Sensing method, measurement method, and related apparatus and system

Abstract

A sensing method, a measurement method, and a related apparatus and system, applicable to the field of integrated sensing and communication. The method reuses measurement data obtained in a positioning process to reduce standardization work caused by a sensing function. The method comprises: receiving a sensing service request message, the message being used for requesting to sense a sensed object; and acquiring positioning data on the basis of the message, and determining a sensing result on the basis of the positioning data, wherein the positioning data is obtained by initiating a positioning process to a communication device related to the sensed object. That is to say, if there is a sensing demand, a positioning process is triggered and positioning data is reused to reduce standardization work in a sensing process, such as the definition of parameters of sensing and measurement and the definition of a transmission protocol between network elements. In addition, the reuse of the positioning data can reduce repeated measurement and processing of the same parameters, thereby facilitating the saving of transmission resources and processing resources.

Description

A sensing method, a measuring method, and related devices and systems

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 25, 2023, with application number 202310756787.3 and application name “A perception method, measurement method and related devices and systems”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication perception integration, and in particular to a perception method, a measurement method, and related devices and systems. Background Art

[0003] With the development of communication technology, integrated sensing and communication (ISAC) technology has become a key focus of current standards research. ISAC technology enables systems to have both communication and perception capabilities, improving system spectrum efficiency and hardware resource utilization, while reducing application costs.

[0004] Currently, proposals have been made to add an independent sensing function (SEN) or sensing management function (SMF) to the core network architecture to sense the surrounding environment. However, since the SEN is independent of other network elements, standardization work such as defining the sensing process, sensing measurement parameters, and the transmission protocol between the SEN and radio access network equipment is required, which may be a significant workload.

[0005] Summary of the Invention

[0006] The present application provides a perception method, a measurement method, and related devices and systems, in order to reduce the need for improvements to existing network architectures by introducing perception functions and reduce the workload of standardization.

[0007] On the first aspect, the present application provides a perception method, which can be applied to a perception device. The perception device can be a core network element, such as SEN, or a component configured in the core network element, such as a chip, a chip system, etc., or a module that can realize all or part of the functions of the perception device. The present application does not limit this.

[0008] The method includes: receiving a perception service request message, the perception service request message is used to request perception of a perception object; based on the perception service request message, obtaining positioning data, the positioning data is obtained by initiating a positioning process for a communication device related to the perception object; based on the positioning data, determining a perception result.

[0009] Based on the above technical content, upon receiving a sensing service request message, the sensing device can trigger a positioning process to obtain positioning data, use the positioning data for sensing, and determine the sensing result. This reduces the standardization work required to define the parameters for sensing measurement in the sensing process and the transmission protocols between network elements. In addition, because the positioning data can be processed to obtain the sensing result, reusing the positioning data can reduce the repeated measurement and processing of the same parameters, which helps save transmission and processing resources.

[0010] In combination with the first aspect, in some possible implementations of the first aspect, the perception object includes a terminal device.

[0011] Accordingly, the communication equipment related to the terminal device includes one or more of the following: a wireless access network device to which the terminal device accesses, and / or other wireless access network devices near the wireless access network device, and / or other terminal devices located near the terminal device.

[0012] That is to say, the above positioning data is obtained by initiating a positioning process for a wireless access network device and / or terminal device near the sensing object.

[0013] Accordingly, the perception result includes one or more of the following: the location of the terminal device, the moving direction of the terminal device, the moving speed of the terminal device, whether there are other objects around the terminal device, and the number of other objects around the terminal device.

[0014] With reference to the first aspect, in some possible implementations of the first aspect, the perception object includes an area.

[0015] Accordingly, the communication devices associated with the area include one or more of the following: terminal devices and / or wireless access network devices located within the area, or terminal devices and / or wireless access network devices located around the area.

[0016] That is to say, the above positioning data is obtained by initiating a positioning process for wireless access network devices and / or terminal devices within or around the sensing object.

[0017] Accordingly, the perception result includes one or more of the following: whether there is an object in the area, the type of the object in the area, the size of the object in the area, the number of objects in the area, the position of the object in the area, whether there is an object invading the area, the position of the object invading the area, the moving direction of the object invading the area, or the moving speed of the object invading the area.

[0018] It is understood that the sensing object may include a terminal device and an area. In this case, the communication device associated with the sensing object includes: a communication device associated with the terminal device and a communication device associated with the area. The sensing result includes: a sensing result corresponding to the terminal device and a sensing result corresponding to the area.

[0019] In combination with the first aspect, in some possible implementations of the first aspect, the perception request service message includes information for indicating one or more of the following contents: the requested perception object; the requested perception result; the performance indicator of the requested perception result; or the number of times the requested perception result is reported.

[0020] By indicating the perception object, the perception device can determine the target that needs to be perceived. By indicating the perception result, the perception device can determine which items in the perception result need to be determined. By indicating the performance index, the perception device can determine what algorithm, perception range, accuracy, etc. need to be adopted. By indicating the number of times the perception result is reported, the perception device can determine the frequency based on which reporting is required. In summary, by indicating one or more of the aforementioned contents, it is convenient for the perception device to perceive based on user needs, and the perception results obtained will be more in line with user needs, thereby obtaining a better user experience.

[0021] In combination with the first aspect, in some possible implementations of the first aspect, the method is applied to SEN or SMF, and obtaining positioning data based on the perception service request message includes: sending a positioning service request message to a positioning management function (LMF) based on the perception service request message, wherein the positioning service request message is used to request the LMF to initiate a positioning process for the communication device; and obtaining the positioning data of the positioning process from the LMF.

[0022] That is, the SEN and LMF may be independent network elements. Upon receiving the sensing service request message, the SEN may request the LMF to initiate a positioning process to obtain positioning data, thereby determining a sensing result based on the positioning data.

[0023] In combination with the first aspect, in some possible implementations of the first aspect, the method is applied to LMF; obtaining positioning data and perception data based on the perception service request message includes: initiating a positioning process for the communication device based on the perception service request message; and obtaining the positioning data from the communication device.

[0024] In other words, the LMF can be used for both positioning and perception, and can be considered an enhanced LMF (eLMF). In this case, the LMF can directly initiate the positioning process in response to the perception service request message to obtain positioning data. This can save the signaling overhead caused by the interaction between the SEN and the LMF.

[0025] In conjunction with the first aspect, in some possible implementations of the first aspect, the positioning data includes incremental information of a power-delay profile (PDP), and one or more of the following: a signal's angle of departure, angle of arrival, time of arrival, time difference of arrival, phase, or received power. The incremental information is determined based on a first power delay profile and a second power delay profile in the channel, where the first power delay profile and the second power delay profile are measured by the communication device on the channel at different times.

[0026] That is, the positioning data in this application includes incremental information of the power delay spectrum, as well as other parameters. Since the incremental information of the power delay spectrum can be used to feedback changes in channel status, and channel changes may be caused by changes in the environment, the incremental information of the power delay spectrum can be used to infer whether the perceived object has undergone an environmental change.

[0027] Among them, the channel may be a single-path channel or a multipath channel. The change in the channel state may be, for example, the state change of the single-path channel at different times, or the state change of the multipath channel at different times. It may also be the change from the single-path channel at the previous moment to the multipath channel at the next moment, or the change from the multipath channel at the previous moment to the single-path channel at the next moment. These changes can be judged by the incremental information of the power delay spectrum.

[0028] Optionally, determining the perception result based on the positioning data includes: determining whether the environment of the perception object changes based on the incremental information; determining the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, and whether the environment of the perception object changes.

[0029] On the basis of determining whether the environment of the perceived object has changed, further combining other positioning data can obtain richer perception results.

[0030] One possible design is that the incremental information is a differential vector between the first power delay spectrum and the second power delay spectrum, and the differential vector includes a differential value of the amplitude and a differential value of the phase of each path in the channel.

[0031] Furthermore, determining whether the environment of the perceived object has changed based on the incremental information includes: determining that the environment of the perceived object has not changed when the differential value of the amplitude of each path in the channel is less than a first preset threshold, and the differential value of the phase of each path in the channel is less than a second preset threshold; or determining that the environment of the perceived object has changed when the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or when the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold.

[0032] It can be understood that when the amplitude and phase of each path in the channel do not change or change very little, it can be considered that the channel state has not changed or has changed very little, in which case it can be determined that the environment of the perceived object has not changed; on the contrary, if the amplitude or phase of any one or more paths in the channel changes significantly, it can be considered that the channel state has changed significantly, in which case it can be determined that the environment of the perceived object has changed.

[0033] Another possible design is that the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum.

[0034] For example, the differential energy between the first power delay spectrum and the second power delay spectrum is the sum of the energy differences of each path in the channel.

[0035] Furthermore, determining whether the environment of the perceived object has changed based on the incremental information includes: determining that the environment of the perceived object has not changed when the incremental information is less than a third preset threshold; or determining that the environment of the perceived object has changed when the incremental information is greater than or equal to the third preset threshold.

[0036] Energy changes can also reflect changes in channel conditions. Therefore, if the channel energy remains unchanged or changes only slightly, it can be determined that the perceived object's environment has not changed. If the channel energy changes significantly, it can be determined that the perceived object's environment has changed.

[0037] Another possible design is that the incremental information is a correlation coefficient between the first power delay profile and the second power delay profile.

[0038] Furthermore, determining whether the environment of the perceived object has changed based on the incremental information includes: determining that the environment of the perceived object has not changed when the incremental information is greater than a fourth preset threshold; or determining that the environment of the perceived object has changed when the incremental information is less than or equal to the fourth preset threshold.

[0039] It can be understood that the value of the cross-correlation coefficient ranges from 0 to 1. The closer the cross-correlation coefficient is to 1, the more similar the first power delay profile and the second power delay profile of the channel are, which means the channel environment has changed less, and thus it can be inferred that the environment of the perceived object has not changed. The smaller the cross-correlation coefficient is, the less similar the first power delay profile and the second power delay profile of the channel are, which means the channel environment has changed more, and thus it can be inferred that the environment of the perceived object has changed.

[0040] In combination with the first aspect, in some possible implementations of the first aspect, the method further includes: initiating a perception process for the communication device to obtain perception data; determining the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, and whether the environmental change of the perception object occurs, including: determining the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, the perception data, and whether the environmental change of the perception object occurs.

[0041] That is, the sensing device can also initiate a sensing process in response to a received sensing service request message, obtain sensing data, and then fuse the sensing data with the positioning data to determine the sensing result, thereby obtaining a more accurate sensing result. In this way, the SEN can determine whether to initiate a sensing process based on its own capabilities and business needs. For example, if its own capabilities are weak, it will not initiate the sensing process. For example, if the business needs require high accuracy, it will initiate the sensing process, etc., so as to better provide sensing services.

