal to add nodes that can sense the target but are not in the sensing group to the sensing group, that is, put nodes that can perform sensing measurements on the same target in the same group to achieve effective management of the sensing group.

[0199] In one embodiment, if all nodes within the sensing group are released from the sensing group, the first node can disband the sensing group, as detailed below. Figure 8 and Figure 9 The dismantling of the sensing group provided in the embodiments of this application is described exemplarily, and it should be understood that... Figure 8 and Figure 9 The process shown is merely an example and does not limit this application.

[0200] As an optional embodiment, the first node can disband the sensing group if all nodes request to be released from the sensing group. For example, as shown... Figure 8 As shown, Figure 8 The flowchart shown includes steps S801-S804:

[0201] S801, at least two second nodes send a fifth message to the first node; correspondingly, the first node receives the fifth message from each of the at least two second nodes.

[0202] It should be understood that each node can send a fifth message to the first node simultaneously or sequentially. This fifth message can be the same as or different from the second message mentioned above. For example, when all nodes simultaneously lose the sensed target, they can simultaneously send a fifth message to the first node. For instance, when the sensed target suddenly disappears, all nodes simultaneously send a fifth message to the first node; if a high-speed object such as a drone or high-speed vehicle suddenly leaves the area covered by the first node, all nodes will simultaneously lose the sensed target, which can be referred to... Figure 10 As shown. It should be understood that "simultaneously" here can refer to the same time within the allowable error range, and is not limited. If each node sends the fifth message to the first node sequentially, then each node can refer to the aforementioned third node, and the fifth message is also the aforementioned second message. For details, please refer to the relevant descriptions of steps S401 and S402, which will not be repeated here.

[0203] The fifth message may include at least one of the following: the perceived group index / identifier CSG-ID, or the perceived target index / identifier Target-ID.

[0204] S802, if the first node disbands the sensing group when the fifth message from each of at least two second nodes indicates that the corresponding node requests to be released from the sensing group.

[0205] Assuming a sensing group originally had N nodes, before and after disbanding the sensing group, the group information will be deleted, such as the sensing group identifier, the size of the sensing group, and the information of the nodes in the sensing group. For example, the changes in the sensing group information CSG_INFO are shown in Table 5 below:

[0206] Table 5. Changes in group information after the perception group was disbanded.

[0207]

[0208]

[0209] It should be understood that if each node sends the fifth message to the first node sequentially, the first node will disband the perception group upon receiving the fifth message sent by the last second node.

[0210] S803, the first node sends a fourth message to at least two second nodes; correspondingly, at least two second nodes receive the fourth message. Alternatively, when only one second node remains in the sensing group, the first node sends a fourth message to that second node, and correspondingly, that second node receives the fourth message.

[0211] The fourth message indicates that the sensing group has been disbanded. The fourth message may include at least one of the following: the sensing group index CSG-ID, or the sensing target index Target-ID. After at least two second nodes or the remaining second nodes receive the fourth message, they may cease performing sensing measurements on the sensing target.

[0212] S804. The first node stores the information of the sensing group in the sensing database; the stored information can be the group information before the sensing group is disbanded, or the group information after the sensing group is disbanded. S804 is an optional step, and the group information of the disbanded sensing group may not be stored.

[0213] In summary, the first node can disband the sensing group when all nodes request to be released from the sensing group, thus enabling flexible management of the sensing group.

[0214] As an optional embodiment, the first node disbands the sensing group based on the sensing measurement results returned by at least two second nodes. For example, as... Figure 9 As shown, Figure 9 The flowchart shown includes steps S901-S904:

[0215] S901, the first node determines whether at least two second nodes have lost the perceived target based on the perception measurement results returned by at least two second nodes.

[0216] S902, if the first node determines, based on the sensing measurement results returned by at least two second nodes, that at least two second nodes have lost the sensing target, the first node disbands the sensing group.

[0217] It should be understood that at least two second nodes may lose the perceived target simultaneously or sequentially. If the nodes lose the perceived target sequentially, steps S901 and S902 can refer to steps S301 and S302. For example, a scenario where the nodes lose the perceived target simultaneously could be that the perceived target suddenly disappears, such as a high-speed object like a drone or a high-speed vehicle suddenly leaving the area covered by the first node; this can be referred to... Figure 10 As shown.

[0218] S903, the first node sends a fourth message to at least two second nodes; correspondingly, at least two second nodes receive the fourth message. Alternatively, when only one second node remains in the sensing group, the first node sends a fourth message to that second node, and correspondingly, that second node receives the fourth message.

[0219] The fourth message indicates that the perception group has been disbanded.

[0220] S904. The first node stores the information of the sensing group in the sensing database. Steps S903 and S904 can be referred to S803 and S804, and will not be repeated here.

