Communication method and communication apparatus

Abstract

The present application provides a communication method and a communication apparatus, which are applied to the field of perception and / or tracking. In the communication method, when a perception function determines a target object, possible errors in a first position are calibrated by means of object distribution information in a first area and the first position, and thus more accurate position information of the target object is acquired, and tracking precision is improved. In addition, the first object may be a non-UE. When the perception function determines the first object among objects in the first area, reference is made to position information of a UE in the first area, so that the UE in the first area can be eliminated, and thus the first object close to the first position can be determined as the target object within a small range or among a few objects after the UE is eliminated, thereby improving the recognition accuracy of the target object, and further improving perception or tracking precision.

Description

Communication method and communication device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on August 29, 2023, with application number 202311104678.X and application name “Communication Method and Communication Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and more particularly to a communication method and a communication device in the field of communications. Background Art

[0003] In some wireless communication scenarios, wireless communication systems need to sense specific objects. For example, in autonomous driving, vehicles need to detect obstacles on the road based on various wireless communication technologies to avoid them. Another example is safety, where foreign objects within the monitoring range can be detected so that countermeasures can be taken. Another example is health monitoring, where wireless communication systems can monitor a person's health information. Existing wireless communication systems can sense the distribution of objects within an area, but cannot detect specific objects within that area, resulting in poor tracking accuracy.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a communication method and a communication device, which can perceive non-UEs, thereby improving the accuracy of perception.

[0006] In a first aspect, a communication method is provided, including: receiving a first perception request, the first perception request including first position information, the first position information being used to indicate a first position where a target object is located; obtaining object distribution information within a first area where the first position is located; identifying a first object within the first area as a target object based on the first position and the object distribution information, and sensing the target object.

[0007] In the above scheme, the perception function can identify the first object in the first area as the target object based on the first position where the target object is located and the object distribution information in the first area, so that the target object can be perceived or tracked more accurately. That is to say, when determining the target object, the possible errors in the first position are calibrated through the object distribution information and the first position in the first area, and more accurate position information of the target object is obtained, thereby improving the tracking accuracy. In addition, the first object may be a non-UE. When the perception function determines the first object among the objects in the first area, it refers to the distribution information of the UE in the first area, so that the UE in the first area can be excluded, so that the first object close to the first position can be determined as the target object within the small range or a small number of objects after exclusion, thereby improving the recognition accuracy of the target object and further improving the accuracy of perception or tracking.

[0008] Optionally, identifying the first object in the first area as a target object based on the first position and the object distribution information may be replaced by: determining the first object in the first area as a target object based on the first position and the object distribution information.

[0009] Optionally, the object distribution information in the first area may indicate the distribution of objects in the first area, for example, at which locations in the first area the objects are distributed.

[0010] Optionally, the target object may be an object to be sensed or an object to be tracked.

[0011] Optionally, the first position information is used to indicate the absolute position of the target object, and the first position information may specifically include the absolute position of the target object, or the first position information may include the absolute position of the reference object and the relative position of the target object and the reference object.

[0012] Optionally, the first area includes the first position or covers the first position.

[0013] In a possible implementation, the first perception request is used to request continuous tracking of the target object; and the sensing of the target object includes: continuously tracking the target object.

[0014] Optionally, in the embodiment of the present application, “continuous tracking” can be replaced by “continuous perception”, or “continuous tracking”, etc.

[0015] In a possible implementation, the first perception request includes a tracking indication, and the tracking indication is used to indicate continuous tracking.

[0016] Optionally, the first perception request may directly instruct the target object to be tracked (carrying a tracking instruction) or may indirectly instruct the target object to be tracked (for example, through a message type or message name indication).

[0017] In one possible implementation, the communication method further includes: obtaining distribution information of user equipment UE within the first area; wherein, identifying the first object within the first area as the target object based on the first position and the object distribution information includes: identifying the first object within the first area as the target object based on the first position, the object distribution information and the distribution information of the UE; wherein, the target object is non-UE.

[0018] Optionally, based on the first position, the object distribution information and the distribution information of the UE, identifying the first object in the first area as the target object includes: the perception function determines the distribution of objects in the first area based on the object distribution information, excluding the UE in the first area based on the UE distribution information, and determining the first object close to the first position or at the first position among the remaining non-UEs in the first area. At this time, the first object can be the target object.

[0019] Optionally, the UE distribution information is used to indicate the distribution of the UEs in the first area, that is, at which locations in the first area the UEs are distributed.

[0020] Optionally, the UE distribution information may be replaced with the UE location information.

[0021] Optionally, there may be one or more UEs in the first area, and in this case, distribution information of the one or more UEs in the first area may be obtained.

[0022] Optionally, there may be one or more non-UEs in the first area. Optionally, the target object may be one of the one or more non-UEs in the first area.

[0023] Optionally, obtaining distribution information of UEs in the first area may be replaced by obtaining distribution information of objects with communication capabilities in the first area.

[0024] In a possible implementation, the first perception request includes a non-UE indication, where the non-UE indication is used to indicate that the first perception request is directed to a non-UE.

[0025] Optionally, the first information is used to instruct continuous tracking of a non-UE and may be replaced by the first information is used to instruct continuous tracking of an object that does not have communication capability.

[0026] In one possible implementation, obtaining the distribution information of the UE within the first area includes: receiving the distribution information of the UE from the access and mobility management function; or obtaining the identifier of the UE within the first area from the access and mobility management function; sending the identifier of the UE to the positioning function; and receiving location information corresponding to the identifier of the UE from the positioning function.

[0027] In the above scheme, the perception function can receive the UE distribution information from the access and mobility management function, or the perception function can send the UE identifier to the access and mobility management, the perception function can send the UE identifier to the positioning function, and the positioning function returns the UE distribution information to the perception function, thereby improving the method of determining the UE distribution information by the two perception functions.

[0028] In one possible implementation, obtaining the object distribution information within the first area includes at least one of the following methods: receiving the object distribution information from a terminal; or, receiving the object distribution information from an application server; or, obtaining the object distribution information from first perception data.

[0029] In the above solution, the perception function may receive object distribution information from a terminal or an application server or may also obtain object distribution information from the first perception data.

[0030] In one possible implementation, before receiving the first perception request, the communication method also includes: obtaining predicted position information, the predicted position information is used to indicate the predicted position of the target object; triggering the access network device to perceive the area where the predicted position is located; obtaining the object distribution information from the first perception data includes: obtaining the first perception data corresponding to the area where the predicted position is located from the access network device, obtaining the object distribution information from the first perception data, and the first position is covered by the area where the predicted position is located.

[0031] In the above scheme, the access network device can start to perceive the area where the predicted location is located in advance, without the need to trigger the access network device to perform perception after receiving the first perception, thereby improving the efficiency of the perception function in obtaining object distribution information and further increasing the accuracy of the perception function in identifying target objects.

[0032] Optionally, the area where the predicted position is located includes the first position, or includes the first area where the first position is located.

[0033] In one possible implementation, before receiving the first perception request, the communication method also includes: obtaining information corresponding to the predicted location information for indicating a first moment or a first time range; wherein, triggering the access network device to perceive the area where the predicted location is located includes: determining a third moment or a third time range based on the first moment or the first time range; triggering the access network device to perceive the area where the predicted location is located starting from the third moment or within the third time range.

[0034] In the above scheme, the perception function can determine the third moment based on the first moment, or determine the third time range based on the first time range. In this way, the perception function can perceive the area where the predicted position is located from the third moment or the third time range.

[0035] In one possible implementation, the first perception request also includes information for indicating the second moment or the second time range; wherein the second moment or the starting moment of the second time range is later than the third moment; or the second moment or the starting moment of the second time range is covered by the third time range.

[0036] In the above solution, the perception function can perceive the first perception data of the area where the predicted position is located earlier than the second moment or the second time range, so that the first perception data in the area where the predicted position is located can be perceived earlier.

[0037] In a possible implementation, before receiving the first perception request, it also includes: receiving a second perception request, where the second perception request is used to request continuous tracking of the target object; and obtaining the predicted position information includes: obtaining the predicted position information carried by the second perception request.

[0038] In the above scheme, the perception function can obtain the predicted location information in the second perception request.

[0039] In one possible implementation, obtaining information corresponding to the predicted position information and indicating the first moment or the first time range includes: obtaining the information carried by the second perception request and indicating the first moment or the first time range.

[0040] In the above scheme, the perception function can obtain information indicating the first moment or the first time range in the second perception request.

[0041] In a possible implementation, the second perception request includes a tracking indication, where the tracking indication is used to indicate continuous tracking.

[0042] In the above solution, the tracking indication in the second perception request may indicate continuous tracking, so that the tracking indication may trigger the perception function to perceive the first perception data in the area where the predicted position is located in advance.

[0043] In a possible implementation, receiving the first perception request includes: receiving the first perception request from a terminal device or an application server network element.

[0044] In the above solution, the perception function may receive a first perception request from a terminal or an application server.

[0045] In one possible implementation, the communication method further includes: obtaining second perception data obtained by continuously tracking the target object; receiving second location information from a terminal or an application server, wherein the second location information is used to indicate a second location of the target object; and determining a tracking result based on the second location information and the second perception data.

[0046] In the above solution, the second position information can be used to calibrate the second perception data (or the tracking result obtained based on the second perception data) to obtain an accurate or complete tracking result.

[0047] In a possible implementation, before receiving the second location information from the terminal or the application server, the communication method further includes: sending a location request to the terminal or the application server, where the location request is used to request the location of the target object.

[0048] In the above scheme, the perception function can request the location information of the target object from the terminal or application server, so that the terminal or application server can send the second location information to the perception function. The perception function can calibrate the second perception data according to the second location information to obtain relatively accurate tracking results.

[0049] In the second aspect, a communication method is provided, including: receiving a third perception request, the third perception request including first location information, the first location information being used to indicate a first location of a target object; obtaining distribution information of UEs within a first area where the first location is located; and sending a first perception request to a perception function, the first perception request including the first location information and the distribution information of the UE.

[0050] In the above scheme, after the access and mobility management function receives the third perception request carrying the first location information, it obtains the distribution information of the UE in the first area where the first location indicated by the first location information is located, and sends the distribution information of the UE in the first area and the first location information to the perception function, so that the perception function can identify the first object in the first area as the target object based on the first location of the target object and the distribution information of the UE in the first area, thereby more accurately perceiving or tracking the target object. That is to say, when determining the target object, the UE location information and the first location in the first area provided by the access and mobility management function are used to exclude the UE in the first area, so that the first object close to the first location can be determined as the target object within the small range or a few objects after exclusion, and the possible error in the first location is calibrated, thereby improving the accuracy of identifying the target object and improving the accuracy of perception or tracking.

[0051] In one possible implementation, the third perception request is used to request continuous tracking of the target object, and the first perception request is used to request continuous tracking of the target object.

[0052] In the above scheme, both the first perception request and the third perception request are used to request continuous tracking of the target object.

[0053] In one possible implementation, obtaining the distribution information of the UE in the first area where the first position is located includes: obtaining the identifier of the UE in the first area, sending the identifier of the UE to a positioning function; and receiving the location information corresponding to the identifier of the UE from the positioning function.

[0054] In the above solution, the perception function may send the UE identifier to the positioning function, and the positioning function may locate the UE identified by the UE identifier, thereby obtaining the distribution information of the UE.

[0055] In a possible implementation, the communication method further includes: the first perception request and the third perception request include object distribution information in the first area, and the object distribution information is used to identify the target object.

[0056] In the above solution, the third perception request received by the access and mobility management function may include object distribution information, and the first perception request message sent to the perception function may also include the object distribution information in the third perception request.

[0057] In a possible implementation, the first perception request includes a non-UE indication, where the non-UE indication is used to indicate that the first perception request is directed to a non-UE.

[0058] In a possible implementation, the first perception request includes a tracking indication, and the tracking indication is used to indicate continuous tracking.

[0059] In a possible implementation, before receiving the third perception request, the communication method further includes:

[0060] Acquiring predicted position information, where the predicted position information is used to indicate a predicted position of a target object;

[0061] Send a second perception request to the perception function, where the second perception request includes the predicted location information.

[0062] In the above solution, the access and mobility management function can obtain the predicted location information and carry the predicted location information in the second perception request sent to the perception function, so that the perception function can trigger the perception of the area where the predicted location is located.

[0063] In a possible implementation, before receiving the third perception request, the method further includes: acquiring information corresponding to the predicted position information and indicating a first moment or a first time range;

[0064] The second perception request includes the information indicating the first moment or the first time range.

[0065] In the above scheme, the access and mobility management function can obtain information corresponding to the predicted location information for indicating the first moment or the first time range, and carry the information indicating the first moment or the first time range in the second perception request and send it to the perception function.

[0066] In a possible implementation manner, the third perception request further includes information indicating the second moment or the second time range;

[0067] The second moment or the starting moment of the second time range is later than the first moment; or the second moment or the starting moment of the second time range is covered by the first time range.

[0068] In a possible implementation, before receiving the third perception request, the method further includes: receiving a second perception request, where the second perception request is used to request continuous tracking of the target object;

[0069] The obtaining of the predicted location information includes: obtaining the predicted location information carried by the second perception request.

[0070] In one possible implementation, obtaining information corresponding to the predicted position information and indicating the first moment or the first time range includes: obtaining the information carried by the second perception request and indicating the first moment or the first time range.

[0071] In a possible implementation, the second perception request includes a tracking indication, where the tracking indication is used to indicate continuous tracking.

[0072] Specifically, the description of the second aspect can refer to the description of the first aspect, and in order to avoid redundancy, a detailed description is not given.

[0073] According to a third aspect, a communication method is provided, comprising: receiving a first perception request from a terminal or an application server, the first perception request being used to request continuous tracking of a target object, the first perception request comprising first information, the first information comprising an identifier of the target object, or the first information comprising an identifier of a reference object and relative position information between the target object and the reference object; obtaining, according to the first perception request, first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information; and sending the first position information, or the first position information and the relative position information.

[0074] In the above scheme, the perception function or the access and mobility management function can obtain the first position information corresponding to the identifier of the target object in the first information, and obtain the first position information corresponding to the identifier of the reference object. The perception function can send the first position information or the first position information and the relative position information to the access network device. In this way, the access network device can perceive the target object based on the first position information, or perceive the target object based on the first position information and the relative position information, thereby providing a method for perceiving the target object. The access and mobility management function can send the first position information or the first position information and the relative position information to the perception function. The perception function can trigger the access network device to perceive the target object based on the first position information or the first position information and the relative position information, thereby providing a method for perceiving the target object.