[0042] On the second aspect, a measurement method is provided, which can be applied to a measuring device. The measuring device can be a core network element, or it can be a component configured in the core network element, such as a chip, a chip system, etc., or it can be a module that can realize all or part of the functions of the perception device. This application is not limited to this.

[0043] The method includes: obtaining incremental information of a power delay spectrum, the incremental information being determined based on a first power delay spectrum and a second power delay spectrum, the first power delay spectrum being the power delay spectrum of the channel at a first moment, the second power delay spectrum being the power delay spectrum of the channel at a second moment, the first power delay spectrum and the second power delay spectrum being obtained by measuring the channel by a communication device; and determining whether an environmental change has occurred to the communication device based on the incremental information.

[0044] Based on the above technical content, by measuring the incremental information of the power delay spectrum, it is possible to determine whether the communication device has undergone environmental changes, which can then be used for environmental perception, so as to obtain more accurate perception results. In addition, the above-mentioned first power delay spectrum and second power delay spectrum can be used to calculate other parameters, such as angle of departure (angle of departure, AOD), angle of arrival (angle of arrival, AOA), time of arrival (time of arrival, TOA), arrival time difference, received power (such as RSRP) or phase, etc. Therefore, in the positioning process or the perception process, in the process of obtaining parameters, the first power delay spectrum and the second power delay spectrum can also be obtained without adding other measurement steps. For the positioning process or the perception process, it does not bring greater computational complexity, and is also beneficial to saving processing resources.

[0045] One possible design is that the incremental information is a differential vector between the first power delay spectrum and the second power delay spectrum, and the differential vector includes a differential value of the amplitude and a differential value of the phase of each path in the channel.

[0046] Furthermore, determining whether an environmental change has occurred to the communication device based on the incremental information includes: determining that no environmental change has occurred to the communication device when the differential value of the amplitude of each path in the channel is less than a first preset threshold, and the differential value of the phase of each path in the channel is less than a second preset threshold; or determining that an environmental change has occurred to the communication device when the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or when the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold.

[0047] It can be understood that when the amplitude and phase of each path in the channel do not change or change very little, it can be considered that the channel state has not changed or has changed very little, in which case it can be determined that the environment has not changed; on the contrary, if the amplitude or phase of any one or more paths in the channel changes significantly, it can be considered that the channel state has changed significantly, in which case it can be determined that the environment has changed.

[0048] Another possible design is that the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum.

[0049] For example, the differential energy between the first power delay spectrum and the second power delay spectrum is the sum of the energy differences of each path in the channel.

[0050] Furthermore, determining whether an environmental change has occurred to the communication device based on the incremental information includes: determining that no environmental change has occurred to the communication device when the incremental information is less than a third preset threshold; or determining that an environmental change has occurred to the communication device when the incremental information is greater than or equal to the third preset threshold.

[0051] Energy changes can also reflect changes in channel conditions. Therefore, if the channel energy does not change or changes slightly, it can be determined that the environment has not changed. If the channel energy changes significantly, it can be determined that the environment has changed.

[0052] Another possible design is that the incremental information is a correlation coefficient between the first power delay profile and the second power delay profile.

[0053] Furthermore, determining whether an environmental change has occurred to the communication device based on the incremental information includes: determining that no environmental change has occurred to the communication device when the incremental information is greater than a fourth preset threshold; or determining that an environmental change has occurred to the communication device when the incremental information is less than or equal to the fourth preset threshold.

[0054] It can be understood that the value of the cross-correlation coefficient ranges from 0 to 1. The closer the cross-correlation coefficient is to 1, the more similar the first power delay profile and the second power delay profile of the channel are, which means that the channel environment has changed less, and thus it can be inferred that the environment has not changed. The smaller the cross-correlation coefficient is, the less similar the first power delay profile and the second power delay profile of the channel are, which means that the channel environment has changed more, and thus it can be inferred that the environment has changed.

[0055] In a third aspect, the present application provides a communication device, comprising modules or units for implementing the method in the first aspect and any possible implementation of the first aspect. It should be understood that each module or unit can implement the corresponding function by executing a computer program.

[0056] Exemplarily, the communication device includes a transceiver module and a processing module. The transceiver module is configured to receive a sensing service request message, the sensing service request message being used to request sensing of a sensing object; the processing module is configured to: obtain positioning data based on the sensing service request message, the positioning data being obtained by initiating a positioning process for a communication device associated with the sensing object; and determine a sensing result based on the positioning data.

[0057] Optionally, the communication device is SEN, and the transceiver module is also used to send a positioning service request message to the positioning management function LMF based on the perception service request message, and the positioning service request message is used to request the LMF to initiate a positioning process for the communication device; the processing module is specifically used to obtain the positioning data of the positioning process from the LMF.

[0058] Optionally, the communication device is LMF, and the processing module is specifically used to: initiate a positioning process for the communication device based on the perception service request message; and obtain the positioning data from the communication device.

[0059] Optionally, the positioning data includes incremental information of the power delay spectrum, and one or more of the following: departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal.

[0060] The incremental information is determined based on a first power delay spectrum and a second power delay spectrum of a channel, and the first power delay spectrum and the second power delay spectrum are obtained by the communication device measuring the channel at different times.

[0061] Optionally, the processing module is specifically used to: determine whether the environment of the perceived object has changed based on the incremental information; determine the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, and whether the environment of the perceived object has changed.

[0062] Optionally, the incremental information is a differential vector between the first power delay spectrum and the second power delay spectrum, and the differential vector includes a differential value of an amplitude and a differential value of a phase of each path in the channel.

[0063] Correspondingly, the processing module is specifically used to: determine that the environmental change of the perceived object has not occurred when the differential value of the amplitude of each path in the channel is less than the first preset threshold, and the differential value of the phase of each path in the channel is less than the second preset threshold; or, determine that the environmental change of the perceived object has occurred when the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or, determine that the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold.

[0064] Optionally, the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum.

[0065] Accordingly, the processing module is specifically used to: determine that no environmental change has occurred to the perceived object when the incremental information is less than a third preset threshold; or determine that an environmental change has occurred to the perceived object when the incremental information is greater than or equal to the third preset threshold.

[0066] Optionally, the incremental information is a correlation coefficient between the first power delay profile and the second power delay profile.

[0067] Accordingly, the processing module is specifically used to: determine that no environmental change has occurred to the perceived object when the incremental information is greater than a fourth preset threshold; or determine that an environmental change has occurred to the perceived object when the incremental information is less than or equal to the fourth preset threshold.

[0068] Optionally, the processing module is also used to initiate a perception process for the communication device to obtain perception data; and is used to determine the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, the perception data, and whether the environmental changes occur in the perception object.

[0069] In a fourth aspect, the present application provides a communication device, comprising a processor, wherein the processor is configured to execute program code so that the communication device implements the perception method described in the first aspect and any possible implementation manner of the first aspect.

[0070] It should be understood that the communication device in the third aspect or the fourth aspect can be used to implement the perception method in the aforementioned first aspect, so the communication device can also be called a perception device.

[0071] In a fifth aspect, the present application provides a communication device, comprising modules or units for implementing the method in the second aspect and any possible implementation of the second aspect. It should be understood that each module or unit can implement the corresponding function by executing a computer program.

[0072] Exemplarily, the communication device includes a processing module for obtaining incremental information of a power delay spectrum, the incremental information being determined based on a first power delay spectrum and a second power delay spectrum, the first power delay spectrum being the power delay spectrum of the channel at a first moment, the second power delay spectrum being the power delay spectrum of the channel at a second moment, the first power delay spectrum and the second power delay spectrum being obtained by the communication device measuring the channel; and being used to determine whether an environmental change has occurred to the communication device based on the incremental information.

[0073] Optionally, the incremental information is a differential vector between the first power delay spectrum and the second power delay spectrum, and the differential vector includes a differential value of an amplitude and a differential value of a phase of each path in the channel.

[0074] Correspondingly, the processing module is specifically used to: determine that the environment of the communication device has not changed when the differential value of the amplitude of each path in the channel is less than the first preset threshold, and the differential value of the phase of each path in the channel is less than the second preset threshold; or determine that the environment of the communication device has changed when the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or when the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold.

[0075] Optionally, the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum.

[0076] Accordingly, the processing module is specifically used to: determine that no environmental change has occurred to the communication device when the incremental information is less than a third preset threshold; or determine that an environmental change has occurred to the communication device when the incremental information is greater than or equal to the third preset threshold.

[0077] Optionally, the incremental information is a correlation coefficient between the first power delay profile and the second power delay profile.

[0078] Accordingly, the processing module is specifically used to: determine that no environmental change has occurred in the communication device when the incremental information is greater than a fourth preset threshold; or determine that an environmental change has occurred in the communication device when the incremental information is less than or equal to the fourth preset threshold.

[0079] In a sixth aspect, the present application provides a communication device, comprising a processor, wherein the processor is configured to execute program code so that the communication device implements the measurement method described in the second aspect and any possible implementation manner of the second aspect.

[0080] It should be understood that the communication device in the third aspect or the fourth aspect can be used to implement the measurement method in the aforementioned second aspect, so the communication device can also be called a measurement device.

[0081] Optionally, the apparatus described in the fourth or sixth aspect may further include a memory for storing instructions and data. The memory is coupled to the processor, and when the processor executes the instructions stored in the memory, the methods described in the above aspects may be implemented. The apparatus may further include a communication interface for communicating between the apparatus and other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0082] In the seventh aspect, the present application provides a chip system comprising at least one processor for supporting the implementation of the functions involved in the above-mentioned first aspect or second aspect and any possible implementation of the first aspect or second aspect, for example, receiving or processing the data and / or information involved in the above-mentioned method.

[0083] In one possible design, the chip system further includes a memory, which is used to store program instructions and data, and the memory is located inside or outside the processor.

[0084] The chip system can be composed of chips, or can include chips and other discrete devices.

[0085] In an eighth aspect, the present application provides a computer-readable storage medium comprising a computer program, which, when executed on a computer, enables the computer to implement the method in the first aspect or the second aspect and any possible implementation manner of the first aspect or the second aspect.

[0086] In the ninth aspect, the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions), which, when executed, enables the computer to execute the method in the above-mentioned first aspect or second aspect and any possible implementation of the first aspect or second aspect.

[0087] In a tenth aspect, an embodiment of the present application provides a communication system, comprising the aforementioned communication device.

[0088] Optionally, the communication device is a SEN, and the communication system further includes a LMF.

[0089] Optionally, the communication device is a LMF.