[0221] It should be understood that if the first node is a network device and the network device suspends the sensing service, then the nodes in the sensing group also do not need to continue the sensing service. In this case, the first node can directly disband the sensing group and send a fourth message to at least two second nodes. Accordingly, at least two second nodes receive the fourth message. The fourth message indicates that the sensing group has been disbanded.

[0222] In summary, the first node can manage the nodes in the sensing group in real time. If all nodes lose the sensing target, the sensing group can be disbanded in time, which can reduce resource consumption and save energy.

[0223] It should be understood that the above Figures 2a-9 The embodiments described herein can be implemented individually or in combination with each other. There are no limitations on the combination of implementations; for example, such as... Figure 2a The described embodiments and Figure 3 , Figure 4 , Figure 6 , Figure 8 ,or Figure 9 Combined implementation, or, Figure 3 and Figure 6 , Figure 8 Combined with implementation, etc.

[0224] The following combination Figure 11 and Figure 12 This document describes in detail the communication apparatus used to perform the communication method provided in the embodiments of this application.

[0225] For example, Figure 11 This is a schematic diagram of the communication device provided in an embodiment of this application. Figure 11 As shown, the communication device 1100 includes a transceiver module 1101 and a processing module 1102. For ease of explanation, Figure 11 Only the main components of the communication device are shown.

[0226] In some embodiments, the communication device 1100 may be adapted to Figure 1c In the communication system shown, the execution Figures 2a-10The function of the first node in the communication method shown.

[0227] The transceiver module 1101 is used to send first information and receive sensing measurement results from at least two second nodes. The first information is used to indicate a first time-domain resource carrying a sensing reference signal. The sensing measurement results are obtained by at least two second nodes based on the sensing reference signal received on the first time-domain resource. The at least two second nodes are in the same sensing group, or the at least two second nodes are nodes that perform sensing measurements on the same sensing target.

[0228] For details on the implementation of the first node's functionality, please refer to [link / reference]. Figure 2a The relevant descriptions of the provided methods will not be repeated here. Optionally, the transceiver module 1101 may include a receiving module and a transmitting module. Figure 11 (Not shown in the image). The transceiver module is used to implement the sending and receiving functions of the communication device 1100.

[0229] Optionally, the communication device 1100 may further include a storage module that stores programs or instructions. When the transceiver module 1101 executes the program or instructions, the communication device 1100 can perform... Figure 2a The function of the first node in the communication method shown.

[0230] It should be understood that the transceiver module 1101 can be implemented by a transceiver or transceiver-related circuit components, and can be a transceiver or transceiver unit.

[0231] Furthermore, the communication device 1100 can be a first node, a chip (system), or other components or parts, or a device containing a first node; this application does not limit this. The aforementioned chip (system) or other components or parts can all be disposed within the first node. The technical effects of the communication device 1100 can be found by referring to... Figure 2a The technical effects of the communication method shown will not be elaborated here.

[0232] For example, Figure 12 A second schematic diagram of the communication device provided in this application embodiment is shown. This communication device can be a first node, or a chip (system) or other component or assembly that can be disposed on the first node. Figure 12 As shown, the communication device 1200 may include a processor 1201. Optionally, the communication device 1200 may also include a memory 1202 and / or a transceiver 1203. The processor 1201 is coupled to the memory 1202 and the transceiver 1203, for example, they may be connected via a communication bus.

[0233] The following is combined Figure 12 A detailed description of each component of the communication device 1200 is provided below:

[0234] The processor 1201 is the control center of the communication device 1200. It can be a single processor or a collective term for multiple processing elements. For example, the processor 1201 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0235] Optionally, the processor 1201 can perform various functions of the communication device 1200 by running or executing software programs stored in the memory 1202 and calling data stored in the memory 1202.

[0236] In a specific implementation, as one example, the processor 1201 may include one or more CPUs, for example... Figure 12 CPU0 and CPU1 are shown in the diagram.

[0237] In a specific implementation, as one example, the communication device 1200 may also include multiple processors, for example... Figure 12 The processors 1201 and 1204 are shown. Each of these processors can be a single-core processor (CPU) or a multi-core processor (CPU). Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0238] The memory 1202 is used to store the software program that executes the solution of this application, and is controlled by the processor 1201 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0239] Optionally, the memory 1202 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1202 may be integrated with the processor 1201 or exist independently, and may be connected via the interface circuit of the communication device 1200. Figure 12 (Not shown in the image) is coupled to the processor 1201, and this embodiment of the application does not specifically limit this.

[0240] Transceiver 1203 is used for communication with other communication devices. For example, if communication device 1200 is a first node, transceiver 1203 can be used to communicate with a network device or with another first node. As another example, if communication device 1200 is a network device, transceiver 1203 can be used to communicate with a first node or with another network device.