[0075] Optionally, the method is performed by an access and mobility management function, wherein sending the first location information, or the first location information and the relative location information, includes: sending the first location information, or the first location information and the relative location information, to a perception function. The perception function may perceive the target object based on the first location information and the updated first location information.

[0076] Optionally, the method is performed by a perception function, wherein sending the first location information, or the first location information and the relative location information, includes: sending the first location information, or the first location information and the relative location information, to an access network device. The perception function may perceive the target object based on the first location information and the updated first location information.

[0077] Alternatively, the communication method includes: receiving a first perception request from a terminal or an application server, the first perception request including perception service description information and first information, the first information including an identifier of a target object, or the first information including an identifier of a reference object and relative position information between the target object and the reference object; determining a positioning period according to the perception service description information in the first perception request, and obtaining the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information; sending a second perception request including second information, the second information including the first position information, or the second information including the first position information and the relative position information; obtaining an updated first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information according to the positioning period; sending the updated first position information, or sending the updated first position information and the relative position information. In this scheme, the perception function or the access and mobility management function can obtain the first position information and the updated first position information of the target object, so that the perception function can perceive the target object based on the first position information and the updated first position information. The perception function or access and mobility management function can periodically obtain the first location information of the target object. The perception function can continuously track the target object, thereby providing a method for continuously tracking the target object. Since the target object is perceived based on the location information, the perception accuracy is also relatively high.

[0078] In a possible implementation, the first perception request also includes perception service description information; the communication method also includes: determining a positioning period based on the perception service description information; obtaining the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information based on the first perception request includes: obtaining the first position information based on the first perception request and the positioning period; wherein, sending the first position information, or the first position information and the relative position information, includes: sending the periodically obtained first position information, or sending the periodically obtained first position information and the relative position information.

[0079] In the above scheme, the positioning period can be determined according to the service description information, and the first location information can be periodically obtained according to the positioning period and the first perception request, and the periodically obtained first location information, or the periodically obtained first location information and relative location information can be sent.

[0080] Optionally, the perception service description information is used to describe service requirements, etc. For example, the perception service description information may include at least one of service type, perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate.

[0081] In one possible implementation, the first perception request also includes a tracking indication, and the tracking indication is used to indicate continuous tracking of the target object; in one possible implementation, determining the positioning period according to the perception service description information in the first perception request includes: determining the positioning period according to the perception service description information and the tracking indication in the first perception request.

[0082] In the above scheme, the positioning period can be determined based on the tracking indication and the perception service description information. That is, when the tracking indication can indicate continuous tracking, the positioning period can be determined. In other words, since the target object needs to be tracked continuously, the position of the target object is required multiple times, so the positioning period needs to be determined.

[0083] In one possible implementation, obtaining the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information includes: sending a first positioning request to a positioning management function, the first positioning request including the identifier of the target object or the identifier of the reference object; and receiving the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information from the positioning management function.

[0084] In the above solution, the positioning management function may determine the first position information corresponding to the identifier of the target object or the first position information corresponding to the identifier of the reference object, and send it to the perception function or the access and mobility management function.

[0085] In a possible implementation, the first positioning request includes the positioning period. In this way, the positioning management function can determine the first location information according to the positioning period.

[0086] In one possible implementation, the method is performed by an access and mobility management function; wherein, sending the first location information, or the first location information and the relative location information, includes: sending a fourth perception request to the perception function, the fourth perception request includes sending the first location information, or the first location information and the relative location information, wherein the fourth perception request includes the tracking indication.

[0087] In one possible implementation, the method is performed by an access and mobility management function, and the communication method further includes: sending the sensing description information to the sensing function, where the sensing description information is used by the sensing function to determine a sensing period for the target object. In this way, the sensing function can sense the target object based on the sensing period.

[0088] In one possible implementation, the communication method is performed by a perception function; wherein, sending the first location information, or the first location information and the relative location information, includes: sending a fourth perception request to the access network device, and the fourth perception request includes the first location information, or the first location information and the relative location information.

[0089] In this way, the access network device can perceive the target object based on the first position information, or the first position information and the relative position information.

[0090] In a possible implementation, the method is performed by a perception function, and the communication method further includes: determining a perception period according to the perception description information, so that the perception function can perceive the target object according to the perception period.

[0091] In a fourth aspect, a communication method is provided, including: receiving a first perception request, the first perception request being used to request continuous tracking of a target object; obtaining a first position of the target object; obtaining object distribution information within a first area where the first position is located; identifying a first object within the first area as a target object based on the first position and the object distribution information, and sensing the target object.

[0092] In the above solution, the perception function can identify the first object in the first area as the target object based on the first location of the target object and the object distribution information within the first area, thereby continuously tracking the target object. In other words, when determining the first object to be tracked in the first area, the object distribution information within the first area and the first location can be referenced, thereby providing a method for tracking the object and improving tracking accuracy.

[0093] Optionally, the first object may be a UE. When the perception function determines the first object among the objects in the first area, the distribution information of non-UEs in the first area is referred to. This can exclude non-UEs in the first area, and thus the first object close to the first position can be determined as the target object within a small range or a few objects after exclusion.

[0094] In a possible implementation, the first perception request is used to request continuous tracking of the target object; and the sensing of the target object includes: continuously tracking the target object.

[0095] In a possible implementation, the first perception request includes a tracking indication, and the tracking indication is used to indicate continuous tracking.

[0096] In a possible implementation, the first perception request includes a UE indication, where the UE indication is used to indicate that the first perception request is directed to the UE.

[0097] In a possible implementation, obtaining the first position of the target object includes:

[0098] The first position of the target object is obtained from the first perception request.

[0099] In a possible implementation, obtaining the first position of the target object includes:

[0100] Obtaining an identification of the target object from an access and mobility management function;

[0101] sending an identification of the target object to a positioning function;

[0102] The first position corresponding to the identification of the target object is received from the positioning function.

[0103] In a possible implementation, obtaining object distribution information within the first area where the first position is located includes at least one of the following methods:

[0104] receiving the object distribution information from the terminal; or,

[0105] receiving the object distribution information from the application server; or,

[0106] The object distribution information is obtained from the first perception data.

[0107] In a possible implementation, before receiving the first perception request, the communication method further includes:

[0108] Acquiring predicted location information, where the predicted location information indicates the predicted location of the target object; and triggering an access network device to sense an area where the predicted location is located.

[0109] Among them, obtaining the object distribution information from the first perception data includes: obtaining the first perception data corresponding to the area where the predicted position is located from the access network device, obtaining the object distribution information from the first perception data, and the first position is covered by the area where the predicted position is located.

[0110] In a possible implementation, before receiving the first perception request, the communication method further includes:

[0111] Acquire information corresponding to the predicted position information and indicating a first moment or a first time range;

[0112] The triggering of the access network device to sense the area where the predicted location is located includes:

[0113] Determine a third moment or a third time range according to the first moment or the first time range;

[0114] The access network device is triggered to sense the area where the predicted location is located starting from the third moment or within a third time range.

[0115] In a possible implementation manner, the first perception request further includes information for indicating a second moment or a second time range;

[0116] The second moment or the starting moment of the second time range is later than the third moment; or the second moment or the starting moment of the second time range is covered by the third time range.

[0117] In a possible implementation, before receiving the first sensing request, the method further includes: receiving a second sensing request, where the second sensing request is used to request continuous tracking of the target object;

[0118] The obtaining of the predicted location information includes: obtaining the predicted location information carried by the second perception request.

[0119] In one possible implementation, obtaining information corresponding to the predicted position information and indicating the first moment or the first time range includes: obtaining the information carried by the second perception request and indicating the first moment or the first time range.

[0120] In a possible implementation, the second perception request includes a tracking indication, where the tracking indication is used to indicate continuous tracking.

[0121] In a possible implementation, the receiving the first perception request includes:

[0122] Receive the first perception request from the terminal device or application server network element.

[0123] In a possible implementation, the communication method further includes:

[0124] Acquiring second perception data obtained by continuously tracking the target object;

[0125] receiving second location information from the terminal or the application server, where the second location information is used to indicate a second location of the target object;

[0126] After continuously tracking the target object, the communication method further includes:

[0127] A tracking result is determined according to the second position and the second sensing data.

[0128] In a possible implementation, before receiving the second location information, the communication method includes: sending a location request message to the terminal or the application server, where the location request message is used to request the location of the target object.

[0129] Specifically, the description of the fourth aspect can refer to the description of the first aspect, and in order to avoid redundancy, it will not be described in detail.

[0130] In a fifth aspect, embodiments of the present application provide a communication device that implements any of the above-mentioned aspects. The functions may be implemented through hardware or through hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the above-mentioned functions. For example, a transceiver module or unit, a processing module or unit, an acquisition module or unit, etc.

[0131] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the electronic device to execute any one of the methods described in the above aspects when calling the computer program.

[0132] In a seventh aspect, an embodiment of the present application provides a chip system, which includes a processor coupled to a memory, and the processor executes a computer program stored in the memory to implement any of the methods described in any of the above aspects.

[0133] The chip system may be a single chip or a chip module composed of multiple chips.

[0134] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above aspects is implemented.

[0135] In a ninth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute any one of the methods described in the above aspects.

[0136] It can be understood that the beneficial effects of the fifth to ninth aspects mentioned above can be found in the relevant descriptions of the first to fourth aspects mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0137] FIG1 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application.

[0138] FIG2 is a schematic diagram of a communication method provided in an embodiment of the present application.

[0139] FIG3 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0140] FIG4 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0141] FIG5 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0142] FIG6 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0143] FIG7 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0144] FIG8 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0145] FIG9 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0146] FIG10 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0147] FIG11 is a schematic diagram of another communication method provided in an embodiment of the present application.

[0148] FIG12 is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0149] FIG13 is a schematic block diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0150] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0151] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: global system for mobile communications (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) system or new radio (NR) and future communication systems such as 6G.

[0152] Figure 1 shows a schematic diagram of a system architecture used in an embodiment of the present application. As shown in Figure 1, the system 100 includes: user equipment (UE) 101, radio access network (RAN) 102, user plane function (UPF) 103, data network (DN) 104, core access and mobility management function (AMF) 105, session management function (SMF) 106, policy control function (PCF) 107, unified data management (UDM) 108, location management function (LMF) 109, authentication server function (AUSF) 110, tracking function (SF) 111, or at least one of gateway mobile sensing center (GMSC) 112.

[0153] UE 101, also known as terminal equipment, mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0154] UE 101 may be a device that provides voice / data connectivity to a user, such as a handheld device or a vehicle-mounted device with a wireless connection function. At present, some examples of terminal devices include: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, 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 capabilities, 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). The present application does not limit this, or the UE 101 may be a communication chip in these terminal devices.

[0155] RAN 102 can be a device that communicates with UE 101. The RAN 102 can also be called an access network device or a wireless access network device. It can be a transmission reception point (TRP), an evolved NodeB (eNB or eNodeB) in an LTE system, a home base station (for example, home evolved NodeB, or home Node B, HNB), a base band unit (BBU), or a wireless controller in a cloud radio access network (CRAN) scenario. The RAN 102 can be a relay station, an access point, a vehicle-mounted device, a wearable device, a network device in a 5G network, or a network device in a future evolved PLMN network, etc. It can also be an access point (AP) in a WLAN, or a gNB in ​​an NR system. The above-mentioned RAN 111 can also be a city base station, a micro base station, a micro base station, a femto base station, etc., and this application does not limit this.

[0156] UPF 103 is primarily responsible for user-plane service processing, such as service routing, forwarding, billing, quality of service (QoS) mapping and execution, uplink identification and routing to the data network, downlink packet buffering and notification triggering of downlink data arrival, and connection to external data networks. UPF 103 may also be referred to as a user-plane network element or user-plane device in 5G, and may be a different name in future communications, which is not limited in this application.

[0157] DN 104 provides data transmission services for UE 101 and may be a public data network (PDN) such as the Internet. That is, data for the service requested by UE 101 originates from DN 104 .

[0158] The AMF 105 is mainly used for mobility management and access management, and can be used to implement other functions of the mobility management entity (MME) in addition to session management, such as lawful interception, or access authorization (or authentication), UE 101 registration, mobility management, tracking area update process, reachability detection, session management network element selection, mobile state transition management, etc. The AMF 105 can also be called access and mobility management function, access and mobility management device, access and mobility management network element, access management device, mobility management device, etc. In future communication systems, the AMF 105 can also have other names. The name of the network element with the mobility function of managing UE 101 in the embodiment of the present application is not limited.

[0159] SMF 106 is responsible for selecting or reselecting a UPF and managing session-related services, such as IP address allocation for session establishment and release, session establishment, modification, and release, and quality of service (QoS) control. SMF 106 may also be referred to as a session management function, session management device, session management function device, session management function network element, or session management network element. In future communication systems, SMF 106 may also have other names. The names of network elements with session management functions in the embodiments of this application are not limited.

[0160] PCF 107 is used to implement policy control functions, charging policy control functions, and quality of service (QoS) control. During QoS control by PCF 107, PCF 107 may generate QoS rules. PCF 107 may also be referred to as a policy control function, a policy control device, a policy control function device, a policy control function network element, or a policy control network element. In future communication systems, PCF 107 may also have other names. The name of the network element with policy control functions in the embodiments of the present application is not limited.

[0161] The UDM 108 is responsible for managing the subscription information of the UE 101. The UDM 108 may also be referred to as a data management function, a data management device, a data management function device, a data management function network element, a data management network element, a unified data management function, a unified data management device, a unified data management function device, a unified data management function network element, or a unified data management network element. In future communication systems, the UDM 108 may also have other names. The name of the network element with the data management function in the embodiment of the present application is not limited.

[0162] The LMF 109 is used to locate the UE 101 .

[0163] AUSF 110 is used to authenticate the UE.

[0164] The SF 111 is used to sense objects or control the RAN 102 to sense objects.

[0165] GMSC 112 may be a gateway of SF 111, configured to receive perception requests from external applications (eg, application servers) and route them to SF 111, and may also route perception data from SF 111 to external applications.