[0090] It should be understood that the third to tenth aspects of the present application correspond to the technical solutions of the first or second aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] FIG1 is a schematic diagram of the architecture of a communication system applicable to the method provided in an embodiment of the present application;

[0092] Figure 2 is the fifth generation (5 th Schematic diagram of the positioning architecture in 5G mobile communication systems;

[0093] FIG3 is a schematic diagram of a network architecture for sensing;

[0094] FIG4 is a schematic flow chart of a sensing method according to an embodiment of the present application;

[0095] FIG5 is a schematic diagram of a delay power spectrum provided in an embodiment of the present application;

[0096] FIG6 is a schematic diagram of a network architecture applicable to the perception method provided in an embodiment of the present application;

[0097] FIG7 is a schematic flow chart of a sensing method provided in another embodiment of the present application;

[0098] FIG8 is a schematic flow chart of a sensing method provided in yet another embodiment of the present application;

[0099] FIG9 is a schematic flow chart of a measurement method provided in yet another embodiment of the present application;

[0100] FIG10 is a schematic block diagram of a device provided in an embodiment of the present application;

[0101] FIG11 is another schematic block diagram of the apparatus provided in an embodiment of the present application. DETAILED DESCRIPTION

[0102] The technical solution in this application will be described below with reference to the accompanying drawings.

[0103] To facilitate understanding of the embodiments of the present application, the following points are first explained:

[0104] First, in the embodiments of the present application, the use of prefixes such as "first" and "second" is merely to facilitate the distinction and description of different things belonging to the same name category, and does not restrict the order, size, or quantity of the things. For example, "first power delay spectrum" and "second power delay spectrum" are simply power delay spectra measured at different times, and do not limit the order of measurement or the priority relationship, nor do they limit the number of power delay spectra measured.

[0105] Second, the terms "send" and "receive" in the embodiments of this application indicate the direction of signal transmission. For example, "sending a message to the LMF" can be understood as the destination of the message being the LMF, and "receiving a message from the access and mobility management function (AMF)" can be understood as the source of the configuration message being the AMF. "Sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface.

[0106] It is understood that before a message is sent from a source end to a destination end, it may undergo necessary processing, such as encoding and modulation. After receiving the message from the source end, the destination end may also perform corresponding processing, such as decoding and demodulation, to interpret the valid information from the source end. Similar expressions in this application can be understood similarly and will not be repeated here.

[0107] Third, in the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship, but does not exclude the situation where the previous and next associated objects are in an "and" relationship. The specific meaning can be understood in conjunction with the context. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a and b and c. Where a, b, c can be single or multiple.

[0108] Fourth, the tables in the embodiments of the present application are only examples. The values ​​of the information in each table are only examples and can be configured as other values, which are not limited by the present application. The tables do not limit the scope of protection of the present application. For example, appropriate deformation adjustments can be made based on the tables in the above text, such as splitting, merging, etc. For another example, the parameter names shown in the titles of the tables can also use other names that can be understood by the communication device, and the values ​​or representations of the parameters can also use other values ​​or representations that can be understood by the communication device. For another example, when implementing the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables.

[0109] Fifth, in the embodiments of the present application, descriptions such as "when...", "in the case of...", "if" and "if" all mean that the device (such as a sensing device, SEN or eLMF) will make corresponding processing under certain objective circumstances. It does not limit the time, and does not require the device (such as a sensing device, SEN or eLMF) to have a judgment action when implemented, nor does it mean that there are other limitations.

[0110] Sixth, the predefined in this application can be understood as: define, predefine, store, pre-store, pre-negotiate, pre-configure, solidify, or pre-burn.

[0111] Seventh, the storage involved in this application may refer to storage in one or more memories. The one or more memories may be provided separately or integrated into an encoder or decoder, a processor, or a communication device. The one or more memories may also be provided in part separately and in part integrated into a decoder, a processor, or a communication device. The type of memory may be any form of storage medium, and this application is not limited thereto.

[0112] Eighth, in the embodiments of this application, a core network element (SEN) or SMF is introduced, which can be used for sensing, for example, the surrounding environment, such as whether there is an intruder, or the distance, direction, and position of surrounding reflective objects. It should be understood that the names SEN and SMF are simply used to distinguish them from other core network elements and should not constitute any limitation on this application. This application does not exclude the possibility of defining other names for them in future protocols.

[0113] The technical solutions provided in this application can be applied to various communication systems, such as: long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, sidelink (SL) communication system, world-wide interoperability for microwave access (WiMAX) communication system, 5G mobile communication system or new radio access technology (NR), satellite communication system, etc. Among them, the 5G mobile communication system may include non-standalone (NSA) and / or standalone (SA) networking.

[0114] The technical solution provided in this application can also be applied to future communication systems, such as the sixth generation (6G) mobile communication system, etc. This application does not limit this.

[0115] In this application, a radio access network (RAN) device is a device with wireless transceiver capabilities. It can provide wireless communication services and connect terminals to a wireless network. It can be a node in a radio access network, referred to as a RAN node.

[0116] In one possible scenario, a RAN node may be a base station (BS), an evolved NodeB (eNodeB), a transmission reception point (TRP), a home evolved NodeB (HNB), a wireless fidelity (Wi-Fi) access point (AP), a mobile switching center, a next-generation evolved NodeB (ng-eNB) in an LTE system, a next-generation NodeB (gNB) in a 5G mobile communication system, a next-generation NodeB in a 6G mobile communication system, or a base station in a future mobile communication system. A RAN node may also be a device that performs base station functions in device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, machine-to-machine (M2M) communication systems, and Internet of Things (IoT) communication systems. The RAN node can also be a RAN node in a non-terrestrial network (NTN), that is, the RAN node can be deployed on a high-altitude platform or a satellite. The RAN node can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, etc., or a wireless controller in a cloud radio access network (CRAN) scenario, a node in an open radio access network (O-RAN or ORAN) scenario, etc. Optionally, the RAN node can also be a server, a wearable device, a vehicle or an on-board device, etc. For example, the RAN node in V2X technology can be a road side unit (RSU). Of course, the RAN node can also be a node in the core network.

[0117] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP) (abbreviated as: CU-CP), a CU-user plane (UP) (abbreviated as: CU-UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH).

[0118] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meanings. For example, in the ORAN system, CU may be referred to as Open CU (O-CU), DU may be referred to as Open DU (O-DU), CU-CP may be referred to as Open CU-CP (O-CU-CP), CU-UP may be referred to as Open CU-UP (O-CU-UP), and RU may be referred to as Open RU (O-RU).

[0119] Among them, any unit among CU (or CU-CP, CU-UP), DU and RU can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. That is, the wireless access network device in this application can be a virtualized device, for example, implemented by general hardware and instantiated virtualization functions, or by dedicated hardware and instantiated virtualization functions. Among them, the general hardware can be a server, such as a cloud server.

[0120] The terminal device in this application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device.

[0121] The terminal device may be a device that provides voice / data connectivity to users, such as a handheld device or vehicle-mounted device with wireless connection function. At present, some examples of terminal devices may include: mobile phones, tablet computers, computers with wireless transceiver functions (such as laptops, PDAs, etc.), mobile internet devices (MIDs), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, drones, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication functions, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (PLMNs). Mobile network, PLMN) terminal equipment, etc.

[0122] Wearable devices, also known as wearable smart devices, are a general term for wearable devices that use wearable technology to intelligently design and develop wearable devices for daily wear, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. In a broad sense, wearable smart devices include those that are fully functional, large in size, and can achieve full or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0123] Furthermore, terminal devices can also be end devices in IoT systems. IoT is a crucial component of future information technology development. Its primary technical feature is connecting objects to the internet through communication technologies, thereby enabling intelligent networks that interconnect humans and machines, and objects and things. IoT technology, for example, utilizes narrowband (NB) technology to achieve massive connectivity, deep coverage, and power-saving terminals.

[0124] In addition, terminal devices can also include sensors such as smart printers, train detectors, and gas stations. Their main functions include collecting data (part of the terminal devices), receiving control information and downlink data from network devices, and sending electromagnetic waves to transmit uplink data to network devices.

[0125] The terminal device in this application may be a virtualized device, for example, implemented by general-purpose hardware and instantiated virtualization functions, or by dedicated hardware and instantiated virtualization functions. The general-purpose hardware may be a server, for example, a cloud server.

[0126] It should be understood that the present application does not limit the specific forms of the wireless access network device and the terminal device.

[0127] Figure 1 is a schematic diagram of the architecture of a communication system 10 applicable to the method provided in an embodiment of the present application. As shown in Figure 1 , the communication system 10 includes a radio access network 100 and a core network 200. Optionally, the communication system 10 may also include the Internet 300. The radio access network 100 may include at least one radio access network device (such as 110a and 110b in Figure 1 ) and at least one terminal (such as 120a-120j in Figure 1 ).

[0128] Terminals can connect to radio access network equipment wirelessly, and radio access network equipment can connect to the core network wirelessly or via wired connections. Core network equipment and radio access network equipment can be independent, distinct physical devices, or they can integrate the core network equipment's functions and the radio access network equipment's logical functions into the same physical device. Alternatively, a single physical device can integrate some core network equipment functions and some radio access network equipment functions. Terminals and radio access network equipment can connect to each other via wired or wireless connections.

[0129] Wireless access network devices and terminals, wireless access network devices, and terminals can communicate through authorized spectrum, unauthorized spectrum, or both. They can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or both. The embodiments of this application do not limit the spectrum resources used for wireless communications.

[0130] The wireless access network device may be a base station deployed in the air, such as a satellite base station 110a; or a base station deployed indoors, such as a micro base station or an indoor station 110b.

[0131] The terminal can be a terminal deployed in the air, such as the helicopter or drone 120i in Figure 1; it can also be a terminal deployed on the ground, such as the mobile phones 120a, 120e, 120f and 120j, vehicle 120b, computer 110b, printer 120h, etc. in Figure 1.

[0132] Wireless access network equipment and terminals can be fixed or mobile. For example, they can be deployed on land, indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites.

[0133] The roles of radio access network devices and terminals can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile base station. For devices 120j accessing the radio access network 100 via 120i, 120i is a base station; however, for 110a, 120i is a terminal. That is, communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via an interface protocol between radio access network devices. In this case, 120i is also a base station relative to 110a. Therefore, radio access network devices and terminals can be collectively referred to as communication devices. 110a, 110b, and 120a-120j in Figure 1 can be referred to as communication devices having their respective corresponding functions, such as a communication device having base station functions or a communication device having terminal functions.

[0134] It should be understood that FIG1 is only a schematic diagram, and the communication system may further include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in FIG1 .

[0135] In order to better understand the method provided in the present application, the positioning architecture in 5G is described below in conjunction with Figure 2. The positioning architecture in 5G is shown in Figure 2. The terminal device can be connected to the gNB through the NR-air interface (Uu interface), or it can be connected to the ng-eNB through the LTE-Uu port. The gNB and ng-eNB are respectively connected to the core network through the next generation (NG)-control plane interface (NG-C interface) port, and the gNB and ng-eNB can interact through the Xn port. The gNB and ng-eNB can be collectively referred to as the NG radio access network (NG-RAN). Exemplarily, the gNB and ng-eNB can be connected to the access and AMF in the core network, and can be further connected to the location management function (location management function) in the core network through the AMF to interact with the measurement data.