[0241] Optionally, transceiver 1203 may include a receiver and a transmitter. Figure 12 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0242] Optionally, the transceiver 1203 can be integrated with the processor 1201, or it can exist independently and be connected via the interface circuit of the communication device 1200. Figure 12 (Not shown in the image) is coupled to the processor 1201, and this embodiment does not specifically limit this.

[0243] It should be noted that, Figure 12 The structure of the communication device 1200 shown does not constitute a limitation on the communication device. Actual communication devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0244] Furthermore, the technical effects of the communication device 1200 can be referred to the technical effects of the communication method described in the above method embodiments, and will not be repeated here.

[0245] It should be understood that the processor in the embodiments of this application can be a CPU, but it can also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0246] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be ROM, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), EEPROM, or flash memory. Volatile memory can be RAM, which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0247] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (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 includes one or more sets of 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. A semiconductor medium can be a solid-state drive. Some or all of the steps of the communication method in the embodiments of this application can be implemented by a graphics processing unit (GPU) or a neural network processing unit (NPU), or by a GPU or NPU in conjunction with other processors.

[0248] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0249] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, and / or c can represent the following situations: a exists alone, b exists alone, c exists alone, a and b exist simultaneously, b and c exist simultaneously, a and c exist simultaneously, and a, b, and c exist simultaneously, wherein a, b, and c can be single or multiple.

[0250] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0251] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0252] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0253] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0254] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0255] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0256] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0257] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, Applied to the first node, the method includes: Send a first message, the first message being used to indicate a first time-domain resource carrying a sensing reference signal; Receive sensing measurement results from at least two second nodes, the sensing measurement results being obtained by the at least two second nodes based on sensing reference signals received on the first time domain resource; the at least two second nodes are in the same sensing group, or the at least two second nodes are nodes performing sensing measurements on the same sensing target.

2. The communication method according to claim 1, characterized in that, The at least two second nodes receive different sensing reference signals on the first time domain resource.

3. The communication method according to claim 1, characterized in that, The receiving of sensing measurement results from at least two second nodes includes: Sensing measurement results from the at least two second nodes are received on the second time-domain resource.

4. The communication method according to claim 3, characterized in that, The method further includes: Send a second message, which indicates the second time-domain resource carrying the sensing measurement results.

5. The communication method according to claim 1, characterized in that, When the at least two second nodes are in the same sensing group, the method further includes: Update the perception group.

6. The communication method according to claim 5, characterized in that, Updating the perception group includes: Release the third node from the perception group, wherein the third node is any one of the at least two second nodes.

7. The communication method according to claim 6, characterized in that, The method further includes: A first message is sent to the third node, the first message being used to instruct the third node to release itself from the sensing group.

8. The communication method according to claim 5, characterized in that, Releasing the third node from the perception group includes: Based on the sensing measurement results returned by the third node, the third node is released from the sensing group.

9. The communication method according to claim 5, characterized in that, Releasing the third node from the perception group includes: Receive a second message from the third node, the second message being used to instruct the third node to request release from the sensing group; According to the second message, the third node is released from the perception group.

10. The communication method according to claim 4, characterized in that, Updating the perception group includes: Add the fourth node to the perception group.

11. The communication method according to claim 10, characterized in that, The method further includes: A third message is sent to the fourth node, the third message being used to request the fourth node to join the sensing group; The fourth message returned by the fourth node is received, and the fourth message indicates that the fourth node confirms joining the perception group.

12. The communication method according to claim 11, characterized in that, Sending the third message to the fourth node includes: Send the first sensing reference signal; Receive the sensing measurement result corresponding to the first sensing reference signal returned by the fourth node; The third message is sent to the fourth node based on the perception measurement results returned by the fourth node.

13. The communication method according to claim 1, characterized in that, When the at least two second nodes are in the same sensing group, the method further includes: Disband the perception group; A fourth message is sent to the at least two second nodes, the fourth message indicating that the sensing group has been disbanded.

14. The communication method according to claim 13, characterized in that, Dissolving the perception group includes: Receive the fifth message from each of at least two of the second nodes; The sensing group is dissolved if a fifth message from each of the at least two second nodes indicates that the corresponding node requests release from the sensing group.

15. The communication method according to claim 13, characterized in that, Dissolving the perception group includes: The sensing group is disbanded based on the sensing measurement results returned by the at least two second nodes.

16. A communication device, characterized in that, The communication device includes a processor and a transceiver, the transceiver being used for information exchange between the communication device and other communication devices, and the processor executing program instructions to perform the method as described in any one of claims 1-15.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program or instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-15.

18. A computer program product, characterized in that, The computer program product includes: a computer program or instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1-15.

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