[0166] It should be noted that the naming of the various network elements included in Figure 1 (such as UE 101, RAN 102, UPF 103, DN 104, AMF 105, SMF 106, PCF 107, UDM 108, LMF 109, AUSF 110, SF 111 and GMSC 112, etc.) is only a name, and the name does not limit the function of the network element itself. In 5G networks and other future networks, the above-mentioned network elements may also have other names, and the embodiments of the present application do not make specific limitations on this. For example, in a 6G network, some or all of the above-mentioned network elements may use the terminology in 5G, or may be other names, etc., which are uniformly explained here and will not be repeated below.

[0167] It should be noted that the network elements in Figure 1 do not have to exist simultaneously, and the network elements required can be determined according to needs. The connection relationship between the network elements in Figure 1 is not unique and can be adjusted according to needs.

[0168] It should also be noted that, in FIG1 , network elements other than UE 101 may be referred to as network devices. In other words, network devices may include one or more network elements other than UE 101 in FIG1 . Network devices may include access network devices and core network devices. RAN 102 in FIG1 may be referred to as access network devices, and network elements other than RAN 102, UE 101, and DN 105 in FIG1 may be referred to as core network devices.

[0169] In wireless communication scenarios, wireless communication systems can sense specific objects. For example, in safety monitoring, wireless communication systems can sense vehicles occupying emergency lanes, thereby issuing real-time alerts or recording information about illegal lane occupation. Alternatively, wireless communication systems can sense and identify foreign objects (such as people, animals, or fallen rocks) intruding on highways or railways and initiate emergency response. For another example, in health monitoring, wireless communication systems can sense and identify abnormal postures (such as those caused by falls) and issue alerts. For another example, in health monitoring, wireless communication systems can continuously monitor a person's breathing and / or heartbeat. After multiple consecutive sensing attempts, abnormal breathing and / or heartbeats can be determined, thereby issuing alerts. For another example, in meteorological monitoring, wireless communication systems can repeatedly sense changes in the environment, climate, or weather, and use these sensing attempts to predict the weather. For another example, in autonomous driving, wireless communication systems can sense objects in a map. Continuous sensing of these objects can generate a map for vehicles or drones to navigate. Alternatively, wireless communication systems can continuously track drones, detecting deviations from their routes and issuing real-time alerts or recording information about deviations. That is to say, the wireless communication system can continuously sense a specific object multiple times and use the data from the multiple senses to track the specific object.

[0170] The access network equipment in a wireless communication system can use wireless frequency bands to communicate with terminal devices, and can also use wireless frequency bands for tracking. In this way, the access network equipment can have both communication and tracking capabilities. In the prior art, the access network equipment can sense objects in a certain area, but cannot sense specific target objects, resulting in poor accuracy of the perception results. In other words, the access network equipment can only recognize the presence of one or more objects in the area, but cannot sense a specific object in real time, resulting in poor tracking accuracy. For example, if the object sensed by the wireless communication system does not have communication capabilities, since the sensed object cannot feedback its own location information to the wireless communication system, it will not be able to sense the object based on the location information, resulting in poor accuracy of the perception results. For example, a vehicle traveling against traffic or occupying an applicable lane has no network connection with the wireless communication system and can also be referred to as an object without communication capabilities, or an object that does not have communication capabilities, such as a falling rock.

[0171] In the embodiments of the present application, the perception function can identify a first object within the first area as the target object based on the first position of the target object and the distribution information of objects within the first area, thereby enabling continuous tracking of the target object. In other words, when determining the first object to be tracked within the first area, the distribution information of objects within the first area is further incorporated into the first position to calibrate the position of the target object, thereby improving tracking accuracy.

[0172] The following describes a communication method 200 in an embodiment of the present application with reference to FIG2 . As shown in FIG2 , the method 200 includes:

[0173] S210: The terminal or application server sends a sensing request #1 to the sensing function, and the sensing function receives the sensing request #1 from the terminal or application server. The sensing request #1 includes first location information, and the first location information is used to indicate a first location of the target object.

[0174] Optionally, perception request #1 is used to request tracking of the target object. In other words, perception request #1 is used to request continuous tracking of the target object. Optionally, perception request #1 includes a tracking indication, and the tracking indication is used to indicate tracking (or continuous tracking). After the perception function learns the tracking indication in perception request #1, it can determine that the object needs to be tracked continuously. The perception function can therefore trigger the execution of S220 to obtain object distribution information in the area where the first position is located. It can be understood that perception request #1 can directly indicate tracking of the target object (carrying a tracking indication) or can indirectly indicate tracking of the target object (for example, through a message type or message name indication).

[0175] This application relates to terminals that can register with a communication network, and this application uses a UE as an example for description. This application also relates to terminals that cannot register with a communication network, and this application uses a non-UE as an example for description. It is understood that the terminal in S210 above is a UE. Optionally, whether or not the terminal can register with a communication network can also be understood as whether a universal subscriber identity module (USIM) module is present, or whether or not a user contract with an operator exists.

[0176] The above-mentioned target object can be understood as an object to be sensed or tracked. When the terminal sends a perception request #1, the target object may be the terminal (the terminal requests to sense / track itself); or the target object may not be the above-mentioned terminal (the terminal requests to sense / track other objects). In this case, the target object may be a UE or a non-UE. Optionally, the non-UE may be replaced by an object without communication capability or an object with poor communication capability or an object without a network connection to the wireless communication system. Optionally, the UE may be replaced by an object with communication capability or an object with good communication capability or an object with a network connection to the wireless communication system.

[0177] The first location information can be represented in a variety of ways. In one way, the first location information is used to indicate the absolute location of the target object. The first location information can specifically include the absolute location of the target object, or the first location information can include the absolute location of the reference object and the relative location of the target object and the reference object, where the reference object can be the terminal that sends the perception request #1, or other UEs or non-UEs. For example, the first location includes the location #2 of the reference object, the relative orientation (for example, directly in front) and the relative distance (for example, 10 meters) between the target object and the reference object. In another way, the first location information is used to indicate the area where the target object is located. The first location information can specifically include the area where the target object is located, such as an area with location #1 as the origin and an angle range of 0 to 45 degrees, or an area with location #1 as the center and a radius of 30 meters, or the first location information can include the absolute location of the reference object, the size of the area where the target object is located, and the relative location of the area where the target object is located and the reference object. It can be understood that the first location indicated by the first location information may be the same as or different from the actual location of the target object (for example, due to the movement of the target object or the error of the first location information).

[0178] Optionally, perception request #1 includes a non-UE indication, and the non-UE indication is used to indicate that perception request #1 is directed to a non-UE. That is, the non-UE indication is used to indicate that perception request #1 is a perception request initiated for a non-UE. After receiving perception request #1, the perception function can determine that the object to be perceived is a non-UE. It is understandable that the continuous tracking of a non-UE can be directly indicated or indirectly indicated (for example, by indicating a message type or message name). The embodiment of the present application does not impose any restrictions on the indication method for continuously tracking a non-UE.

[0179] Optionally, the terminal or application server sends a perception request #1 to the perception function through the access and mobility management function, and the perception function receives the perception request #1 from the terminal or application server through the access and mobility management function. It is understandable that the perception request received by the access and mobility management function and the perception request sent may be the same or different (for example, the access and mobility management function extracts information from the received perception request and repackages it). Optionally, the application server may directly send the perception request #1 to the perception function, and the perception function receives the perception request #1 from the application server. This embodiment of the application does not impose any restrictions on the device that sends the perception request #1.

[0180] Optionally, the application server sends a perception request #1 to the perception function through the access and mobility management function, including: the application server sends a perception request #1 to the access and mobility management function, and the access and mobility management function sends a perception request #1 to the perception function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends a perception request #1 through the capability exposure function and the gateway mobile perception center. Specifically, the application server sends a perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends a perception request #1 to the gateway mobile perception center, and the gateway mobile perception center selects an appropriate access and mobility management function and sends a perception request #1 to the access and mobility management function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server passes the authorization check, the capability exposure function sends the perception request #1 to the access and mobility management function. Optionally, the application server sends the perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the gateway mobility perception center. Specifically, the application server sends the perception request #1 to the gateway mobility perception center, the gateway mobility perception center performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server passes the authorization check, the gateway mobility perception center sends the perception request #1 to the access and mobility management function.

[0181] Optionally, in S210, the application server may send a perception request #1 to the perception function through the capability exposure function. Optionally, the application server may send a perception request #1 to the perception function through the capability exposure function, including: the capability exposure function performs an authorization check on the application server, and after the authorization check passes, the capability exposure function selects an appropriate perception function and sends the perception request #1 to the perception function.

[0182] Optionally, in S210, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center, including: the application server may send the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and after the authorization check passes, sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center selects an appropriate perception function, and sends the perception request #1 to the perception function.

[0183] Optionally, in S210, the application server may send the perception request #1 through the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the gateway mobile perception center, including: the application server sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, selects an appropriate perception function, and sends the perception request #1 to the perception function after the authorization check passes.

[0184] It should be noted that perception request #1 can be replaced with the first message, etc., and the embodiment of the present application does not impose any restrictions on the name of perception request #1.

[0185] S220: The perception function obtains object distribution information within the first area where the first position is located.

[0186] Optionally, the object distribution information indicates the distribution of objects within the first area, such as the locations within the first area where objects are located, or the locations of objects within the first area, and the total number of objects distributed. This object distribution information can be understood as specifically including the location information of each object within the first area. This location information can refer to the representation of the first location information described above. In other words, the object distribution information can be replaced with the object location information. Optionally, the information indicating the first area can be carried in the same message as the object distribution information.

[0187] The object distribution information in the first area is discussed below in three cases.

[0188] In case 1, the perception function can receive object distribution information from the terminal or application server.

[0189] Optionally, the sensing request #1 may also include object distribution information. In other words, the sensing request #1 sent by the terminal may include the first location information and the object distribution information.

[0190] Optionally, the object distribution information may be sent to the perception function via other messages independent of the perception request #1, which is not limited in this embodiment of the present application.

[0191] It is understandable that the terminal or application server sends object distribution information within a first area, and the first area covers the above-mentioned first position. In one possible implementation, the first position information is used to indicate the absolute position of the target object. The above-mentioned first area can be an area with a specific radius centered on the absolute position, or the first area can be another area that can cover the absolute position. In another possible implementation, the first position information is used to indicate the area where the target object is located. The above-mentioned first area can be the area, or the first area is larger than the area and covers the area, or the first area overlaps with the area.

[0192] In the second case, the perception function can obtain object distribution information from the first perception data.

[0193] The first perception data includes object distribution information in the first area, and the perception function can obtain the object distribution information from the first perception data.

[0194] The perception function can obtain the first perception data in a variety of ways. In the first way, the perception function triggers perception of the first area after S210 and obtains the first perception data corresponding to the first area. Optionally, the perception function can send the first location information to the perception execution device, and the perception execution device performs perception on the first area to obtain the first perception data. The first area can cover the absolute position or area of ​​the target object indicated by the first location information, and then the perception execution device sends the first perception data to the perception function. Optionally, the perception function can also determine the aforementioned first area based on the first location information, send the first area to the perception execution device, and receive the first perception data corresponding to the first area from the perception execution device. In the second way, the perception function obtains the first perception data from historical perception data. The historical perception data can be obtained before S210 or S220. The historical perception data can be a collection of perception data of multiple areas, or it can be perception data of one area. The first perception data can be part or all of the historical perception data. The historical perception data can be publicly available perception data stored on the perception function triggered by other perception services, and this application does not limit this. In the third approach, before S210, a sensing function is triggered in the prediction process to perform sensing, thereby obtaining first sensing data in S220 and obtaining object distribution information therefrom. Optionally, the sensing execution device may include an access network device and / or a terminal.

[0195] The third method is described in detail below:

[0196] Before S210, the perception function can optionally obtain predicted location information, which indicates the predicted location of the target object. The perception function triggers the perception execution device to perform perception of the area where the predicted location is located. The perception execution device performs perception of the area where the predicted location is located and transmits the perception data to the perception function. Based on this, after S210, the perception function can promptly obtain first perception data corresponding to the area where the predicted location is located and obtain object distribution information from the first perception data. In other words, the perception execution device can begin sensing the area where the predicted location is located in advance, eliminating the need to trigger the perception execution device to perform perception after S210. This improves the efficiency of the perception function in obtaining object distribution information and further increases the accuracy of the perception function in identifying the target object. The specific representation of the predicted location information can be found in the first location information and will not be further described here. The first location is covered by the area where the predicted location is located, or the first area where the first location is located is covered by the area where the predicted location is located. Optionally, the perception function can receive perception request #2, which includes the predicted location information and requests continuous tracking of the target object. Optionally, the perception function can receive perception request #2 before receiving perception request #1. Optionally, perception request #2 may include a tracking indication, and the tracking indication is used to indicate continuous tracking. Optionally, perception request #2 may include a tracking indication, and perception request #1 may not include a tracking indication, or perception request #2 may not include a tracking indication, and perception request #1 may include a tracking indication, or perception request #2 may include a tracking indication, and perception request #1 may also include a tracking indication. In other words, one of perception request #1 and perception request #2 may include a tracking indication, or both may include a tracking indication. Optionally, perception request #1 and perception request #2 have the same source, that is, perception request #1 and perception request #2 originate from the same sender and are sent over the same path. For example, perception request #1 and perception request #2 may both originate from an application server, and the application server may send perception request #1 and perception request #2 to the perception function through the capability exposure network element.

[0197] Optionally, the perception function triggers the perception execution device to perceive the area where the predicted location is located, including: the perception function sends the predicted location information to the perception execution device, and the perception execution device perceives the area where the predicted location indicated by the predicted location information is located to obtain first perception data.

[0198] Optionally, before S210, the process further includes: the perception function obtaining information indicating a first moment or a first time range, the predicted location information corresponding to the information indicating the first moment or the first time range, that is, the predicted location indicated by the predicted location information corresponds to the first moment or the first time range. The perception function may determine a third moment based on the first moment, or determine third time range information based on the first time range information. The perception function may trigger the perception execution device to perceive the area where the predicted location is located starting from the third moment or within the third time range, thereby causing the perception execution device to obtain perception data within the area where the predicted location is located within the third time range or starting from the third moment. The perception function may store perception data within the area where the predicted location is located within the third time range or starting from the third moment. Optionally, the perception function may determine the third moment based on the first moment, including: the perception function determining a third moment earlier than the first moment. Optionally, the perception function may determine the third time range information based on the first time range information, including: the perception function determining a third time range covering the first time range, or determining a third time range covering the starting moment of the first time range. In other words, the first perception data is data perceived by the perception execution device starting from the third moment, or perception data perceived by the perception execution device within the third time range. Optionally, the third moment is earlier than the first moment, or the starting moment of the third time range is earlier than the first moment, or the starting moment of the third time range is earlier than the starting moment of the first time range, or the starting moment of the third time range is earlier than the starting moment of the first time range, or the starting moment of the third time range is earlier than the first moment, or the third time range includes the first time range, or the starting moment of the third time range is earlier than the starting moment of the first time range and the ending moment of the third time range is later than the ending moment of the first time range. That is to say, after the first moment or the first time range acquired by the perception function, an earlier third moment or third time range can be acquired, and the area where the predicted position is located is perceived from the third moment to obtain the first perception data, or the area where the predicted position of the third time range is located is perceived to obtain the first perception data, so that the perception data in the predicted area can be perceived earlier. For example, the first moment is 10 o'clock, and the third moment can be 9:55; or the first time range is 10:00-10:05, and the third time range is 9:55-10:10.