[0136] Positioning based on the NR-Uu port includes three categories: uplink positioning, downlink positioning, and uplink and downlink positioning. Among them, in uplink positioning, the terminal device sends a reference signal, such as a sounding reference signal (SRS). One or more base stations, such as TRP, gNB, NG-eNB, etc., can perform positioning measurements based on the received reference signal to obtain relative time of arrival (RTOA), angle of arrival (AOA), reference signal receiving power (RSRP), etc. The base station can transmit the measured positioning data to the LMF in the core network through the NR positioning protocol annex (NRPPa) or the LTE positioning protocol annex (LPPa), and the LMF calculates the position of the terminal device. In downlink positioning, multiple base stations send reference signals, such as positioning reference signals (PRS). The terminal device can perform positioning measurements based on the received reference signals to obtain the reference signal time difference (RSTD), the reference signal transmission angle (AOD), RSRP, etc. between different base stations. The terminal device can send the obtained positioning data to the LMF through the LTE positioning protocol (LPP), and the LMF calculates the position of the terminal device. Uplink and downlink positioning is a combination of uplink positioning and downlink positioning, which can be implemented by combining the above-mentioned uplink positioning process and downlink positioning process, which will not be repeated here.

[0137] It should be understood that the positioning architecture shown in FIG2 is only a possible example and should not constitute any limitation to the present application.

[0138] With the development of communication technology, user demands are also increasing. For example, in the field of autonomous driving, the car not only needs to accurately locate its own position, but also needs to understand the surrounding environment, such as whether there are pedestrians or vehicles approaching, the number of pedestrians and vehicles, the direction of movement, and speed. Therefore, it is necessary to perceive the surrounding environment.

[0139] ISAC technology has become a key focus of standards research. It enables systems to combine communication and perception capabilities, improving spectrum efficiency and hardware resource utilization, while reducing application costs. To achieve this, proposals have been proposed to add independent perception functional units to the core network architecture to sense the surrounding environment.

[0140] Figure 3 shows an example of an existing network architecture. As shown in Figure 3, the SEN is connected to the AMF and can communicate with radio access network devices and terminals through the AMF. Because the SEN is independent of other network elements, it is necessary to define perception measurements for the SEN and the transmission protocol between the SEN and radio access network devices. This may result in a significant standardization effort.

[0141] In view of this, the present application provides a sensing method that, when sensing is required, uses the positioning data obtained during the positioning process for sensing, thereby determining a sensing result based on the positioning data. Because the positioning process, the parameters measured during the positioning process, and the transmission protocols between network elements are standardized, using the positioning data obtained during the positioning process for sensing can reduce the standardization work required to define the sensing process, the parameters measured during the sensing process, and the transmission protocols between network elements. Furthermore, because the positioning data can be processed to obtain a sensing result, reusing the positioning data can reduce the repeated measurement and processing of the same parameters, thereby saving transmission and processing resources.

[0142] The sensing method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0143] FIG4 is a schematic flow chart of a perception method 400 provided in an embodiment of the present application. The method shown in FIG4 can be applied to a perception device, which is a network element deployed in a core network and can be used to implement perception functions. For example, it can be the aforementioned SEN, SMF, or other network element, or it can also be a component configured in the SEN, SMF, or other network element, such as a chip, chip system, etc., or it can also be a module that can be used to implement all or part of the functions of the perception device, and this application is not limited to this.

[0144] The method 400 shown in FIG4 may include steps 410 to 430 . Each step in the method 400 is described in detail below.

[0145] In step 410, a sensing service request message is received, where the sensing service request message is used to request sensing of a sensing object.

[0146] Exemplarily, the sensing device may receive a sensing service request message from the AMF. Since the AMF can distinguish between various terminal devices, grasp the identification of each terminal device, and can distinguish which radio access network device each terminal device is connected to, the AMF can be used to be responsible for communication between the device on the radio access network side and the core network element.

[0147] The perception service request message can be, for example, a message generated and sent by the AMF itself, such as a network-introduced (NI) perception service request (NI-sensing service request) message; or it can be a message generated by other network elements in the core network (such as a trusted application function (AP) or network management, etc.) and forwarded to the perception device via the AMF, such as NI-sensing service request; or it can be a message received from the wireless access network device to which it is connected, such as a terminal-initiated (mobile original, MO) perception service request (MO-sensing service request) message; or it can be a message received from an external network, such as a terminal-terminated (mobile terminated, MT) perception service request (MT-sensing service request) message, which is not limited in this application.

[0148] It can be understood that NI-sensing service request, MO-sensing service request and MT-sensing service request are essentially sensing service request messages. The different names are only for the convenience of distinguishing the source of the sensing service request messages and should not constitute any limitation to this application.

[0149] The perception object is also the target of perception, which can be a terminal device, an area, or both a terminal device and an area.

[0150] The perception service request message may include information for indicating the perception object, so that the perception device can clearly identify the perception target. Exemplarily, when the perception object is a terminal device, the information for indicating the perception object may be the identifier of the terminal device, such as, but not limited to, a user permanent identifier (SUPI), a generic public subscription identifier (GPSI), and an internet protocol (IP). When the perception object is an area, the information for indicating the perception object may be the geographical location area, zip code, civic address, etc. of the area.

[0151] In addition to the sensing object, the sensing service request message may also include information indicating the requested sensing result.

[0152] When the perception object is a terminal device, the perception result of the terminal device includes one or more of the following: the position of the terminal device, the moving direction of the terminal device, the moving speed of the terminal device, whether there are other objects around the terminal device, or the number of other objects around the terminal device. When the perception object is an area, the perception result of the area includes one or more of the following: whether there are objects in the area, the size of the objects in the area, the number of objects in the area, the position of the objects in the area, whether there are objects invading the area, the position of the objects invading the area, the number of objects invading the area, the moving direction of the objects invading the area, or the moving speed of the objects invading the area, etc. When the perception object includes a terminal device and an area, the perception results of the terminal device and the area include the aforementioned perception results of the terminal device and the perception results of the area, which will not be repeated.

[0153] It is understood that when other objects are detected around the terminal device, the perception result may further include the number of other objects around the terminal device. When no other objects are detected around the terminal device, the perception result may not include the number of other objects around the terminal device. When objects are detected intruding into the area, the perception result may further include at least one of the number of objects intruding into the area, the location of each object, the movement direction of each object, or the movement speed of each object.

[0154] In one possible implementation, the perception service request message may indicate different items in the perception result through different identifiers, which may be recorded as an event identifier (event ID), for example. The following table shows the correspondence between different event identifiers and different items in the perception result.

[0155] Table 1

[0156] It should be understood that Table 1 is only an example, showing the correspondence between different event identifiers and different perception results. The correspondence between each event identifier and the perception result is not limited to this, and the perception result may also contain more or fewer items than the items listed above. Moreover, the information used to indicate the perception result in the perception service request message may not be limited to this, and this application does not limit this.

[0157] Optionally, the perception service request message also includes information indicating a performance indicator of the perception result.

[0158] The performance indicators of perception results indicate the performance requirements that the perception results must meet. Examples of these performance indicators include, but are not limited to, resolution, accuracy, latency, or sensing range. Resolution indicates the closest proximity between two adjacent objects that can be distinguished, and can be evaluated based on factors such as distance, velocity, and angle. For example, a distance resolution of 5 meters indicates that measurements are performed with a maximum granularity of 5 meters; for example, all objects within a 5-meter range are considered a single object. Latency indicates the time or upper limit from a signal transmitter to a signal receiver, or the time or upper limit from a signal receiver to transmit a perception result, or the time or upper limit from a signal transmitter to a signal receiver. For example, a latency of 1 second indicates that the delay from receiving a signal to reporting a perception result cannot exceed 1 second. Accuracy indicates the degree of closeness between the measured value and the true value of an object's or terminal's position, angle, distance, or velocity. For example, an accuracy of 1 meter indicates that the position error cannot exceed 1 meter. Alternatively, accuracy can be described using root mean square error (RMS) or mean square error (MSE). The perception range indicates the minimum measurable range, or the maximum measurable range, or the range extending beyond a specified area. For example, the perception range is 500 square meters.

[0159] Optionally, the perception service request message also includes information indicating the number of times the perception result is reported.

[0160] The number of times the perception result is reported may be, for example, one or more times, or may be reported periodically, which is not limited in this application.

[0161] In summary, the sensing service request message may include information indicating one or more of the following: a sensing object, a sensing range, a sensing result, a performance indicator of the sensing result, or a number of times the sensing result is reported.

[0162] In one example, the perception service request message includes information indicating the following: the perception object is UE 1; the perception result is whether there are other objects around the perception object; the performance indicators of the perception result are: resolution 1 meter, delay 1 second; the number of times the perception result is reported is once.

[0163] In another example, the perception service request message includes information indicating the following: the perception object is area A; the perception result is the number of objects in the area and the position, speed, and movement direction of the objects; the performance indicators of the perception result are: resolution 5 meters, delay 1s; the number of times the perception result is reported is once.

[0164] It is understandable that the above examples are shown only for ease of understanding and should not constitute any limitation to this application. When the perception service request message indicates some of the aforementioned items, the other items can be executed according to pre-set default values. For example, when the perception service request message indicates the perception object, the perception result, the performance indicator of the perception result, and the number of reports of the perception result can all be executed with reference to the default value. For example, the perception result can correspond to the perception object, and the performance indicator of the perception result and the number of reports of the perception result can also be predefined.

[0165] In one possible implementation, the perception service request message may include multiple fields, each field being used to carry information indicating one of the following: the requested perception object, the requested perception result, the performance indicator of the requested perception result, or the number of reports of the requested perception result. The position of each field in the perception service request message may be predefined, or the order of the multiple fields in the perception service request message may be predefined, or the content indicated by the information carried by each field may be indicated by a specific name; when the information carried in each field is used to indicate specific content, it may be, for example, an identifier corresponding to the content to be indicated, or a specific numerical value, etc., which is not limited in this application.

[0166] In step 420, positioning data is obtained based on the sensing service request message.

[0167] The sensing device can obtain positioning data in response to a received sensing service request message. Here, positioning data can be measurement data obtained by initiating a positioning process for a communication device associated with the sensing object. In other words, the sensing device can trigger a positioning process in response to the sensing service request message to obtain positioning data.

[0168] The positioning process is initiated for the communication device related to the sensing object.

[0169] For example, when the perception object includes a terminal device, the communication device related to the perception object includes one or more of the following: a wireless access network device to which the terminal device accesses, other wireless access network devices near the wireless access network device to which the terminal device accesses, or other terminal devices located near the terminal device. Since the location of a wireless access network device is generally fixed, the core network network element can select other wireless access network devices in its vicinity to initiate a positioning process based on the location of the service base station to which the terminal device as the perception object accesses. Similar to wireless access network devices, some terminal devices are also installed at fixed points, so the core network network element can also select other terminal devices in its vicinity to initiate a positioning process based on the location of the service base station to which the terminal device as the perception object accesses. In addition, other wireless access network devices near the wireless access network to which the terminal device as the perception object accesses, and other terminal devices near the terminal device as the perception object can also be determined based on historical measurement data, which is not limited in this application.

[0170] For another example, when the perception object includes an area, the communication devices associated with the perception object include one or more of the following: terminal devices and / or wireless access network devices located within the area, or terminal devices and / or wireless access network devices located around the area. The terminal devices and / or wireless access network devices around the area may refer to terminal devices and / or wireless access network devices within an extended range outside the area identified in the perception range.

[0171] For another example, when the perception object includes a terminal device and an area, the communication devices related to the perception object include one or more of the following: a wireless access network device accessed by the terminal device serving as the perception object, other wireless access network devices near the wireless access network device accessed by the terminal device, other terminal devices near the terminal device, terminal devices and / or wireless access network devices within the area serving as the perception object, or terminal devices and / or wireless access network devices around the area.

[0172] Exemplarily, positioning data may include one or more of the following parameters: AOD, AOA, TOA, time difference of arrival, received power (e.g., RSRP), or phase. As previously mentioned, the positioning process is initiated for communication devices, and positioning data can be obtained from these communication devices. In other words, obtaining positioning data includes receiving positioning data from communication devices associated with the sensing object. Accordingly, each communication device associated with the sensing object sends positioning data to the sensing device.

[0173] One possible implementation is that each communication device sends various parameters obtained by measuring the first path and differential values ​​of other paths relative to the various parameters of the first path to the sensing device, thereby reducing signaling overhead.

[0174] For details on the implementation of the positioning process and the parameters included in the positioning data, please refer to the Third Generation Partnership Project (3 rd Generation Partnership Project (3GPP) technical specifications (TS) 38.455 and 37.355, which are not described in detail here.

[0175] In an embodiment of the present application, in addition to including one or more parameters listed above, the positioning data also includes incremental information of the power delay spectrum. This incremental information can be determined based on the power delay spectrum of each path in the channel at different times. In other words, this incremental information can be used to describe whether the channel changes over time.

[0176] The power delay profile refers to the power level over the delay, which can be represented by the channel impulse response (CIR) or the channel frequency response (CFR) based on the channel's transformation in the time-frequency domain. The CFR can be the CFR for all subcarriers or the CFR extracted based on the reference signal comb value.

[0177] For the convenience of distinction and explanation, the power delay spectrum measured at different times is recorded as the first power delay spectrum and the second power delay spectrum in this article. Taking CIR as an example, the first power delay spectrum can be recorded as X(t 1) =[x1(t1) x2(t1) … x L (t1)], the second power delay spectrum can be recorded as X(t2) = [x1(t2) x2(t2) … x L (t2)], where t1 and t2 represent different moments, x1 to x L It represents the power delay spectrum from the 1st path to the Lth path among L (L is a positive integer). The amplitude of the first power delay spectrum is recorded as Y(t1)=abs(X(t1))=[abs(x1(t1)) abs(x2(t1)) … abs(xabs(x L (t1))], the amplitude of the second power delay spectrum is recorded as Y(t2)=abs(X(t2))=[abs(x1(t2)) abs(x2(t2)) … abs(x L (t2))], abs() means to find the absolute value.

[0178] Among them, L paths can be understood as follows: since the channel may be a multipath channel or a single-path channel, the first power delay spectrum and the second power delay spectrum can be determined by selecting the CIR or CFR of at least one (such as L) path. One possible design is to set L to a value greater than 1, that is, the first power delay spectrum and the second power delay spectrum are power delay spectrums determined based on the CIR or CFR of multiple paths. Setting L to a value greater than 1 allows the change of channel status to be observed by measuring multiple paths, such as the change from single path to multipath, or the change from multipath to single path, or the change of multipath channel, or the change of single-path channel.

[0179] The L paths may be, for example, L paths including the first path and continuous L paths, or L paths starting from the first path and selected in order of arrival with amplitudes exceeding a preset threshold, or L paths starting from the first path with the largest amplitude. The first path may be the path with the earliest arrival time when the signal is transmitted in the channel, and the L paths continuous with the first path may refer to the L paths that are time-continuous with the first path in the CIR or CFR. The value of L may be predefined, such as L being 8; the value of the preset threshold may also be predefined, and this application does not impose any restrictions on this.

[0180] Figure 5 is a schematic diagram of a power delay profile. Figure 5 uses the CIRs of multiple paths as an example of a power delay profile. The figure shows the CIRs of 11 paths, with the path with the earliest arrival time being the leading path, as indicated in the figure. Assuming L is 8, the 8 paths can be 8 consecutive path including the first path, such as the 1st to 8th paths in the figure; or, the 8 path can be 8 path with amplitude exceeding the preset threshold selected in order of arrival starting from the first path, such as the 1st path, the 2nd path, the 4th path to the 6th path, the 8th path to the 10th path in the figure, where the 3rd path, the 7th path and the 11th path are not selected because their amplitude is less than the preset threshold; or, the 8 path can be 8 path with the largest amplitude starting from the first path, such as the 1st path, the 2nd path, the 4th path to the 6th path, the 8th path to the 10th path in the figure, where the 3rd path, the 7th path and the 11th path are not selected because their amplitude is less than the preset threshold.

[0181] It should be understood that the example described above in conjunction with FIG5 is only for ease of understanding and does not constitute any limitation on the present application. The present application does not limit the number of channel paths, the amplitude of each path, the method for determining L paths, and the value of L.

[0182] One possible implementation is to simplify the calculation by normalizing the first power delay spectrum and the second power delay spectrum separately. In this implementation, the amplitude of the first power delay spectrum may be the amplitude calculated for the normalized first power delay spectrum, and the amplitude of the second power delay spectrum may be the amplitude calculated for the normalized second power delay spectrum. Exemplarily, the normalization of the power delay spectrum may be energy normalization, and the energy of the first power delay spectrum after energy normalization satisfies: The energy of the second power delay spectrum after energy normalization satisfies:

[0183] Optionally, the incremental information is a differential vector between a first power delay spectrum and a second power delay spectrum of a channel.

[0184] Taking the first power delay profile X(t1) and the second power delay profile X(t2) as examples, the incremental information ΔPDP of the power delay profile can be calculated by the following formula: ΔPDP=X(t2)-X(t1).

[0185] The CIR of each path includes amplitude and phase, so the differential vector between the first power delay spectrum and the second power delay spectrum includes the differential value of the amplitude and the differential value of the phase corresponding to each path.

[0186] Optionally, the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum of the channel.

[0187] [Corrected 20.06.2024 in accordance with Rule 91] For example, the incremental information is the sum of the energy differences corresponding to each path in the first power delay profile and the second power delay profile. Taking the first power delay profile X(t1) and the second power delay profile X(t2) above as an example, the incremental information ΔPDP of the first power delay profile and the second power delay profile can be calculated using one of the following equations: or

[0188] For another example, the incremental information is the sum of the squares of the energy differences of each path in the first power delay spectrum and the second power delay spectrum. Taking the first power delay spectrum X(t1) and the second power delay spectrum X(t2) above as an example, the incremental information ΔPDP of the first power delay spectrum and the second power delay spectrum can be calculated by the following formula:

[0189] Optionally, the incremental information is a correlation coefficient between a first power delay spectrum and a second power delay spectrum of a channel.

[0190] Taking the first power delay profile X(t1) and the second power delay profile X(t2) as an example, the incremental information ΔPDP of the power delay profile can be calculated by the following formula: ΔPDP = 1 - Y(t2)Y(t1) T , the superscript T indicates transpose.

[0191] It should be understood that the calculation methods for the incremental information of the first power delay spectrum and the second power delay spectrum listed above are only examples, and the present application includes but is not limited to them. For example, the incremental information of the first power delay spectrum and the second power delay spectrum can also be the difference in amplitude between the first power delay spectrum and the second power delay spectrum. In this case, it can be determined whether the environment of the perceived object has changed based on the relationship between the difference in amplitude and the aforementioned first preset threshold. It can be understood that those skilled in the art can make more deformations or mathematical transformations based on the calculation methods for incremental information listed above to obtain more possible calculation methods for incremental information. These calculation methods are all determined based on the first power delay spectrum and the second power delay spectrum, and should all fall within the scope of protection of the present application.

[0192] In step 430 , a perception result is determined based on the positioning data.

[0193] As previously mentioned, the positioning data in the embodiments of the present application includes incremental information about the power delay spectrum, which can be used to describe whether the channel changes over time. Channel changes may be caused by an object intruding into the environment. Therefore, based on this incremental information, the sensing device can determine whether the environment of the perceived object has changed. The sensing device can further combine this with other positioning data to determine the sensing result.

[0194] Optionally, step 430 includes:

[0195] Step 4301: Determine whether an environmental change occurs to the sensing object based on the incremental information of the power delay spectrum.

[0196] Step 4302: Determine the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, and whether the environment of the perception object changes.

[0197] The following is a detailed description of step 4301 and step 4302.

[0198] In step 4301, the understanding of environmental changes varies depending on the perceived object. For a perceived object such as an area, an environmental change in the perceived object may mean that the environment within the area has changed, such as an object intruding, an object in the area has moved, or the speed and / or direction of the movement has changed, etc. For a perceived object such as a terminal device, an environmental change in the perceived object may mean that the environment in which the terminal device is located has changed. This change may be caused by the movement of the terminal device itself, or by a change in the environment surrounding the terminal device, such as an object intruding.

[0199] Because environmental changes may cause changes in channel states, this application determines whether the channel state has changed, and thus whether the environment has changed, by measuring the channel state. The channel may be a single-path channel or a multipath channel. For example, changes in channel state may be changes in the state of a single-path channel at different times, or changes in the state of a multipath channel at different times. It may also be a change from a single-path channel at one moment to a multipath channel at a later moment, or from a multipath channel at one moment to a single-path channel at a later moment. These changes can be determined using the incremental information of the power delay profile.

[0200] The following describes how to determine whether an environmental change has occurred to a perceived object based on the incremental information, in combination with the three possible designs for incremental information.

[0201] Optionally, the incremental information is the differential vector of the first power delay spectrum and the second power delay spectrum of the channel. When the differential value of the amplitude of each path in the channel is less than the first preset threshold, and the differential value of the phase of each path is less than the second preset threshold, it is determined that the environmental change of the perceived object has not occurred; when the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or when the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold, it is determined that the environmental change of the perceived object has occurred.