[0199] Optionally, the perception function obtains information indicating the first moment or the first time range, including: the perception function obtains information indicating the first moment or the first time range carried by perception request #2. Optionally, perception request #2 may carry both information indicating the first moment and predicted location information, or may carry both information indicating the first time range and predicted location information. In this way, the perception function may obtain information indicating the first moment and predicted location information, or obtain information indicating the first time range and predicted location information, based on perception request #2.

[0200] Optionally, the perception request #1 in S210 also includes information indicating a second moment or a second time range, wherein the second moment or the second time range corresponds to the first position. That is, the perception function perceives a target object in the first area starting from the second moment or the first position in the second time range, and therefore needs to obtain object distribution information in the first area starting from the second moment or the second time range. In other words, the perception function needs to obtain perception data in the first area where the first position starting from the second moment is located, or perception data in the first area where the first position in the second time range is located, from the perception data in the area where the predicted position is located within the third time range or the third moment, and obtain object distribution information in the first area from the perception data in the first area. That is to say, the perception function can trigger the perception execution device in advance to start perceiving the perception data within the area where the predicted position is located at the third moment or the starting moment of the third time range. The perception execution device can send the perceived perception data within the area where the predicted position is located to the perception function. After the perception function receives the perception request #1, the perception function obtains the perception data of the first area starting from the second moment or the perception data of the first area within the second time range from the perception data sent by the perception execution device, and obtains the object distribution information within the first area from the perception data of the first area starting from the second moment or the perception data of the first area within the second time range.

[0201] Optionally, perception request #1 may include information for indicating the second moment or the second time range, or may not include information for indicating the second moment or the second time range. The information for indicating the second moment or the second time range may be sent independently of other messages of perception request #1.

[0202] Optionally, the second moment is later than the third moment, or the start moment of the second time range is later than the third moment, or the second moment is covered by the third time range, or the start moment of the second time range is covered by the third time range, or the second time range is covered by the third time range, or the start moment of the second time range is later than the start moment of the third time range, or the start moment of the second time range is later than the start moment of the third time range and the end moment of the second time range is earlier than the end moment of the third time range. In other words, the perception function can trigger the perception execution device to initiate the perception function in advance. When the second moment arrives, the object distribution information can be directly obtained from the perception data after the second moment or directly from the perception data within the second time range. For example, if the first moment is 10:00, the third moment can be 9:55, and the second moment can be 10:02. In other words, the perception function can perceive the perception data of the predicted location over a relatively long period of time, and obtain the perception data of the first area starting from the first moment in perception request #1 or the perception data of the first area within the first time range from the perception data of the predicted location during this period, and obtain the first object distribution information from the perception data within the first area. For example, the third time range is from 9:55 to 10:10, and the second time range is from 10:02 to 10:05. The perception function triggers the perception execution device to perceive the perception data of the area where the predicted location from 9:55 to 10:10 is located, and sends the perception data of the area where the predicted location from 9:55 to 10:10 is located to the perception function. The perception function determines the perception data of the first area from 10:02 to 10:05 from the perception data of the area where the predicted location from 9:55 to 10:10 is located, and determines the object distribution information of the first area from the perception data of the first area. In other words, the perception execution device can perceive the perception data of a larger predicted area within a large time range, and the perception function can obtain the perception data of a smaller first area within a smaller time range from the perception data of the larger predicted area within the large time range, and obtain the object distribution information within the first area from the obtained perception data of the smaller first area within the smaller time range.

[0203] It can be understood that the perception function can directly use the first moment or the first time range without determining the third moment or the third time range based on the first moment or the first time range. In this case, the third moment in the above scheme can be replaced by the first moment, or the third time range in the above scheme can be replaced by the first time range.

[0204] In case three, the perception function may receive first object distribution information in the first area from the terminal or application server, and obtain second object distribution information in the first area from the first perception data. In this case, the first object distribution information and the second object distribution information in case three together constitute the object distribution information in step S230. That is, in step S230, the perception function may identify the first object in the first area based on the two pieces of distribution information.

[0205] Optionally, for the first object distribution information, refer to the description of case one, and for the second object distribution information, refer to the description of case two.

[0206] S230: The perception function identifies the first object in the first area as a target object based on the first position and the object distribution information, and perceives the target object.

[0207] Optionally, the perception function can determine the distribution of objects in the first area where the first position is located based on the object distribution information, that is, at which positions in the first area there are objects; and determine that the first object in the first area close to the first position or at the first position is the target object based on the object distribution.

[0208] Optionally, the perception function perceives the target object, including: the perception function can send a first indication message to the perception execution device, the first indication message is used to indicate the perception of the target object, wherein the perception execution device can be an access network device related to the first area, for example, it can be an access network device where the cell corresponding to the first area is located.

[0209] Optionally, if perception request #1 includes a tracking instruction, the target object is perceived, including: continuously tracking the target object according to the tracking instruction to obtain a tracking result.

[0210] Optionally, after S230, the perception function continuously tracks the first object to obtain a tracking result. Optionally, the perception function may calibrate the tracking result through the following process: the terminal or application server may send second location information to the perception function, and the perception function may receive the second location information from the terminal or application server, the second location information being used to indicate the second location of the target object. The perception function may obtain second perception data based on continuous tracking of the target object, and then obtain a tracking result based on the second location and the second perception data. In other words, the second perception data (or the tracking result obtained based on the second perception data) may be calibrated using the second location to obtain an accurate or complete tracking result.

[0211] Optionally, after S230, the perception function continuously tracks the first object to obtain a tracking result, and sends the tracking result to the corresponding recipient. For example, if the perception request #1 in S210 is sent by the terminal or application server to the perception function through the access and mobility management function, the perception function sends the tracking result to the terminal or application server through the access and mobility management function. If the perception request #1 in S210 is sent directly by the application server to the perception function, the perception function sends the tracking result directly to the application server. If the perception request #1 in S210 is sent by the application server to the capability exposure function, the capability exposure function sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center sends the perception request #1 to the perception function, the perception function sends the tracking result to the gateway mobile perception center, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If the application server sends a sensing request #1 to the access and mobility management function through the network element mobility tracking center in S210, and the access and mobility management function sends a sensing request #1 to the sensing function, then the sensing function sends the tracking result to the mobility management function, the mobility management function sends the tracking result to the gateway mobility sensing center, and the gateway mobility sensing center sends the tracking result to the sensing function. If the application server sends a sensing request #1 to the access and mobility management function through the capability exposure function in S210, and the access and mobility management function sends a sensing request #1 to the sensing function, then the sensing function sends the tracking result to the mobility management function, the mobility management function sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the sensing function. If the application server sends perception request #1 to the perception function through the capability exposure function in S210, the perception function sends the tracking result to the application server through the capability exposure function; if the application server sends perception request #1 to the capability exposure function in S210, and the capability exposure function sends perception request #1 to the gateway mobile perception center, the perception function sends the tracking result to the gateway mobile perception center, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server; if the application server sends perception request #1 to the perception function through the gateway mobile perception center in S210, the perception function sends the tracking result to the application server through the gateway mobile perception center.

[0212] Optionally, the communication method 200 further includes: obtaining location information of UEs within the first area; wherein, S230 includes: identifying a first object within the first area as the target object based on the first location, the object distribution information, and the location information of the UE; wherein the target object is a non-user equipment (UE). Optionally, if the perception request #1 includes a non-UE indication, the perception function can learn that the perception request #1 is directed to a non-UE, and thus can trigger the perception function to obtain the location information of the UE within the first area. In other words, after the perception function learns that the object being perceived is a non-UE, it can trigger the perception function to obtain the location information of the UE within the first area, so as to determine that the non-UE within the first area is the target object based on the UE's location information.

[0213] Optionally, based on the first position, the object distribution information and the position information of the UE, the first object in the first area is identified as the target object, including: the perception function determines the distribution of objects in the first area according to the object distribution information, excludes the UE in the first area according to the position information of the UE, and determines the first object close to the first position or at the first position among the remaining non-UEs in the first area. At this time, the first object can be the target object.

[0214] Optionally, for case 1 in S220, the perception function determines the distribution of objects in the first area based on the object distribution information from the terminal or application server, determines the position of the UE in the first area based on the position information of the UE, excludes the UE from the objects in the first area based on the position of the UE, and determines the first object close to the first position or at the first position among the remaining non-UEs. At this time, the first object can be the target object.

[0215] Optionally, for case two in S220, the perception function determines the distribution of objects in the first area based on the object distribution information in the first perception data, excludes the position of the UE in the first area based on the position information of the UE, and determines the first object close to the first position or at the first position among the remaining non-UEs. At this time, the first object can be a target object.

[0216] Optionally, for situation three in S220, the perception function may determine a first distribution situation of objects in the first area based on the first object distribution information from the terminal or application server, the perception function may determine a second distribution situation of objects in the area where the predicted position is located based on the first perception data, and the perception function may determine the target object based on the first distribution situation, the second distribution situation, and the location information of the UE. For example, the perception function excludes the UE in the first distribution situation based on the location information of the UE, excludes the UE in the second distribution situation based on the location information of the UE, and determines the first object at or near the first position from the remaining non-UEs in the first distribution situation and the remaining non-UEs in the second distribution situation. In this case, the first object may be the target object. For another example, the perception function obtains the distribution of objects in the first area based on the first distribution situation and the second distribution situation, and then excludes the UE from the objects in the first area based on the location information of the UE, and finally determines the first object at or near the first position from the remaining non-UEs. In this case, the first object may be the target object.

[0217] It should be noted that there is no restriction on the order of S220 and obtaining the location information of the UE in the first area. S220 can be performed before, after, or simultaneously with obtaining the location information of the UE in the first area.

[0218] Optionally, objects within the first area may include non-UEs, or include both non-UEs and UEs. Optionally, objects within the first area may include or exclude terminals. For example, if the terminal is a target object, the first area may include the terminal. If the terminal device is not a target object, the first area may include or exclude the terminal. This embodiment of the application does not impose any restrictions on whether the first area includes a terminal.

[0219] The following describes two ways in which the perception function obtains the location information of the UE in the first area.

[0220] Method 1: The access and mobility management function sends the identifier of the UE in the first area to the perception function, the perception function receives the identifier of the UE in the first area from the access and mobility management function, the perception function sends the identifier of the UE to the positioning function, the positioning function determines the location information corresponding to the identifier of the UE based on the identifier of the UE, and sends the location information corresponding to the identifier of the UE to the perception function.

[0221] Optionally, the sensing function sends the UE identifier to the positioning function, including: the sensing function directly sends the UE identifier to the positioning function. The positioning function determines the location information corresponding to the UE identifier according to the UE identifier.

[0222] Optionally, the perception function sends the UE identifier to the positioning function, including: the perception function sends the UE identifier to the positioning function through the gateway mobile perception center, the positioning function determines the location information corresponding to the UE identifier based on the UE identifier, and the positioning function sends the location information corresponding to the UE identifier to the perception function through the gateway mobile perception center. Optionally, the perception function sends the UE identifier to the positioning function through the gateway mobile perception center, the perception function sends a positioning request to the gateway mobile perception center, the positioning request includes the UE identifier, the gateway mobile perception center determines the access and mobility management function of the UE identified by the identifier of the serving UE, the gateway mobile perception center sends the positioning request to the access and mobility management function serving the UE, the access and mobility management function serving the UE selects the positioning function and sends the positioning request to the positioning function, the positioning request includes the UE identifier, the positioning function determines the location information of the UE identified by the identifier of the UE, sends the UE location information to the access and mobility management function serving the UE, and the mobility management function sends the UE location information to the perception function through the gateway mobile perception center.

[0223] Optionally, the perception function sends the UE identifier to the positioning function, including: the perception function sends the UE identifier to the positioning function through the access and mobility management function, the positioning function determines the location information corresponding to the UE identifier based on the UE identifier, and the positioning function sends the location information corresponding to the UE identifier to the perception function through the access and mobility management function. The perception function sends the UE identifier to the positioning function through the access and mobility management function, including: the perception function determines the access and mobility management function of the UE identified by the identifier of the serving UE, and sends a positioning request to the access and mobility management function of the serving UE, the positioning request includes the UE identifier, the access and mobility management function of the serving UE selects the positioning function, and sends the positioning request to the positioning function, the positioning function determines the UE location information based on the positioning request, and sends the UE location information to the access and mobility management function of the serving UE, and the access and mobility management function of the serving UE sends the UE location information to the perception function.

[0224] Optionally, in method one, before the access and mobility management function sends the identifier of the UE in the first area to the perception function, the method also includes: the perception function sends a request for the identifier of the UE in the first area to the access and mobility management function, and the access and mobility management function sends the identifier of the UE in the first area to the perception function. In other words, the perception function can request the identifier of the UE in the first area from the access and mobility management function, and the access and mobility management network element determines the UE in the first area among the UEs registered in the access and mobility management network element, and sends the identifier of the UE in the first area to the perception function.

[0225] Optionally, in method 1, the access and mobility management function may obtain the identifier of the UE in the first area and send the identifier of the UE in the first area to the perception function in perception request #1, or may send the identifier of the UE in the first area to the perception function in other messages different from perception request #1. Optionally, the access and mobility management function may receive information indicating the first area, for example, the access and mobility management function may receive perception request #3, which may include information indicating the first area, or the access and mobility management function may send first location information to the access network device, the access network device may determine the first area based on the first location indicated by the first location information, and the access network device may send information indicating the first area to the access and mobility management function.