[0202] Among them, the first preset threshold is the preset threshold corresponding to the amplitude, and the second preset threshold is the preset threshold corresponding to the phase. Both can be predefined values. This application does not limit the values ​​of the first preset threshold and the second preset threshold.

[0203] Optionally, the incremental information is the differential energy between the first power delay spectrum and the second power delay spectrum of the channel. When the incremental information is less than a third preset threshold, it is determined that no environmental change has occurred to the perceived object; when the incremental information is greater than or equal to the third preset threshold, it is determined that an environmental change has occurred to the perceived object.

[0204] The third preset threshold is a preset threshold corresponding to the sum of the energy differences and may be a predefined value. This application does not limit the value of the third preset threshold.

[0205] It can be understood that the greater the energy change, the greater the channel environment change, which means that the environment of the perceived object may have changed; the smaller the energy change, the smaller the channel environment change, which means that the environment of the perceived object has not changed.

[0206] Optionally, the incremental information is a mutual correlation coefficient between the first power delay spectrum and the second power delay spectrum of the channel. When the mutual correlation coefficient is greater than a fourth preset threshold, it is determined that no environmental change has occurred to the perceived object; when the mutual correlation coefficient is less than or equal to the fourth preset threshold, it is determined that an environmental change has occurred to the perceived object.

[0207] The fourth preset threshold is a preset threshold corresponding to the cross-correlation coefficient and may be a predefined value. This application does not limit the value of the fourth preset threshold.

[0208] It can be understood that the value of the cross-correlation coefficient ranges from 0 to 1. The closer the cross-correlation coefficient is to 1, the more similar the first power delay profile and the second power delay profile of the channel are, which means the channel environment has changed less, and thus it can be inferred that the environment of the perceived object has not changed. The smaller the cross-correlation coefficient is, the less similar the first power delay profile and the second power delay profile of the channel are, which means the channel environment has changed more, and thus it can be inferred that the environment of the perceived object has changed.

[0209] It should also be understood that the incremental information listed above and the specific methods for determining whether an environmental change has occurred to a perceived object based on the incremental information are merely examples and should not constitute any limitation on this application. Those skilled in the art can, based on the same concept, make simple changes or substitutions based on the examples provided above to achieve the same or similar effects, and such changes or substitutions should fall within the scope of protection of this application.

[0210] In step 4302, the sensing device may further determine the sensing result by combining one or more of the signal's AOD, AOA, TOA, arrival time difference, phase or received power.

[0211] It can be understood that the AOD, AOA, TOA, arrival time difference, phase or received power of the above-mentioned signals are other positioning data in the positioning data except whether the environmental changes of the perceived object have occurred. In other words, these parameters all belong to the positioning data and are obtained in the positioning process.

[0212] For example, when a region is the sensing object, the location of each communication device (such as a wireless access network device and / or a terminal device) within the region can be determined based on other positioning data. Furthermore, combined with whether the environment in the region has changed, it can be determined whether the number of objects in the region, the location of the objects, and other factors have changed, as well as the nature of the changes. This allows for a more comprehensive sensing result.

[0213] For example, when a terminal device is the sensing object, the location of the terminal device can be determined based on other positioning data, and then combined with whether the environment of the terminal device has changed, it can be determined whether there is an intrusion around the terminal device, the location of the intrusion object, etc. In this way, a more comprehensive sensing result can be obtained.

[0214] It should be understood that the above examples of determining perception results are merely examples, and this application does not limit which positioning data the perception device combines, nor how to combine these positioning data to determine the perception results.

[0215] Optionally, the method further includes: initiating a perception process on a communication device related to the perception object to obtain perception data.

[0216] That is to say, the perception device may also initiate a perception process for the communication device related to the perception object in response to the received perception service request message.

[0217] For example, in a single-station sensing process, the radio access network device can transmit a reference signal and detect the echo signal to obtain channel state information (CSI) or echo channel parameters, such as the delay, angle, received energy, and Doppler information of the first and multipath paths. These parameters measured by the radio access network device are collectively referred to as sensing data. The radio access network device transmits the measured sensing data to the sensing device, which then senses the surrounding environment, such as whether there is an intruder or the distance, direction, and location of surrounding reflective objects.

[0218] Among them, the wireless access network device can be the wireless access network device to which the terminal device accesses or other wireless access network devices near the wireless access network device when the perception object is a terminal device; or it can be the wireless access network device within or around the area when the perception object is an area.

[0219] In the dual-station or multi-station sensing process, the terminal device can send a reference signal, and one or more wireless access network devices can measure CSI or channel parameters based on the reference signal, such as the delay, angle, and received energy of the first path and multipath, and send the measured sensing data to the sensing device, which perceives the surrounding environment, such as whether there is an intruder, or the distance, direction, and position of surrounding reflective objects.

[0220] Among them, the terminal device that sends the reference signal can be, for example, the perception object itself when the perception object is a terminal device, or other terminal devices near the perception object; or it can be a terminal device within or around the area when the perception object is an area.

[0221] It should be understood that the perception process exemplified above is only one possible implementation method, and this application does not limit the specific perception process.

[0222] It can be seen that the perception data obtained by the above perception process and the positioning data obtained by the aforementioned positioning process have many overlapping parameters, such as the signal's departure angle, arrival angle, arrival time, arrival time difference, phase, or received power. In one possible design, different methods can be used to implement the positioning process and the perception process to obtain positioning data and perception data in different ways. The perception data can be processed based on the obtained positioning data and perception data to obtain more accurate measurement results.

[0223] Furthermore, step 4302 may include: determining the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal in the positioning data, the perception data, and whether the environmental changes of the perception object occur.

[0224] As previously mentioned, by processing the same parameters in positioning data and perception data, more accurate measurement results can be obtained. Further incorporating the parameter of whether the perceived object has experienced environmental changes can provide a more comprehensive perception result. The perception result is determined based on one or more of the signal's angle of departure, angle of arrival, time of arrival, time difference of arrival, phase, or received power, as well as whether the perceived object has experienced environmental changes. This has been demonstrated in the previous examples and will not be repeated here.

[0225] Based on the above solution, upon receiving a sensing service request message, the sensing device can trigger a positioning process to obtain positioning data, use this positioning data for sensing, and determine the sensing result. This reduces standardization efforts such as defining the parameters for sensing measurements in the sensing process and defining transmission protocols between network elements. Furthermore, since the positioning data is processed to generate the sensing result, reusing positioning data can reduce repeated measurement and processing of the same parameters, saving transmission and processing resources.

[0226] In order to better understand the method provided by this application, the implementation of the above method will be described in more detail below in combination with different architectures.

[0227] In the following, a) and b) in Figure 6 respectively show two possible network architectures suitable for the perception method provided in the embodiment of the present application. Figures 7 and 8 use the network architectures shown in a) and b) in Figure 6 as examples to describe the specific implementation process of the perception method provided in the present application.

[0228] Referring to Figure 6 (a), the LMF (Location Management Module) responsible for positioning and the SEN (Sensor Network Equipment) responsible for sensing are two independent network elements. The SEN can be considered an example of a sensing device in method 400 above. The LMF and SEN are communicatively connected to each other, enabling the exchange of positioning data. The LMF and SEN are each connected to the AMF, and can communicate with the RAN and, in turn, the terminal device through the AMF. The LMF can obtain positioning data from the terminal device and / or the RAN through the AMF, and the SEN can obtain sensing data from the terminal device and / or the RAN through the AMF. It should be understood that the SEN in the figure can also be replaced with an SMF or other network element capable of sensing.

[0229] Referring to FIG. 7 , FIG. 7 takes the architecture shown in FIG. 6 a) as an example and illustrates the specific process of the perception method provided by the embodiment of the present application from the perspective of device interaction. The process shown in FIG. 7 includes the following steps:

[0230] Step 701: AMF obtains the awareness service request message.

[0231] Step 702: AMF forwards the received awareness service request message to SEN.

[0232] For the description of the perception service request message, please refer to the relevant description in step 410 of the above method 400, which will not be repeated here.

[0233] As mentioned above, the perception device can receive perception service request messages from different devices. In this embodiment, the perception service request messages from different devices can be forwarded to the SEN via the AMF. For example, as shown in 701a in the figure, the terminal device sends the MO perception service request message to the AMF, and as shown in 701c in the figure, the perception agent of the external network sends the MT perception service request message to the AMF. The AMF can also generate the NI perception service request message by itself, as shown in 701b in the figure; or, although not shown in the figure, the AMF can also receive the NI perception service request message from other core network elements. This application does not limit this.

[0234] Step 703: The SEN sends a positioning request message to the LMF based on the perception service request message.

[0235] The positioning request message is used to request the LMF to initiate a positioning process. As previously mentioned, the perception service request message includes information indicating one or more of the following: the perception object, the perception result, the performance indicator of the perception result, or the number of times the perception result is reported. The positioning request message is sent by the SEN in response to receiving the perception service request message, and therefore may also carry one or more of the aforementioned information, thereby facilitating the LMF to initiate a positioning process for the communication device related to the perception object.

[0236] Step 704: LMF initiates a positioning process to obtain positioning data.

[0237] Exemplarily, the LMF may trigger the RAN associated with the perception object to send a reference signal to initiate a positioning process for the RAN to obtain positioning data from the RAN, as shown in 704a in the figure, or may trigger the terminal device associated with the perception object to send a reference signal to initiate a positioning process for the terminal device to obtain positioning data from the terminal device, as shown in 704b in the figure.

[0238] For relevant descriptions of the positioning process, please refer to the relevant description in step 430 of the method 400 above, as well as the relevant sections in 3GPP TS38.455 and 37.355, which will not be repeated here.

[0239] Step 705: LMF sends positioning data to SEN.

[0240] After the LFM initiates the positioning process, it can obtain the positioning data. In response to the positioning request message sent by the SEN, the LMF can send the positioning data to the SEN.

[0241] Step 706: The SEN initiates a sensing process based on the sensing service request message and obtains sensing data.

[0242] As previously mentioned, the SEN can not only trigger the positioning process but also initiate the sensing process. For example, the eLMF can trigger the RAN associated with the sensing target to send a reference signal to initiate the sensing process and obtain sensing data from the RAN, as shown in 706a. It can also trigger the terminal device associated with the sensing target to send a reference signal to initiate the sensing process and obtain sensing data from the terminal device, as shown in 706b. For the specific implementation of the sensing process, please refer to the relevant description of method 400 above and will not be repeated here.

[0243] Step 707: The SEN determines the sensing result.

[0244] The SEN can determine the perception result based on the perception data obtained from the perception process and the positioning data from the LMF. The specific process of the SEN determining the perception result can be found in the relevant description of step 430 of the above method 400, which will not be repeated here.