[0226] In a second approach, the access and mobility management function may send the location information of the UE within the first area to the perception function, and the perception function may receive the location information of the UE within the first area from the access and mobility management function. Optionally, the perception request #1 sent by the access and mobility management function to the perception function may include the location information of the UE within the first area, wherein the perception request #1 may be from the terminal or the application server. That is, the terminal or the application server may send the location information of the UE within the first area at the same time as sending the first location information, and the perception function may obtain the location information of the UE within the first area in the perception request #1.

[0227] Optionally, perception request #1 may not include the location information of the UE within the first area. The terminal or application server may send the location information of the UE within the first area in a message different from perception request #1. The embodiment of the present application does not limit the manner in which the terminal or application server sends the location information of the UE within the first area.

[0228] In an embodiment of the present application, the perception function can identify the first object in the first area as the target object based on the first position where the target object is located and the object distribution information in the first area, so that the target object can be perceived or tracked more accurately. That is to say, when determining the target object, the possible errors in the first position are calibrated through the object distribution information and the first position in the first area, and more accurate position information of the target object is obtained, thereby improving the tracking accuracy. In addition, the first object may be a non-UE. When the perception function determines the first object among the objects in the first area, the position information of the UE in the first area is referred to. In this way, the UE in the first area can be excluded, so that the first object close to the first position can be determined as the target object within a small range or a small number of objects after exclusion, thereby improving the recognition accuracy of the target object and further improving the accuracy of perception or tracking.

[0229] In the above method 200, the access and mobility management function can act as an intermediate device to receive the sensing request #1 from other devices and send the sensing request #1 to the sensing function. The sensing function can obtain the first location information and / or the object distribution information in the first area from the sensing request #1. This solution is specifically described by the communication method 300 shown in Figure 3. As shown in Figure 3, the communication method 300 includes:

[0230] S310, the terminal or application server sends a perception request #3 to the access and mobility management function, and the access and mobility management function receives the perception request #3 from the terminal or application server. The perception request #3 includes first location information, and the first location information is used to indicate the first location of the target object.

[0231] Optionally, Perception Request #3 is used to request continuous tracking of the target object. Perception Request #3 is similar to Perception Request #1 and may also include a tracking instruction. For details, see the description of S210. To avoid redundancy, this description is omitted here.

[0232] Optionally, perception request #3 is similar to perception request #1 and may also include non-UE indications. For details, please refer to the description of S210. In order to avoid redundancy, it is not described in detail.

[0233] Optionally, in S310, the application server sends a perception request #3 to the access and mobility management function, including: the application server sends a perception request #3 to the access and mobility management function through the capability exposure function, and the access and mobility management receives the perception request #3 through the capability exposure function. Specifically, the application server sends a perception request #3 to the capability exposure function, and the capability exposure function performs an authorization check on the application server and selects a suitable access and mobility management function. If the application server authorization check is passed, the capability exposure function sends a perception request #3 to the access and mobility management function; or includes: the application server sends a perception request #3 to the access and mobility management function through the gateway mobile perception center, and the access and mobility management function receives the perception request #3 from the application server through the gateway mobile center. Specifically, the application server sends a perception request #3 to the gateway mobile perception center, and the gateway mobile perception center performs an authorization check on the application server and selects Select an appropriate access and mobility management function. If the application server passes the authorization check, the gateway mobile perception center sends a perception request #3 to the access and mobility management function; or include: the application server sends a perception request #3 to the access and mobility management function through the capability exposure function and the gateway mobile perception center, and the access and mobility management function receives the perception request #3 through the capability exposure function and the gateway mobile perception center. Specifically, the application server sends a perception request #3 to the access and mobility management function through the capability exposure function and the gateway mobile perception center, including: the application server sends a perception request #3 to the capability exposure function, and the capability exposure function performs an authorization check on the application server. If the capability exposure function passes the authorization check on the application server, the capability exposure function sends a perception request #3 to the gateway mobile perception center, and the gateway mobile perception center selects an appropriate access and mobility management function and sends a perception request #3 to the access and mobility management function.

[0234] Among them, S310 triggers S320. After the access and mobility management function receives the perception request #3 in S310, it knows that it needs to obtain the location information of the UE in the first area, so it can trigger S320.

[0235] S320: The access and mobility management function obtains location information of the UE in the first area where the first location is located.

[0236] S320 is described below in two cases.

[0237] Case 1, S320, includes: the access and mobility management function obtains the identifier of the UE that may be in the first area, and then sends the UE identifier to the positioning function. The positioning function locates the UE identified by the UE identifier, obtains the UE location information and returns it to the access and mobility management function. The access and mobility management function determines the location information of the UE in the first area based on the location information and the first area. That is, the access and mobility management function first determines which UEs may be in the first area, and then requests the location information of these UEs from the positioning function. The determination of which UEs may be in the first area can specifically be: the access and mobility management function obtains the corresponding tracking area (TA) identity, base station (identified by RAN ID), and cell (identified by cell identity) based on the first area. The access and mobility management function can obtain at least one of the current TA identity, base station identity, or cell identity of the UE in the connected state, and the TA(s) identity of the UE in the unconnected state (the UE is in one of the TAs). Therefore, if the first area is equivalent to one or more TA ranges, the access and mobility management function first determines the UE in the connected state in the first area, and then pages at least one UE(s) in the non-connected state of the TA(s) in the first area or the non-connected UE(s) whose TA(s) intersects with the first area, thereby obtaining at least one of the corresponding TA identifier, base station identifier or cell identifier, and finally determines the UE belonging to the first area. If the first area is not equivalent to one or more TA ranges, or base station ranges, or cell ranges, the access and mobility management function first determines the UEs in the connected state in the first area (determining the UEs in the first area), and then pages at least one non-connected UE(s) in the TA(s) that is included in the first area or includes the first area, or in other words, the non-connected UE(s) whose TA(s) intersects with the first area, thereby obtaining at least one of its corresponding TA identifier, base station identifier, or cell identifier, and determining the possible approximate location of the paged non-connected UE(s) based on at least one of the TA identifier, base station identifier, or cell identifier corresponding to the paged non-connected UE(s). A portion of these non-connected UE(s) is determined to be in the first area (determining the UEs in the first area), and a portion may be at the boundary of the first area. The non-connected UE(s) at the boundary of the first area are understood to be UEs that may be in the first area.

[0238] In case 2, the perception request #3 in S310 may include the location information of the UE in the first area. At this time, in S320, the access and mobility management function may obtain the location information of the UE in the first area in the perception request #3.

[0239] S330: The access and mobility management function sends a sensing request #1 to the sensing function. The sensing function receives the sensing request #1 from the access and mobility management function. The sensing request #1 includes the first location information and the location information of the UE. The sensing request #1 is used to request continuous tracking of the target object.

[0240] Optionally, in S320, perception request #3 may include the location information of the UE within the first area, or may not include the location information within the first area.

[0241] Optionally, the perception request #1 in S330 and the perception request #3 in S310 can be the same perception request. In this case, the access and mobility management function is responsible for forwarding (transmitting without parsing) the perception request #3 (or perception request #1) from the terminal or application server to the perception function.

[0242] Optionally, the perception request #1 in S330 and the perception request #3 in S310 may be different perception requests. The access and mobility management function may extract information from the perception request #3 in S310 and encapsulate it (the message name or structure may change) to obtain the perception request #1 in S330. For example, the access and mobility management function may obtain the perception request #1 in S330 after adding the location information of the UE in the first area to the perception request #3 in S310.

[0243] Optionally, the sensing request #3 in S310 and the sensing request #1 in S330 may include object distribution information in the first area. That is, the access and mobility management function may receive the sensing request #3 from the terminal or application server, including the object distribution information in the first area, and the sensing request #1 may carry the object distribution information in the first area and send it to the sensing function. Specifically, the object distribution information in the first area can be found in the description of scenario 1 in S220.

[0244] Optionally, the perception request #3 in S310 and the perception request #1 in S330 may include information for indicating the second moment or the second time range. That is to say, the perception request #1 and the perception request #3 may include not only the first position information but also the information for indicating the second moment or the second time range. The second moment or the second time range corresponds to the first position or the first area where the first position is located. That is to say, the perception request #1 and the perception request #3 may include not only the first position information but also the information for indicating the second moment or the second time range. Optionally, the perception request #1 may include the information for indicating the second moment or the second time range, or may not include the information for indicating the second moment or the second time range. The information for indicating the second moment or the second time range may be sent independently of other messages of the perception request #1. Specifically, the information for indicating the second moment or the second time range can be referred to the description of method 200.

[0245] Optionally, before S310, the communication method 300 further includes: the access and mobility management function may receive the predicted location information, and the access and mobility management function may send the predicted location information to the sensing function. Specifically, the predicted location information can refer to the introduction of situation three in S220.

[0246] S340: The perception function obtains object distribution information within the first area where the first position is located.

[0247] Among them, the specific details of S340 can be referred to the introduction of S220, which is not repeated here.

[0248] S350: The perception function identifies the first object in the first area as a target object based on the first position, the object distribution information and the position information of the UE, and perceives the target object.

[0249] Optionally, if the sensing request #1 includes a non-UE indication, the sensing function may know that the sensing request #1 is directed to a non-UE. In other words, after the sensing function knows that the object to be sensed is a non-UE, it may trigger the sensing function to execute S350.

[0250] Optionally, S350 includes: the perception function determines the distribution of objects in the first area based on the object distribution information, excludes the UE in the first area based on the UE location information, and determines the first object close to the first position or at the first position among the remaining non-UEs in the first area. At this time, the first object can be a target object.

[0251] Specifically, for S340 , refer to the description of S230 .

[0252] In the above-mentioned communication method 300, after the access and mobility management function receives the perception request #3 carrying the first location information, it obtains the location information of the UE in the first area where the first location indicated by the first location information is located, and sends the location information of the UE in the first area and the first location information to the perception function, so that the perception function can identify the first object in the first area as the target object based on the first location of the target object and the location information of the UE in the first area, thereby more accurately perceiving or tracking the target object. That is to say, when determining the target object, the UE in the first area is excluded by the UE location information and the first location in the first area provided by the access and mobility management function, so that the first object close to the first location can be determined as the target object within the small range or a small number of objects after exclusion, and the possible error in the first location is calibrated, thereby improving the accuracy of identifying the target object and improving the accuracy of perception or tracking.

[0253] The following is a detailed description in combination with the description of communication method 400-communication method 700. In the process described below, the first object can be a first non-UE, wherein communication method 400 and communication method 600 are for AMF to obtain the location information of the UE in the first area where the first location is located based on the location information of the UE returned by LMF, and SF obtains the location information of the UE in the first area from AMF. Communication method 500 and communication method 700 are for SF to obtain the location information of the UE in the first area where the first location is located based on the location information of the UE returned by LMF. wherein, in communication method 400 and communication method 500, when SF determines the first non-UE in the first area, it adopts the historical second object distribution information and / or the first object distribution information from the UE or AF, and in communication method 600 and communication method 700, when SF determines the first non-UE in the first area, it adopts the second object distribution information of the area where the predicted location is located and / or the first object distribution information from the UE or AF. In the following communication methods 400-700, the terminal is described as UE, the perception function is SF, the perception execution device is RAN, the access and mobility management function is AMF, the positioning management function is LMF, the capability exposure function is NEF, the network element mobile tracking center is GMSC, and the application server is AF as an example.

[0254] The communication method 400 corresponds to the case 1, case 2, or case 3 of S220 in the method 200 and corresponds to the case 1 of S320. As shown in FIG4 , the communication method 400 includes:

[0255] S401a: The UE sends a perception request #3 to the AMF, and the AMF receives the perception request #3 from the UE. Optionally, the perception request #3 includes at least one of a non-UE indication, a tracking indication, the first location information, or the first object distribution information.

[0256] The non-UE indication is used to indicate that the perception request #3 is for a non-UE, and the tracking indication is used to indicate continuous tracking. Optionally, S401a may not include the non-UE indication and the tracking indication. The message type of the perception request #3 may indicate continuous tracking of the non-UE. The embodiment of the present application does not impose any restrictions on how to indicate continuous tracking of the non-UE.

[0257] S401b, AF sends perception request #3 to AMF, and AMF receives perception request #3 from UE.

[0258] For the description of perception request #3, please refer to S401a.

[0259] Optionally, S401b includes: the AF sends a perception request #3 to the AMF through the NEF and / or GMSC. Optionally, the AF sends a perception request #3 to the AMF through the NEF, including: the AF sends a perception request #3 to the NEF, the NEF performs an authorization check on the AF that sends the perception request #3, if the NEF passes the authorization check on the AF, the NEF selects a suitable AMF, i.e., the AMF in Figure 4, and sends the perception request #3 to the AMF, and the AMF receives the perception request #3 from the NEF. Optionally, the AF sends a perception request #3 to the AMF through the GMSC, including: the AF sends a perception request #3 to the GMSC, the GMSC performs an authorization check on the AF that sends the perception request #3, if the GMSC passes the authorization check on the AF, the GMSC selects a suitable AMF, i.e., the AMF in Figure 4, and sends the perception request #3 to the AMF, and the AMF receives the perception request #3 from the GMSC. Optionally, AF sends perception request #3 to AMF through GMSC and NEF, including: AF sends perception request #3 to NEF, NEF performs an authorization check on the AF that sends perception request #3, if NEF passes the authorization check on AF, it sends perception request #3 to GMSC, GMSC selects a suitable AMF, i.e., the AMF in Figure 4, and sends perception request #3 to the AMF.

[0260] Optionally, perception request #3 in S401a or S402b may include first object distribution information of the first area, or may not include the first object distribution information of the first area. If perception request #3 includes the first object distribution information of the first area, the first object distribution information may be the object distribution information of case 1 in S230 or the first object distribution information of case 3. The object distribution information may indicate the distribution of objects in the first area, that is, at which locations in the first area objects are distributed, without distinguishing between UEs and non-UEs.

[0261] Among them, one of S401a and S401b can exist, that is, either the perception request initiated by the UE or the perception request initiated by the AF.

[0262] It can be understood that S401a or S401b is for the convenience of description. Perception request #3 includes non-UE indication, tracking indication, first location information and first object distribution information. In some cases, this information may be included in different messages or in the same message. The embodiment of the present application does not limit this.

[0263] S402, AMF sends a positioning request to LMF, and LMF receives the positioning request from AMF, where the positioning request includes an identifier of the UE that may be in the first area.

[0264] Before S402, the AMF may determine the first area where the first location is located and obtain the identifier of the UE that may be in the first area. Specifically, the AMF obtains the identifier of the UE in the first area, as described in case 1 in S320. There may be one or more UEs that may be in the first area, so the positioning request may include the identifiers of one or more UEs.