[0245] It should be understood that steps 703 to 705 are the implementation process of the SEN triggering the positioning process, and step 706 is the implementation process of the SEN triggering the perception process. The positioning process and the perception process can be independent of each other. Therefore, this application does not limit the execution order of these two processes. The positioning process can be before the perception process, or after the perception process, or it can be executed simultaneously with the perception process. It should also be understood that in the process shown in Figure 7, step 706 is an optional step that the SEN may or may not execute. The illustrated process is only an example and should not constitute any limitation to this application.

[0246] Based on the above solution, upon receiving a sensing service request message, the SEN can request the LMF to initiate a positioning process to obtain positioning data, thereby determining a sensing result based on the positioning data. This avoids the need for standardized definitions of sensing processes and measurement parameters. The SEN can obtain access network data through interaction with the LMF, thus avoiding standardization efforts such as transmission protocols between the SEN and radio access network equipment, reducing the standardization workload. Furthermore, reusing positioning data can reduce repeated measurement and processing of the same parameters, saving transmission and processing resources. Alternatively, the SEN can initiate a sensing process to obtain sensing data, then fuse this data with positioning data to determine a sensing result, thereby achieving more accurate sensing results. This allows the SEN to determine whether to initiate a sensing process based on its own capabilities and business needs. For example, if its own capabilities are limited, it may not initiate a sensing process, or if business needs require high accuracy, thereby enabling better sensing service provision.

[0247] Referring to b) in Figure 6 , positioning and perception are handled by the same network element, such as the eLMF shown in the figure. This eLMF not only performs the functions of the aforementioned LMF, such as positioning, but also performs the functions of the SEN, such as perception. Therefore, it is named eLMF to distinguish it from the aforementioned LMF. The eLMF may also be referred to as LMF or other names, which are not limited in this application. It is understood that the eLMF can be considered another example of the perception device in method 400 above. Because the eLMF is responsible for both positioning and perception, it can obtain positioning data by initiating a positioning process, and it can also obtain perception data by initiating a perception process. The eLMF is connected to the AMF and can communicate with the RAN, and thus the terminal device, through the AMF. The eLMF can obtain positioning data from the terminal device and / or RAN through the AMF, and it can also obtain perception processes from the terminal device and / or RAN through the AMF.

[0248] Referring to FIG8 , FIG8 illustrates the specific process of the perception method provided by an embodiment of the present application from the perspective of device interaction. The process shown in FIG8 includes the following steps:

[0249] Step 801: AMF obtains the awareness service request message.

[0250] Step 802: AMF forwards the received awareness service request message to eLMF.

[0251] For the description of the perception service request message, please refer to the relevant description in step 410 of the above method 400, which will not be repeated here.

[0252] As mentioned above, the perception device can receive perception service request messages from different devices. In this embodiment, the perception service request messages from different devices can be forwarded to the eLMF via the AMF. For example, as shown in 801a in the figure, the terminal device sends the MO perception service request message to the AMF, and as shown in 801c in the figure, the perception agent of the external network sends the MT perception service request message to the AMF. The AMF can also generate the NI perception service request message by itself, as shown in 801b in the figure; or, although not shown in the figure, the AMF can also receive the NI perception service request message from other core network elements. This application does not limit this.

[0253] Step 803: The eLMF initiates a positioning process based on the sensing service request message to obtain positioning data.

[0254] Exemplarily, the eLMF can trigger the RAN related to the perception object to send a reference signal to initiate the positioning process of the RAN, as shown in 803a in the figure, or it can trigger the terminal device related to the perception object to send a reference signal to initiate the positioning process of the terminal device, as shown in 803b in the figure.

[0255] For relevant descriptions of the positioning process, please refer to the relevant description in step 430 of the method 400 above, as well as the relevant sections in 3GPP TS38.455 and 37.355, which will not be repeated here.

[0256] Step 804: eLMF initiates a sensing process based on the sensing service request message to obtain sensing data.

[0257] For example, the eLMF may trigger the RAN associated with the sensing object to send a reference signal to initiate a sensing process and obtain sensing data from the RAN, as shown in 804a in the figure. Alternatively, the eLMF may trigger the terminal device associated with the sensing object to send a reference signal to initiate a sensing process and obtain sensing data from the terminal device, as shown in 804b in the figure. For the specific implementation of the sensing process, please refer to the relevant description of method 400 above and will not be repeated here.

[0258] Step 805: The eLMF determines a perception result based on the positioning data and the perception data.

[0259] The eLMF can determine the perception result based on the positioning data obtained by the positioning process and the perception data obtained by the perception process. The specific process of the eLMF determining the perception result can be found in the relevant description of step 430 of the above method 400, which will not be repeated here.

[0260] It should be understood that the positioning process of step 803 and the perception process of step 804 can be independent of each other. This application does not limit the execution order of these two processes. The positioning process can precede the perception process, or it can be performed later than the perception process, or it can be performed simultaneously with the perception process. It should also be understood that in the process shown in Figure 8, step 804 is an optional step that the eLMF may or may not perform. The illustrated process is only an example and should not constitute any limitation on this application.

[0261] Based on the above solution, upon receiving a sensing service request message, the eLMF can initiate a positioning process to obtain positioning data and then determine a sensing result based on the positioning data. This avoids the need for standardized definitions of sensing processes and measurement parameters. The SEN can obtain access network data through interaction with the LMF, thus avoiding standardization efforts such as the transmission protocol between the SEN and radio access network equipment, reducing the standardization workload. Furthermore, reusing positioning data can reduce repeated measurement and processing of the same parameters, saving transmission and processing resources. Alternatively, the eLMF can initiate a sensing process to obtain sensing data and then fuse the sensing data with positioning data to determine a sensing result, thereby achieving more accurate sensing results. In this way, the eLMF can determine whether to initiate a sensing process based on its own capabilities and service requirements. For example, if its own capabilities are limited, it may not initiate a sensing process, or if the service requires high accuracy, it may decide not to initiate a sensing process. This allows for better provision of sensing services. Furthermore, having the same network element (e.g., the eLMF) responsible for both positioning and sensing can avoid signaling overhead associated with inter-network element interactions, further saving transmission resources.

[0262] The above description, combined with Figures 4 to 8 , details the sensing method provided by the embodiments of the present application. In addition to the signal parameters currently defined in the protocol, such as angle of departure, angle of arrival, time of arrival, time difference of arrival, phase, and received power, the definition of positioning data also adds incremental information about the power delay profile. A specific implementation method for determining whether an environmental change has occurred to a sensing object based on this parameter is also provided.

[0263] In fact, the parameter of incremental information of the power delay spectrum is not necessarily limited to being obtained in the positioning process, but can also be obtained in other processes, such as in the perception process, or it can be uncoupled from the positioning process and the perception process, or it can also be defined in other processes that may be defined in future protocols. This application does not limit this.

[0264] The following will describe the process of acquiring the incremental information about the power delay profile in conjunction with FIG9 .

[0265] Referring to Figure 9 , which is a schematic flowchart of a measurement method provided in another embodiment of the present application, the method shown in Figure 9 can be applied to a measurement device, which can be a network element deployed in a core network, such as the aforementioned SEN, SMF, eLMF, or other network element, or a component configured in the SEN, SMF, eLMF, or other network element, such as a chip or chip system, or a functional module that can be used to implement each step of the following measurement method, which is not limited by the present application.

[0266] The method 900 shown in FIG. 9 may include steps 910 to 920 .

[0267] In step 910, incremental information of the power delay profile is obtained.

[0268] Exemplarily, the measuring device may be the sensing device described in the aforementioned sensing method, which may initiate a positioning process in response to a received sensing service request message, thereby obtaining incremental information about the power delay profile. The measuring device may also be another device, such as one that triggers a communication device to initiate measurement in response to other events to obtain incremental information about the power delay profile.

[0269] In this embodiment, the incremental information of the power delay spectrum can be determined by the first power delay spectrum and the second power delay spectrum obtained by the communication device from the channel measurement. The communication device can be, for example, a RAN and / or a terminal device, which is not limited in this application. The measuring device can trigger the RAN and / or the terminal device to perform channel measurement, obtain the first power delay spectrum and the second power delay spectrum from the RAN and / or the terminal device, and then determine the incremental information of the power delay spectrum. Alternatively, the incremental information of the delay power spectrum can also be calculated by the RAN and / or the terminal device based on the first power delay spectrum and the second power delay spectrum, and the measuring device can also obtain the incremental information of the delay power spectrum from the RAN and / or the terminal device.

[0270] Since the incremental information of the power delay profile has been described in detail in step 420 of the method 400 above, it will not be repeated here.

[0271] In step 920, it is determined whether an environment change occurs in the communication device based on the incremental information.

[0272] The measuring device can determine whether the environment of the communication device has changed based on the incremental information of the delay power spectrum, that is, whether the environment has changed. The specific process of step 920 can be found in the relevant description of step 430 of method 400 above, which will not be repeated here.

[0273] Based on the above scheme, by measuring the incremental information of the power delay spectrum, it is possible to determine whether the communication device has undergone environmental changes, which can then be used for environmental perception in order to obtain more accurate perception results. In addition, the above-mentioned first power delay spectrum and second power delay spectrum can be used to calculate other parameters, such as AOD, AOA, TOA, arrival time difference, received power (such as RSRP) or phase, etc. Therefore, in the positioning process or the perception process, in the process of obtaining parameters, the first power delay spectrum and the second power delay spectrum can also be obtained without adding other measurement steps. For the positioning process or the perception process, it does not bring greater computational complexity and is also beneficial to saving processing resources.

[0274] Figures 10 and 11 are schematic diagrams of possible devices provided by embodiments of the present application. These devices can be used to implement the functions of the sensing device or the measuring device in the above method embodiments, thereby also achieving the beneficial effects of the above method embodiments.

[0275] FIG10 is a schematic block diagram of an apparatus according to an embodiment of the present application. As shown in FIG10 , the apparatus 1000 includes a transceiver module 1010 and a processing module 1020 .

[0276] In one possible design, the device 1000 is used to implement the function of the sensing device in the method embodiment shown in FIG4 , or the function of the SEN (or SMF) in the method embodiment shown in FIG7 , or the function of the eLMF in the method embodiment shown in FIG8 . For example, the device 1000 may be the sensing device, SEN, SMF, or eLMF described above, or may be a chip or chip system configured in the sensing device, SEN, SMF, or eLMF, and this application does not limit this.

[0277] Exemplarily, the transceiver module 1010 is used to receive a perception service request message, which is used to request perception of a perception object; the processing module 1020 can be used to obtain positioning data based on the perception service request message, and the positioning data is obtained by initiating a positioning process for a communication device related to the perception object; the processing module 1020 can also be used to determine the perception result based on the positioning data.

[0278] Another possible design is that the device 1000 is used to implement the function of the measuring device in the method embodiment shown in Figure 9 above. For example, the device 1000 can be a measuring device, or a chip or chip system configured in the measuring device, etc., which is not limited to this.

[0279] Exemplarily, the processing module 1020 can be used to obtain incremental information of the power delay spectrum, and the incremental information is determined based on a first power delay spectrum and a second power delay spectrum, the first power delay spectrum is the power delay spectrum of the channel at a first moment, and the second power delay spectrum is the power delay spectrum of the channel at a second moment, and the first power delay spectrum and the second power delay spectrum are obtained by measuring the channel by the communication device; the processing module 1020 can also be used to determine whether the environment of the communication device has changed based on the incremental information.

[0280] A more detailed description of the transceiver module 1010 and the processing module 1020 can be directly obtained by referring to the relevant descriptions in the embodiments shown in Figures 4, 7, 8 or 9, and will not be repeated here.

[0281] It should be noted that device 1000 may include a sending module but not a receiving module. Alternatively, device 1000 may include a receiving module but not a sending module. This may depend on whether the above-mentioned solution executed by device 1000 includes both sending and receiving actions. It is understood that since device 1000 has communication functionality, it can also be referred to as a communication device.

[0282] Figure 11 is another schematic block diagram of an apparatus provided in an embodiment of the present application. As shown in Figure 11, the apparatus 1100 includes one or more processors 1110. The processors 1110 may be general-purpose processors or dedicated processors.

[0283] In one design, the processor 1110 may include a program (also referred to as code or instructions), which may be executed on the processor 1110 to cause the apparatus 1100 to perform the method performed by the sensing device or measuring device (such as a SEN, SMF, or eLMF) in the above method embodiments. In another possible design, the apparatus 1100 includes circuitry (not shown in FIG. 11 ) configured to implement the functionality of the sensing device or measuring device (such as a SEN, SMF, or eLMF) in the above method embodiments.

[0284] Exemplarily, the processor 1110 may be configured to execute computer programs or instructions in the memory to implement the steps performed by the sensing device (eg, SEN, SMF, or eLMF) in any one of the embodiments shown in FIG. 4 , FIG. 7 , and FIG. 8 .

[0285] Optionally, the device 1100 may include one or more memories 1120 on which programs (sometimes also referred to as codes or instructions) are stored. The programs can be run on the processor 1110, so that the device 1100 executes the method performed by the sensing device (such as SEN, SMF or eLMF) in the above embodiments.

[0286] Optionally, the processor 1110 and / or the memory 1120 may include an artificial intelligence (AI) module, which is used to implement AI-related functions. The AI ​​module may be implemented through software, hardware, or a combination of software and hardware. For example, the AI ​​module may include a wireless intelligent controller (RIC) module. For example, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0287] Optionally, data may be stored in the processor 1110 and / or the memory 1120. The processor and the memory may be provided separately or integrated together.

[0288] Optionally, the apparatus 1100 may further include a communication interface 1130. The processor 1110 may also be referred to as a processing unit, which controls the apparatus. The communication interface 1130 may also be referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., which implements the transceiver function of the apparatus.

[0289] Optionally, the apparatus 1100 further includes a communication interface 1130. The processor 1110 and the communication interface 1130 are coupled to each other. It is understood that the communication interface 1130 may be a transceiver or an input / output interface.

[0290] When device 1100 is used to implement the method of FIG. 4 , FIG. 7 , or FIG. 8 , device 1100 may be referred to as a sensing device. Because a sensing device has a communication function, it may also be referred to as a communication device. When device 1100 is used to implement the method of FIG. 9 , it may also be referred to as a measuring device. Because a measuring device has a communication function, it may also be referred to as a communication device.

[0291] The processor 1110 is used to execute the functions of the processing module, and the communication interface 1130 is used to execute the functions of the transceiver module. Whether the communication interface 1130 is used for sending or receiving can specifically be used to execute the sending action or the receiving action in the solution executed by the device 1100.

[0292] When the above-mentioned device 1100 is a chip applied to a SEN (or SMF), the chip implements the functions of the SEN (or SMF) in the above-mentioned method embodiment. The chip of the SEN (or SMF) receives signals from other modules (such as communication interfaces) in the SEN (or SMF), and the signals may be sent from other network elements (such as AMF and LMF) to the SEN (or SMF); or the chip of the SEN (or SMF) sends signals to other modules (such as communication interfaces) in the SEN (or SMF), and the signals may be sent from the SEN (or SMF) to other network elements (such as AMF and LMF).

[0293] When the sensing device 1100 is a chip used in an eLMF, the chip implements the functions of the eLMF in the above-mentioned method embodiment. The eLMF chip receives signals from other modules (such as a communication interface) in the eLMF, and the signals may be sent from other network elements (such as an AMF) to the SEN; or the eLMF chip sends signals to other modules (such as a communication interface) in the eLMF, and the signals may be sent from the eLMF to other network elements (such as an AMF).

[0294] It is understandable that the communication interface 1130 may be an input and output circuit, wherein the input circuit may be used for receiving and the output interface may be used for sending.

[0295] It should be noted that the above method embodiments can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiments can be completed by hardware integrated logic circuits in the processor or by software instructions.

[0296] The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0297] The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0298] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0299] The methods provided in the above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product may include one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic disk), an optical medium (eg, a digital video disk (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0300] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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.

[0301] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0302] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0303] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0304] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0305] If the functions are implemented in the form of 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 the present application, or the part that contributes to the existing technology or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0306] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A sensing method, characterized in that: include: Receiving a sensing service request message, wherein the sensing service request message is used to request sensing of a sensing object; Based on the sensing service request message, acquiring positioning data, wherein the positioning data is obtained by initiating a positioning process for a communication device related to the sensing object; Based on the positioning data, a perception result is determined.

2. The method according to claim 1, characterized in that The sensing object includes a terminal device and / or an area.

3. The method according to claim 2, characterized in that When the perception object includes the terminal device, the communication device includes one or more of the following: a wireless access network device accessed by the terminal device, and / or other wireless access network devices near the wireless access network device, and / or other terminal devices located near the terminal device; when the perception object includes the area, the communication device includes one or more of the following: a terminal device and / or a wireless access network device located within the area, or a terminal device and / or a wireless access network device located around the area.

4. The method according to claim 2 or 3, characterized in that When the perception object includes the terminal device, the perception result includes one or more of the following: the position of the terminal device, the moving direction of the terminal device, the moving speed of the terminal device, whether there are other objects around the terminal device, and the number of other objects around the terminal device; when the perception object includes the area, the perception result includes one or more of the following: whether there is an object in the area, the type of objects in the area, the size of objects in the area, the number of objects in the area, the position of objects in the area, whether there is an object invading the area, the position of objects invading the area, the moving direction of objects invading the area, or the moving speed of objects invading the area.

5. The method according to any one of claims 1 to 4, characterized in that The perception service request message includes information indicating one or more of the following contents: the perceived object of the request; the perceived outcome of the request; The performance metrics of the requested perception results; or, The number of times the perception result is reported.

6. The method according to any one of claims 1 to 5, characterized in that The method is applied to a sensing function SEN or a sensing management function SMF; the acquiring positioning data based on the sensing service request message includes: Based on the perception service request message, send a positioning service request message to the positioning management function LMF, where the positioning service request message is used to request the LMF to initiate a positioning process for the communication device; The positioning data of the positioning process is obtained from the LMF.

7. The method according to any one of claims 1 to 5, characterized in that The method is applied to LMF; the acquisition of positioning data and perception data based on the perception service request message includes: Initiate a positioning process for the communication device based on the sensing service request message; The positioning data is obtained from the communication device.

8. The method according to any one of claims 1 to 7, characterized in that The positioning data includes incremental information of the power delay spectrum, and one or more of the following: departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal; The incremental information is determined based on a first power delay spectrum and a second power delay spectrum of a channel, and the first power delay spectrum and the second power delay spectrum are obtained by measuring the channel by the communication device at different times.

9. The method according to claim 8, characterized in that The determining of the perception result based on the positioning data includes: Based on the incremental information, determining whether an environmental change occurs to the perceived object; The perception result is determined based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, and whether the environmental change of the perception object occurs.

10. The method according to claim 9, characterized in that The incremental information is a differential vector between the first power delay spectrum and the second power delay spectrum, and the differential vector includes a differential value of an amplitude and a differential value of a phase of each path in the channel.

11. The method according to claim 10, characterized in that The determining, based on the incremental information, whether an environmental change occurs to the perceived object includes: When the difference value of the amplitude of each path in the channel is less than the first preset threshold, and the difference value of the phase of each path in the channel is less than the second preset threshold, it is determined that the environment of the perceived object has not changed; or, When the differential value of the amplitude of at least one path in the channel is greater than or equal to the first preset threshold, and / or when the differential value of the phase of at least one path in the channel is greater than or equal to the second preset threshold, it is determined that an environmental change has occurred in the perceived object.

12. The method according to claim 9, characterized in that The incremental information is differential energy between the first power delay spectrum and the second power delay spectrum.

13. The method according to claim 12, characterized in that The determining, based on the incremental information, whether an environmental change occurs to the perceived object includes: When the incremental information is less than a third preset threshold, determining that no environmental change has occurred to the perceived object; or, When the incremental information is greater than or equal to the third preset threshold, it is determined that an environmental change has occurred to the perceived object.

14. The method according to claim 9, characterized in that The incremental information is a correlation coefficient between the first power delay spectrum and the second power delay spectrum.

15. The method according to claim 14, characterized in that The determining, based on the incremental information, whether an environmental change occurs to the perceived object includes: When the incremental information is greater than a fourth preset threshold, determining that no environmental change has occurred to the perceived object; or, When the incremental information is less than or equal to the fourth preset threshold, it is determined that an environmental change has occurred to the perceived object.

16. The method according to any one of claims 9 to 15, characterized in that The method further comprises: Initiating a sensing process for the communication device to obtain sensing data; and, The determining the perception result based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal and whether the environment of the perception object changes includes: The perception result is determined based on one or more of the departure angle, arrival angle, arrival time, arrival time difference, phase or received power of the signal, the perception data, and whether the environmental change of the perception object occurs.

17. A measurement method, characterized in that: include: Obtaining incremental information of a power delay spectrum, where the incremental information is determined based on a first power delay spectrum and a second power delay spectrum, where the first power delay spectrum is a power delay spectrum of a channel at a first moment, and the second power delay spectrum is a power delay spectrum of the channel at a second moment, and the first power delay spectrum and the second power delay spectrum are obtained by measuring the channel by a communication device; Based on the incremental information, it is determined whether an environment change occurs to the communication device.

18. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 17.

19. A communication device, characterized in that: The device comprises a processor, wherein the processor is configured to execute a program code so that the communication device implements the method according to any one of claims 1 to 17.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 17 is performed.

21. A computer program product, characterized in that It comprises a computer program which, when being executed, causes the method according to any one of claims 1 to 17 to be performed.

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