[0265] Optionally, the AMF may trigger execution of S402 based on the tracking indication and / or non-UE indication in the perception request #3. That is, the AMF learns to continuously track the non-UE based on the tracking indication and / or non-UE indication, and then needs to determine the location information of the UE in the first area where the non-UE is located, so S402 may be executed.

[0266] S403, LMF sends the location information of the UE identified by the UE identifier to AMF, and AMF receives the location information of the UE identified by the UE identifier from LMF.

[0267] Optionally, before S403, the LMF locates the UE identified by the UE identifier in the positioning request to obtain the UE's location information.

[0268] S404, AMF sends perception request #1 to SF, and SF receives perception request #1 from AMF. Optionally, perception request #1 includes at least one of non-UE indication, tracking indication, first location information, first object distribution information or UE location information.

[0269] Optionally, the AMF determines the location information of the UE within the first area based on the first area and the location information returned by the LMF.

[0270] Optionally, if perception request #3 can include object distribution information of the first area, then perception request #1 in S404 can also include object distribution information of the first area, that is, perception request #1 has additional location information of UEs in the first area compared with perception request #3.

[0271] It can be understood that S404 is for the convenience of description. Perception request #1 includes at least one of a non-UE indication, a tracking indication, a first location information, a first object distribution information or a UE location information. In some cases, this information may be included in different messages or in the same message. The embodiment of the present application does not limit this.

[0272] Optionally, perception request #3 and perception request #1 may also include the location information of the UE in the first area. In this case, S402 and S403 may not exist. In this case, it corresponds to case 2 in S320. That is, the location information of the UE in the first area may come from the requester or be obtained by the AMF.

[0273] Optionally, the perception request #3 in S401a or S401b and the perception request #1 in S404 may include information for indicating a second moment or a second time range, where the second moment or the second time range corresponds to the first position or the first area where the first position is located, indicating that the SF in S406 needs to determine that the first non-UE in the first area starting from the second moment or the second time range is the target object.

[0274] S405, SF obtains second object distribution information of objects in the first area from the first perception data.

[0275] The first perception data of the SF may store second object distribution information of objects within the first area. Therefore, the SF can obtain the second object distribution information of objects within the first area from the first perception data. The first perception data may also be historical perception data, which may be perception data previously obtained by the SF or perception data currently being obtained by the SF.

[0276] Optionally, S405 includes: SF determines the first position based on the first position information in the perception request #1, determines the first area where the first position is located, and obtains second object distribution information of objects in the first area from the first perception data.

[0277] S406 , the SF determines that a first non-UE in the first area is a target object according to at least one of the non-UE indication, the first location information, the UE location information, the first object distribution information, or the second object distribution information.

[0278] Among them, S406 includes three situations, namely: optionally, if perception request #3 and perception request #1 include the first object distribution information, SF determines that the first non-UE in the first area is the target object based on the non-UE indication, the first position information, the UE position information and the first object distribution information, and S405 may not exist at this time; SF determines that the first non-UE in the first area is the target object based on the non-UE indication, the first position information, the UE position information and the second object distribution information, and at this time, perception request #3 and perception request #1 may not include the first object distribution information; SF determines that the first non-UE in the first area is the target object based on the non-UE indication, the first position information, the UE position information, the first object distribution information and the second object distribution information, and at this time, perception request #3 and perception request #1 include the first object distribution information, and S405 may also exist.

[0279] Optionally, S406 includes: SF determines the first area where the first position is located based on the first position information, and SF determines the distribution of objects in the first area based on the first object distribution information and / or the second object distribution information. Specifically, SF determines the first distribution of objects in the first area based on the first object distribution information, determines the second distribution based on the second object distribution information, and SF determines the target object based on the first distribution, the second distribution and the UE's position information. For example, SF excludes the UE in the first distribution based on the position information of the E object, excludes the UE in the second distribution based on the UE's position information, determines the first object at the first position or close to the first position from the remaining non-UEs in the first distribution and the remaining non-UEs in the second distribution, and in this case, the first object may be the target object. For another example, SF obtains the distribution of objects in the first area based on the first distribution and the second distribution, excludes the UE from the objects in the first area based on the UE's position information, and finally determines the first object at the first position or close to the first position from the remaining non-UEs, and in this case, the first object may be the target object.

[0280] Optionally, if perception request #1 includes information for indicating a second moment or a second time range, SF determines the distribution of objects in the first area based on the first object distribution information and / or the second object distribution information, including: SF determines the distribution of objects in the first area from the second moment or the second time range based on the first object distribution information and / or the second object distribution information.

[0281] S407, SF continuously tracks the target object according to the tracking instruction to obtain a tracking result.

[0282] Optionally, in S407, the SF sends second indication information to the RAN according to the tracking indication, where the second indication information is used to instruct to continuously track the target object, and the RAN continuously tracks the target object according to the second indication information.

[0283] It can be understood that in the communication method 400, the UE or AF sends the perception request #3. If the intermediate device (such as AMF) does not add the location information of the UE in the first area during the forwarding process, the perception request #3 received by the perception function can also be perception request #1; if the intermediate device (such as AMF) adds the location information of the UE in the first area on the basis of the information included in the perception request #3 during the forwarding process, the information sent by the AMF including the information in the perception request #3 and the location information of the UE in the first area can be called perception request #1. In other words, if the intermediate device only forwards the information, the information included in the perception request #3 is the same as the information included in the perception request #1. In this case, perception request #3 can also be called perception request #1. If the intermediate device also adds other location information, the one received by the SF can be called perception request #1, and the one sent by the UE or AF can be called perception request #3. In addition, when perception request #1 is forwarded by different network elements, it can still be called perception request #1.

[0284] Optionally, SF can continuously sense the target object to obtain second perception data, SF can continue to receive second position information of the target object, the second position information is used to indicate the second position of the target object, and SF can determine the tracking result based on the second position information and the second perception data.

[0285] Optionally, if S401a exists, the method further includes: SF can continue to request UE to report the position of the target object, and UE sends the second position of the target object based on the request. At this time, S407 includes: SF determines the tracking result of the target object based on the second perception data and the second position. Optionally, SF can calibrate the second perception data according to the second position to obtain the tracking result of the target object. Alternatively, UE can also actively report the position of the target object, and SF may not request it. For example, UE can periodically report the position of the target object. If S401b exists, the method further includes: SF can continue to request AF to report the position of the target object, and AF sends the second position of the target object based on the request. At this time, S407 includes: SF determines the tracking result of the target object based on the second perception data and the second position. Optionally, SF can calibrate the second perception data according to the second position to obtain the tracking result. That is to say, if the AF or UE can also actively or passively report the second position of the target object, the SF calibrates the second perception data based on the reported second position of the target object to obtain the tracking result. For example, when the SF continuously tracks the target object, it may cause the target object to be not tracked at a certain time. In this case, the reported second position can be used as the position of the target object at a certain time, thereby improving the tracking accuracy.

[0286] S408: SF sends the tracking result to AMF, and AMF receives the tracking result from SF.

[0287] If S401a exists, that is, the perception request #3 comes from the UE, then S409a exists.

[0288] S409a: AMF sends the tracing result to the UE, and the UE receives the tracing result from the AMF.

[0289] Optionally, S409a includes: AMF sends a response message of perception request #3 to the UE, and the response message includes the tracking result.

[0290] If S401b exists, that is, the perception request #3 comes from AF, then S409b exists.

[0291] S409b, AMF sends the tracking result to AF, and AF receives the tracking result from AMF.

[0292] Optionally, S409b includes: AMF sends a response message of perception request #3 to AF, and the response message includes the tracking result.

[0293] If in S401b: AF sends Perception Request #3 to AMF via NEF and / or GMSC, then in S409b, AMF sends tracking results to AF via NEF and / or GMSC. If in S401b: AF sends Perception Request #3 to NEF, and NEF sends Perception Request #3 to AMF, then in S409b, AMF sends tracking results to NEF, NEF receives tracking results from AMF, NEF sends tracking results to AF, and AF receives tracking results from NEF. If in S401b: AF sends Perception Request #3 to GMSC, and GMSC sends Perception Request #3 to AMF, then in S409b, AMF sends tracking results to GMSC, and GMSC sends tracking results to AF. If, in S401b, the AF sends Awareness Request #3 to the NEF, the NEF sends Awareness Request #3 to the GMSC, and the GMSC sends Awareness Request #3 to the AMF, then in S409b, the AMF sends the tracking result to the GMSC. After the GMSC receives the tracking result, the GMSC sends the tracking result to the NEF. After the NEF receives the tracking result, the NEF sends the tracking result to the AF. In other words, the manner in which Awareness Request #3 is sent from the AF in S401b corresponds to the manner in which the tracking result is sent in S409b.

[0294] In the above-mentioned communication method 400, the AMF can obtain the location information of the UE in the first area, and carry at least one of the tracking indication, non-UE indication, first location information, first object distribution information or location information of the UE in the first area in the received perception request #3 in the perception request #1 and send it to the SF. The SF can determine that the first non-UE in the first area is the target object based on the perception request #1, and track the target object. The tracking result can be returned to the requesting party, so that the first non-UE can be tracked, thereby providing a method for tracking non-UE.

[0295] The communication method 500 corresponds to case 1, case 2, or case 3 of S220 in method 200 and corresponds to method 1 of the two methods of obtaining the location information of the UE in the first area by the perception function. As shown in FIG5 , the communication method 500 includes:

[0296] S501a: The UE sends a perception request #1 to the AMF, and the AMF receives the perception request #1 from the UE. Optionally, the perception request #1 includes at least one of a non-UE indication, a tracking indication, the first location information, and the first object distribution information.

[0297] The non-UE indication is used to indicate that the perception request #1 is for a non-UE, and the tracking indication is used to indicate continuous tracking. Optionally, S501a may not include the non-UE indication and the tracking indication. The message type of the perception request #1 may indicate continuous tracking of the non-UE. The embodiment of the present application does not impose any restrictions on how to indicate continuous tracking of the non-UE.

[0298] S501b, AF sends perception request #1 to AMF, and AMF receives perception request #1 from AF.

[0299] For the description of perception request #1, please refer to S501a.

[0300] Optionally, S501b includes: AF sends perception request #1 to AMF through NEF and / or GMSC. Optionally, AF sends perception request #1 to AMF through NEF, including: AF sends perception request #1 to NEF, NEF performs an authorization check on the AF that sends perception request #1, if NEF passes the authorization check on AF, then NEF selects a suitable AMF, i.e., the AMF in Figure 5, and sends perception request #1 to AMF, and AMF receives perception request #1 from NEF. Optionally, AF sends perception request #1 to AMF through GMSC, including: AF sends perception request #1 to GMSC, GMSC performs an authorization check on the AF that sends perception request #1, if GMSC passes the authorization check on AF, then GMSC selects a suitable AMF, i.e., the AMF in Figure 5, and sends perception request #1 to AMF, and AMF receives perception request #1 from GMSC. Optionally, AF sends perception request #1 to AMF through GMSC and NEF, including: AF sends perception request #1 to NEF, NEF performs an authorization check on the AF that sends perception request #1, if NEF passes the authorization check on AF, it sends perception request #1 to GMSC, GMSC selects a suitable AMF, i.e., the AMF in Figure 5, and sends perception request #1 to the AMF.

[0301] S501c, AF sends a sensing request #1 to SF.

[0302] For the description of perception request #1, please refer to S501a.

[0303] Optionally, S501c includes: the AF sends a perception request #1 to the SF via the NEF and / or the GMSC. Optionally, the AF sends a perception request #1 to the SF via the NEF, including: the AF sends the perception request #1 to the NEF, the NEF performs an authorization check on the AF that sends the perception request #1, and if the NEF passes the authorization check on the AF, the NEF sends the perception request #1 to the SF, and the SF receives the perception request #1 from the NEF. Optionally, the AF sends a perception request #1 to the SF via the GMSC, including: the AF sends the perception request #1 to the GMSC, the GMSC performs an authorization check on the AF that sends the perception request #1, and if the GMSC passes the authorization check on the AF, the GMSC sends the perception request #1 to the SF, and the SF receives the perception request #1 from the GMSC. Optionally, AF sends perception request #1 to SF through NEF and GMSC. Optionally, AF sends perception request #1 to SF through NEF and GMSC, including: AF sends perception request #1 to NEF, NEF performs authorization check on AF, and sends perception request #1 to GMSC after the authorization check is passed, GMSC selects a suitable SF, and sends perception request #1 to SF.

[0304] S502 may exist when S501a or S501b exists. If S501a and S501b do not exist, but S501c exists, then S502 is not included. In other words, S502 is the AMF sending the perception request #1 to the SF. If the AF does not send the perception request #1 to the SF through the AMF, the AMF does not send the perception request #1.

[0305] Among them, one of S501a, S501b and S501c can exist, that is, either the perception request initiated by the UE to the AMF or the perception request initiated by the AF to the AMF, or the perception request initiated by the AF to the SF.

[0306] S502, AMF sends perception request #1 to SF, and SF receives perception request #1 from AMF.

[0307] Optionally, in S502, AMF may transparently transmit the perception request #1.

[0308] Among them, there is one of S502 and S501c, that is, S501a, S501b and S502 are optional steps, or S501c can also be an optional step.

[0309] S503, SF sends a positioning request to LMF, and LMF receives the positioning request from AMF. The positioning request includes the identifier of the UE that may be in the first area.

[0310] Optionally, after SF receives the perception request #1 in S502, it can request the AMF for the identification of the UE that may be in the first area and send information indicating the first area to the AMF. The AMF returns the identification of the UE that may be in the first area to the SF based on the request. For the method by which AMF determines the identification of the UE that may be in the first area, please refer to the description of S320.

[0311] Optionally, when S501a or S501b exists, perception request #1 in S501a or S501b can be replaced by perception request #3. At this time, in S502, after receiving perception request #3, AMF can determine the first area where the first location is located based on the first location indicated by the first location information, and determine the UE that may be in the first area, and send the identifier of the UE that may be in the first area or the identifier of the UE in the first area to SF, so that SF can execute S503.

[0312] Optionally, SF can trigger execution of S503 based on the tracking indication and / or non-UE indication in perception request #1, that is, SF learns to continuously track the non-UE based on the tracking indication and / or non-UE indication, and then needs to determine the location information of the UE in the first area where the non-UE is located, so S503 can be executed.

[0313] S504, LMF sends the UE location information to SF, and SF receives the UE location information from LMF.

[0314] Optionally, before S504, the LMF locates the UE identified by the UE identifier in the positioning request to obtain the UE's location information.

[0315] S505-S507 are the same as S405-S407 respectively.

[0316] If S501a or S501b exists, that is, the perception request #1 comes from AMF, then S508a exists.

[0317] S508a, SF sends the tracking result to AMF, and AMF receives the tracking result from SF.

[0318] If S501c exists, that is, the perception request #1 comes from AF, then S508b exists.

[0319] S508b: SF sends the tracking result to AF, and AF receives the tracking result from SF.

[0320] If S508a exists, S509a may exist.

[0321] Optionally, if the AF sends the sensing request #1 to the SF via the NEF in S501c, in S508b, the SF sends the tracking result to the AF via the NEF. Optionally, if the AF sends the sensing request #1 to the SF via the GMSC in S501c, in S508b, the SF sends the tracking result to the AF via the GMSC.

[0322] S509a: AMF sends the tracing result to the UE, and the UE receives the tracing result from the AMF.

[0323] Optionally, S509a includes: AMF sends a response message of perception request #1 to the UE, and the response message includes the tracking result.

[0324] If S501b exists, that is, the perception request #1 comes from AF, then S509b exists.

[0325] S509b, AMF sends the tracking result to AF, and AF receives the tracking result from AMF.

[0326] Optionally, S509b includes: AMF sends a response message of perception request #1 to AF, and the response message includes the tracking result.

[0327] If in S501b: AF sends Perception Request #1 to AMF via NEF and / or GMSC, then in S509b, AMF sends tracking results to AF via NEF and / or GMSC. If in S501b: AF sends Perception Request #1 to NEF, and NEF sends Perception Request #1 to AMF, then in S509b, AMF sends tracking results to NEF, NEF receives tracking results from AMF, NEF sends tracking results to AF, and AF receives tracking results from NEF. If in S501b: AF sends Perception Request #1 to GMSC, and GMSC sends Perception Request #1 to AMF, then in S509b, AMF sends tracking results to GMSC, and GMSC sends tracking results to AF. If in S501b the AF sends a perception request #1 to the NEF, the NEF sends a perception request #1 to the GMSC, and the GMSC sends a perception request #1 to the AMF, then in S509b the AMF sends the tracking result to the GMSC, and after the GMSC receives the tracking result, the GMSC sends the tracking result to the NEF, and after the NEF receives the tracking result, the NEF sends the tracking result to the AF. In other words, the sending method of the perception request #1 from the AF in S501b corresponds to the sending method of the tracking result in S509b. If in S501c the AF sends a perception request #1 directly to the SF, the SF can directly send the tracking result to the AF in S508b. If in S501c the AF sends a perception request #1 to the SF via the NEF and / or GMSC, then S508b includes: the SF sends the tracking result to the AF via the NEF and / or GMSC. If in S501c the AF sends a Sensing Request #1 to the NEF, the NEF sends a Sensing Request #1 to the GMSC, and the GMSC selects an appropriate SF and sends a Sensing Request #1 to the SF, then S508b includes: the SF sends a tracking result to the GMSC, the GMSC sends a tracking result to the NEF, and the NEF sends a tracking result to the AF. If in S501c the AF sends a Sensing Request #1 to the NEF, and the NEF sends a Sensing Request #1 to the SF, then S508b includes: the SF sends a tracking result to the NEF, and the NEF sends a tracking result to the AF. If in S501c the AF sends a Sensing Request #1 to the GMSC, and the GMSC sends a Sensing Request #1 to the SF, then in S508b the SF sends a tracking result to the GMSC, and the GMSC sends a tracking result to the AF. In other words, the manner in which Sensing Request #1 from the AF is sent in S501c corresponds to the manner in which the tracking result is sent in S508b.

[0328] In the above-mentioned communication method 500, SF can obtain the location information of the UE in the first area, and SF can determine that the first non-UE in the first area is the target object based on the perception request #1, and track the target object, and can return the tracking result to the requesting party, so that the first non-UE can be tracked, thereby providing a method for tracking non-UE.

[0329] As shown in FIG6 , the communication method 600 includes:

[0330] S601a, the UE sends a perception request #2 to the AMF, and the AMF receives the perception request #2 from the UE, where the perception request #2 includes the predicted location information.

[0331] The predicted position information is used to indicate the predicted position of the target object.

[0332] Optionally, perception request #2 may also include a non-UE indication and / or a tracking indication, wherein the non-UE indication is used to indicate that perception request #2 is directed to a non-UE, and the tracking indication is used to indicate continuous tracking.

[0333] Optionally, perception request #2 also includes information indicating a first moment or a first time range, the first moment or the first time range corresponds to the predicted position or the area where the predicted position is located, and SF needs to obtain perception data of the area where the predicted position is located from the first moment or obtain perception data of the area where the predicted position is located in the first time range. Optionally, the first time range can be a time period, and the first time range corresponds to a start moment and an end moment.

[0334] S601b, AF sends perception request #2 to AMF, and AMF receives perception request #2 from AF, where perception request #2 includes predicted location information.

[0335] For the description of perception request #2, please refer to S601a.

[0336] Optionally, S601b includes: AF sends perception request #2 to AMF through NEF and / or GMSC. Optionally, AF sends perception request #2 to AMF through NEF, including: AF sends perception request #2 to NEF, NEF performs an authorization check on the AF that sends perception request #2, if NEF passes the authorization check on AF, then NEF selects a suitable AMF, i.e., the AMF in Figure 6, and sends perception request #2 to AMF, and AMF receives perception request #2 from NEF. Optionally, AF sends perception request #2 to AMF through GMSC, including: AF sends perception request #2 to GMSC, GMSC performs an authorization check on the AF that sends perception request #2, if GMSC passes the authorization check on AF, then GMSC selects a suitable AMF, i.e., the AMF in Figure 6, and sends perception request #2 to AMF, and AMF receives perception request #2 from GMSC. Optionally, AF sends perception request #2 to AMF through GMSC and NEF, including: AF sends perception request #2 to NEF, NEF performs an authorization check on the AF that sends perception request #2, if NEF passes the authorization check on AF, it sends perception request #2 to GMSC, GMSC selects a suitable AMF, i.e., the AMF in Figure 6, and sends perception request #2 to the AMF.

[0337] S601c, AF sends perception request #2 to SF, and SF receives perception request #2 from AF, where perception request #2 includes predicted location information.

[0338] For the description of perception request #2, please refer to S601a.

[0339] Optionally, S601c includes: the AF sends a perception request #2 to the SF via the NEF and / or the GMSC. Optionally, the AF sends a perception request #2 to the SF via the NEF, including: the AF sends the perception request #2 to the NEF, the NEF performs an authorization check on the AF that sends the perception request #2, and if the NEF passes the authorization check on the AF, the NEF sends the perception request #2 to the SF, and the SF receives the perception request #2 from the NEF. Optionally, the AF sends a perception request #2 to the SF via the GMSC, including: the AF sends the perception request #2 to the GMSC, the GMSC performs an authorization check on the AF that sends the perception request #2, and if the GMSC passes the authorization check on the AF, the GMSC sends the perception request #2 to the SF, and the SF receives the perception request #2 from the GMSC. Optionally, the AF sends a perception request #2 to the SF through the NEF and the GMSC. Optionally, the AF sends a perception request #2 to the SF through the NEF and the GMSC, including: the AF sends a perception request #2 to the NEF, the NEF performs an authorization check on the AF, and after the authorization check is passed, the GMSC selects a suitable SF and sends a perception request #2 to the SF.

[0340] Among them, one of S601a, S601b or S601c can exist, that is, either the UE can initiate a perception request to the AMF, or the AF can initiate a perception request to the AMF, or the AF can initiate a perception request to the SF.

[0341] S602 may exist when S601a or S601b exists. If S601c exists when S601a or S601b does not exist, S602 is not included. In other words, S602 is the perception request #4 sent by AMF to SF. If AF sends the perception request #4 directly to SF, AMF may not send the perception request #4.

[0342] Among them, one of S601a, S601b and S601c can exist, that is, either the perception request initiated by the UE to the AMF or the perception request initiated by the AF to the AMF, or the perception request initiated directly by the AF to the SF.

[0343] S602, AMF sends perception request #2 to SF, and SF receives perception request #2 from AMF, where perception request #2 includes predicted location information.

[0344] Among them, the AMF in S601a or S601b receives the perception request #2, which can trigger S602.

[0345] Optionally, if the perception request #2 in S601a or S601b includes a tracking indication and / or a non-UE indication, the SF determines that continuous tracking of the non-UE is required based on the tracking indication and / or the non-UE indication. Therefore, the SF may be triggered to execute S603 to send a perception request #4 to the RAN based on the perception request #2.

[0346] Optionally, the message type of the perception request #2 may also indicate that continuous tracking of non-UEs is required, thereby triggering the SF to execute S603.

[0347] S603, SF sends a perception request #4 to RAN, and RAN receives the perception request #4 from SF. The perception request #4 includes the predicted location information or the area where the predicted location is located.

[0348] Optionally, the SF may obtain the area where the predicted location is located based on the predicted location information, and the perception request #4 sent to the RAN may include the area where the predicted location is located.

[0349] Optionally, S602 or S601c may trigger S603.

[0350] Optionally, if perception request #2 includes information indicating the first moment or the first time range, the SF may determine the third moment or the third time range based on the first moment or the first time range. Optionally, perception request #4 in S603 may also include information indicating the third moment or the third time range.

[0351] Optionally, if perception request #2 includes information indicating a first moment or a first time range, perception request #4 in S603 may also include information indicating the first moment or the first time range, and the RAN may perceive the perception data of the area where the predicted location is located starting from the first moment, or perceive the perception data of the area where the predicted location is located within the first time range. Alternatively, the RAN may determine a third moment or a third time range based on the first moment or the first time range, and the RAN may perceive the perception data of the area where the predicted location is located starting from the third moment, or perceive the perception data of the area where the predicted location is located within the third time range.

[0352] S604: RAN obtains sensing data of the area where the predicted location is located according to the predicted location information or the area where the predicted location is located.

[0353] Optionally, if the perception request #4 in S603 includes obtaining the area where the predicted location is located, then in S604 RAN obtains the perception data of the area where the predicted location is located.

[0354] Optionally, if the perception request #4 in S603 includes predicted location information but does not include the area where the predicted location is located, then in S604 the RAN can determine the area where the predicted location is located based on the predicted location information and obtain the perception data of the area where the predicted location is located.

[0355] Optionally, if perception request #4 includes information for indicating a third moment or a third time range, or perception request #4 includes information for indicating a first moment or a first time range, the RAN determines the third moment or the third time range based on the first moment or the first time range. In S604, the RAN can obtain the perception data of the area where the predicted position is located from the third moment or within the third time range. That is, the RAN can obtain the perception data of the area where the predicted position is located based on the predicted position information, and the perception data of the area where the predicted position is located may include the distribution of objects in the area where the predicted position is located. Optionally, the perception data of the area where the predicted position is located may also include other data, which is not limited in this embodiment of the present application. For example, if the third moment is 10:05, the RAN may start to perceive the perception data of the area where the predicted position is located at 10:05. For example, if the third time range is 9:55-10:05, the RAN may obtain the perception data of the area where the predicted position is located from 9:55 to 10:05.

[0356] S605 , the RAN sends the sensing data of the area where the predicted position is located to the SF, and the SF receives the sensing data of the area where the predicted position is located from the RAN.

[0357] Optionally, in S605, the RAN may send a response message to the perception request #4 to the SF, where the response message includes the perception data of the area where the predicted location is located. The perception data of the area where the predicted location is located may also be sent to the SF in other ways, such as through a data plane transmission channel established between the RAN and the SF.

[0358] S606: The SF obtains second object distribution information from the perception data of the area where the predicted position is located.

[0359] The second object distribution information in S606 may be the object distribution information in case 2 in S230 or the second object distribution information in case 3 in S230 .

[0360] The perception data of the area where the predicted location is located may also be referred to as first perception data, or the first perception data may include perception data of the area where the predicted location is located. The perception data of the area where the predicted location is located may include the distribution of objects in the area where the predicted location is located. Therefore, the SF may obtain second object distribution information of the area where the predicted location is located based on the distribution of objects in the area where the predicted location is located.

[0361] Optionally, if perception request #4 includes information indicating a third moment or a third time range, in S605, the SF may obtain perception data for the area where the predicted position is located starting from the third moment or obtain perception data for the area where the predicted position is located within the third time range. The perception data for the area where the predicted position is located starting from the third moment or the perception data for the area where the predicted position is located within the third time range may be the first perception data. The SF obtains the second object distribution information from the first perception data.

[0362] If S601a exists, S607a may exist.

[0363] S607a, the UE sends a perception request #3 to the AMF, and the AMF receives the perception request #3 from the UE. Optionally, the perception request #3 includes at least one of a non-UE indication, a tracking indication, a first location information, or a first object distribution information.

[0364] That is to say, in S604, RAN perceives the perception data of the area where the predicted position at the third moment or the third time range is located. In S605, RAN can send the perception data of the area where the predicted position at the third moment or the third time range is located to SF. After receiving the perception request #3 message in S607a, SF obtains the perception data of the area where the first position is located from the second moment or the second time range from the perception data of the area where the predicted position is located from the third moment or the third time range in S605, and obtains the second object distribution information from the perception data of the area where the first position is located from the second moment or the second time range, where the second object distribution information can be the object distribution information of the area where the first position is located from the second moment or the second time range.

[0365] Optionally, the perception data of the area where the predicted position is located from the third moment or the perception data of the area where the predicted position is located within the third time range includes: the perception data of the area where the predicted position is located from the second moment or the perception data of the area where the predicted position is located within the second time range, or includes: the perception data of the first area where the first position is located from the second moment or the perception data of the first area where the first position is located within the second time range, and the area where the predicted position is located covers the first position, or the area where the predicted position is located covers the first area where the first position is located.

[0366] Optionally, after S607a, SF may obtain second object distribution information of the area where the first position is located from the perception data of the first area where the first position is located starting from the second moment or the perception data of the first area where the first position is located within the second time range.

[0367] Optionally, if the perception request #2 in S601a includes a tracking indication and a non-UE indication, the perception request #3 in S607a may not include a tracking indication and a non-UE indication. Or the perception request #2 in S601a does not include a tracking indication and a non-UE indication, and the perception request #3 in S607a includes a tracking indication and a non-UE indication. Or both the perception request #2 in S601a and the perception request #3 in S607a may include a tracking indication and a non-UE indication. Or the perception request #2 in S601a includes a tracking indication, and the perception request #3 in S607a includes a non-UE indication. Or the perception request #2 in S601a includes a non-UE indication, and the perception request #3 in S607a includes a tracking indication. This embodiment of the present application is not limited to this.

[0368] Optionally, perception request #3 in S607a may not include the first object distribution information. In this case, method 600 corresponds to case 2 in S230. If perception request #3 in S607a includes the first object distribution information, method 600 corresponds to case 3 in S230. S601a to S606 or S601b to S606 is the process of the SF acquiring the second object distribution information. S601a to S606 or S601b to S606 may not exist. In this case, method 600 corresponds to case 1 in S230.

[0369] S607b, AF sends perception request #3 to AMF, and AMF receives perception request #3 from AF.

[0370] For the description of perception request #3, please refer to the description of S607a.

[0371] Among them, one of S607a and S607b can exist, that is, either the perception request initiated by the UE or the perception request initiated by the AF.

[0372] It can be understood that S607a or S607b is for the convenience of description. Perception request #3 includes at least one of a non-UE indication, a tracking indication, a first location information or a first object distribution information. In some cases, this information may be included in different messages or in the same message. The embodiment of the present application does not limit this.

[0373] For example, the first time range is 10:00-10:05, the third time range is 9:55-10:10, and the second time range can be 9:59-10:05 or 9:59-10:00. That is, the process of S601a or S601b to S606 is to predict the perception data within the area where the predicted position of 9:55-10:10 is located, but the perception data of the object within the first area where the first position of 9:59-10:05 or 9:59-10:00 is located is used by SF to determine the target object. Then, SF obtains the second object distribution information of the object based on the perception data of the object within the first area where the first position of 9:59-10:05 or 9:59-10:00 is located.

[0374] S608-S610 are the same as S402-S404 respectively.

[0375] S611-S613 are the same as S406-S408 respectively.

[0376] S614a is the same as S409a.

[0377] S614b is the same as S409b.

[0378] There is one step in S614a or S614b.

[0379] In the above method 600, SF can obtain the second object distribution information of the area where the first position is located, AMF can obtain the location information of the UE in the first area from LMF, and SF can determine that the first non-UE in the first area is the target object based on at least one of the non-UE indication, the first location information, the first object distribution information or the second object distribution information, and continuously track the target object, thereby providing a method for tracking non-UE.

[0380] In the above method 600, the SF obtains second object distribution information of the area where the first position is located, and the second object distribution information indicates the distribution of objects in the area where the first position is located. In some scenarios, the method 600 can be replaced. The replacement scheme is: after S601a or S601b, the AMF can obtain the location information of the UE in the area where the predicted position is located. Similar to obtaining the location information of the UE in the first area, after the AMF obtains the location information of the UE in the area where the predicted position is located, it can be sent to the SF in S602 or other steps earlier than S611. The SF determines the non-UE in the area where the predicted position is located based on the distribution of objects in the area where the predicted position is located and the location information of the UE in the area where the predicted position is located. In other words, the second object distribution information in the area where the first position is located is currently determined in the method 600. In the replacement scheme, the SF can exclude the UE in the area where the predicted position is located based on the object distribution information in the area where the predicted position is located and the location information of the UE in the area where the predicted position is located, and determine the non-UE in the area where the predicted position is located. Then, in S611, the SF can determine that the first non-UE at the first position is the target object based on the non-UE indication, the first location information, the first distribution information, and the non-UE in the area where the predicted position is located.

[0381] It should be noted that in the above-mentioned methods 400 to 600, when SF determines the target object, if there is first object distribution information but no second object distribution information, SF can determine the target object based on the first object distribution information, that is, the steps related to the second object distribution information are optional steps; if there is second object distribution information but no first object distribution information, SF can determine the target object based on the second object distribution information, that is, the steps related to the first object distribution information are optional steps; if there is first object distribution information and second object distribution information, SF can determine the target object based on the first object distribution information and the second object distribution information.

[0382] It should be noted that in the embodiment of the present application, the UE and non-UE within the first area or the area where the predicted position is located are relative concepts, wherein the UE within the first area or the area where the predicted position is located can be understood as a device with communication capability or capable of establishing a network connection with the access and mobility management function in the embodiment of the present application, and the non-UE is a device that does not have communication capability or cannot establish a network connection with the access and mobility management function in the embodiment of the present application.

[0383] As shown in FIG. 7 , method 700 includes:

[0384] S701a, same as S601a.

[0385] S701b, same as S601b.

[0386] S701c, same as S601c.

[0387] S702-S706 are the same as S602-S606 respectively.

[0388] S707a, same as S501a.

[0389] S707b, same as S501b.

[0390] S707c, same as S501c.

[0391] S708-S710 are the same as S502-S504 respectively.

[0392] S711-S712 are the same as S506-S507 respectively.

[0393] S713a is the same as S508a.

[0394] S713b is the same as S508b.

[0395] S714a is the same as S509a.

[0396] S714b is the same as S509b.

[0397] In the above method 700, SF can obtain the second object distribution information in the perception data of the area where the predicted position is located, SF can obtain the position information of the UE in the first area from LMF, and SF can determine that the first non-UE in the first area is the target object based on the non-UE indication, the first position information, the UE position information, and the first object distribution information and / or the second object distribution information, and continuously track the first non-UE according to the tracking indication, thereby providing a method for tracking non-UE.

[0398] In the above method 700, SF obtains second object distribution information of the area where the predicted position is located, and the second object distribution information indicates the distribution of objects in the area where the predicted position is located. In some scenarios, method 700 can be replaced, and the replacement scheme is: after S702, SF can obtain the location information of the UE in the area where the predicted position is located indicated by the predicted position information. Similar to obtaining the location information of the UE in the first area, after SF obtains the location information of the UE in the area where the predicted position is located, SF determines the non-UE in the area where the predicted position is located based on the distribution of objects in the area where the predicted position is located and the location information of the UE in the area where the predicted position is located. In other words, what is currently determined in method 700 is the second object distribution information of the area where the first position is located. In the replacement scheme, SF can exclude the UE in the area where the predicted position is located based on the object distribution information in the area where the predicted position is located and the location information of the UE in the area where the predicted position is located, and determine the non-UE in the area where the predicted position is located. Then in S711, SF can determine that the first non-UE in the first area is the target object based on the area information, location information, first object distribution information and the non-UE in the area where the predicted position is located.

[0399] Optionally, the perception request #1 or perception request #3 in the above embodiment may include perception service description information, which is used to describe service requirements, etc. For example, the perception service description information may include at least one of service type, perception accuracy, resolution, latency, false detection rate, false alarm rate, or refresh rate. The service type may be a tracking service type, which can be used to indicate continuous tracking of the target object. If the perception service description information includes a tracking service type, and the perception request #1 or perception request #3 includes a tracking indication, the access and mobility management function or the perception function determines that the target object needs to be continuously tracked based on the tracking service type and / or the tracking indication.

[0400] The same noun in the following method embodiment and in the above method embodiment may express different meanings. For example, the perception request #1 in the above method embodiment and the perception request #1 in the following method embodiment express different meanings, the perception request #2 in the above method embodiment and the perception request #2 in the following method embodiment express different meanings, and the first information in the above method embodiment and the first information in the following method embodiment express different meanings.

[0401] The above method embodiments describe that the target object may not have communication capabilities. In some scenarios, it is also possible to track objects with communication capabilities, locate objects with communication capabilities, and obtain their location information. This allows tracking objects at the location indicated by the location information. The following describes method 800, as shown in FIG8 . Method 800 includes:

[0402] S801, the terminal or application server sends a perception request #1 to the access and mobility management function, and the access and mobility management function receives the perception request #1 from the terminal or application server. The perception request #1 is used to request continuous tracking of the target object.

[0403] Optionally, perception request #1 may include perception service description information.

[0404] Optionally, perception request #1 may include an identification of the target object.

[0405] Optionally, perception request #1 may not include the identification of the target object. For example, the terminal sends perception request #1 to the access and mobility management function, and the target object may be the terminal. Since the terminal has established a connection with the access and mobility management function, the access and mobility management function can obtain the identification of the target object. Therefore, when the terminal sends perception request #1, it means that the terminal is to be perceived.

[0406] Among them, perception request #1 is a request to perceive the target object.

[0407] Alternatively, the perception request #1 includes first information, and the first information includes an identifier of the target object. In this case, the first information can be introduced.

[0408] Optionally, the sensing service description information is used to describe service requirements, etc. For example, the sensing service description information may include at least one of a service type, sensing accuracy, resolution, latency, false detection rate, false alarm rate, or refresh rate. The service type may be a tracking service type, which may be used to indicate continuous tracking of a target object.

[0409] Optionally, perception request #1 includes a tracking indication, where the tracking indication is used to indicate continuous tracking of the target object.

[0410] Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function and the gateway mobility perception center. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the gateway mobility perception center, and the gateway mobility perception center selects an appropriate access and mobility management function and sends the perception request #1 to the access and mobility management function. Optionally, the application server sends the perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server and selects an appropriate access and mobility management function. If the application server passes the authorization check, the capability exposure function sends the perception request #1 to the access and mobility management function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends a perception request #1 through the gateway mobile perception center, specifically: the application server sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server authorization check passes, the gateway mobile perception center sends a perception request #1 to the access and mobility management function.

[0411] Optionally, in S801, the application server may send a perception request #1 to the perception function through the capability exposure function. Optionally, the application server may send a perception request #1 to the perception function through the capability exposure function, including: the capability exposure function performs an authorization check on the application server, and after the authorization check passes, the capability exposure function selects an appropriate perception function and sends the perception request #1 to the perception function.

[0412] Optionally, in S801, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center, including: the application server may send the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and after the authorization check passes, sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center selects an appropriate perception function, and sends the perception request #1 to the perception function.

[0413] Optionally, in S801, the application server may send the perception request #1 through the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the gateway mobile perception center, including: the application server sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, selects an appropriate perception function, and sends the perception request #1 to the perception function after the authorization check passes.

[0414] S802, the access and mobility management function obtains the first location information corresponding to the identifier of the target object according to the perception request #1.

[0415] Optionally, the access and mobility management function determines the positioning period according to the perception service description information, S802, including: the access and mobility management function obtains the first location information corresponding to the identifier of the target object according to the positioning period and perception request #1.

[0416] Optionally, the first position information corresponding to the identifier of the target object may be: the first position information of the object identified by the identifier of the target object.

[0417] Optionally, if the perception service description information can include at least one of the service type, perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate, the access and mobility management function determines the positioning period based on the perception service description information, including: the access and mobility management function determines the positioning period based on the perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate. For example, if the perception service description information includes the refresh rate, it can be determined that the positioning period is equal to the refresh rate, or less than the refresh rate (when the refresh rate is expressed as a time period).

[0418] Optionally, the access and mobility management function obtains the first location information corresponding to the identifier of the target object, including: the access and mobility management function sends a first positioning request to the positioning management function, where the first positioning request includes the identifier of the target object. After receiving the first positioning request, the positioning management function may locate the target object identified by the identifier of the target object, obtain the first location information of the target object, and send the first location information of the target object to the access and mobility management function.

[0419] Optionally, if perception request #1 includes perception service description information and / or tracking indication, and the perception service description information includes tracking service type, the access and mobility management function determines the positioning period based on the perception service description information and tracking indication, that is, the access and mobility management function determines that the target object needs to be tracked continuously based on the tracking service type and / or tracking indication. Therefore, the access and mobility management function learns that the target object needs to be located multiple times, and therefore can determine the positioning period based on the perception service description information, that is, the tracking indication and / or tracking service type can trigger the access and mobility management function to determine the positioning period based on the perception service description information.

[0420] S803: The access and mobility management function sends first location information to the perception function, and the perception function receives the first location information from the access and mobility management function.

[0421] Optionally, S803 includes the access and mobility management function sending a perception request #2 to the perception function, and the perception function receiving the perception request #2 from the access and mobility management function, where the perception request #2 includes the first location information.

[0422] Alternatively, perception request #2 may include second information, and the second information may include the first location information. In this case, S803 may introduce the second information.

[0423] Optionally, if perception request #1 includes a tracking instruction, perception request #2 may also include a tracking instruction, where the tracking instruction is used to instruct continuous tracking of the target object.

[0424] Optionally, when the perception request #1 includes the perception service description information, the perception request #2 may also include the perception service description information.

[0425] Optionally, if the access and mobility management function determines a positioning period, the perception function in S803 may send periodically acquired first location information, that is, the first location information may be location information of a certain period.

[0426] S804: The perception function perceives the target object at the first position indicated by the first position information.

[0427] Optionally, if the perception request #2 includes a tracking indication, S804 includes: the perception function perceives the target object at the first position indicated by the first position information according to the tracking indication.

[0428] Optionally, when perception request #2 includes perception service description information, method 800 also includes: the perception function determines a perception period based on the perception service description information, and the perception period may also be referred to as a tracking period. S804 includes: the perception function instructs the perception execution device to track the target object at the first position indicated by the first position information according to the perception period.

[0429] Optionally, if the access and mobility management function determines the positioning period, S805 may exist.

[0430] S805: The access and mobility management function obtains second location information corresponding to the identifier of the target object according to the positioning period.

[0431] Optionally, the second position information may indicate a second position of the target object.

[0432] Optionally, after S802, the access and mobility management function may send a positioning cycle to the positioning management function. For example, the positioning cycle may be included in the first positioning request. The positioning management function may periodically send the location information of the target object to the access and mobility management function according to the positioning cycle. For example, after the positioning management function obtains the first location information in S803, in the next cycle, the positioning management function may continue to send the second location information to the access and mobility management function, so that in S805, the access and mobility management function can obtain the second location information.

[0433] Optionally, S805 includes: the access and mobility management function periodically requests the positioning management function for the location information of the target object according to the positioning period, and the positioning management function sends the second location information of the target object to the access and mobility management function according to the request of the access and mobility management function. In other words, the access and mobility management function may not send the positioning period to the positioning management function. For example, after receiving the first location information, the access mobility management function may continue to send a first positioning request to the positioning management function, and the first positioning request may include an identifier of the target object. Then, the access and mobility management function receives the second location information of the target object from the positioning management function.

[0434] S806: The access and mobility management function sends the second location information to the perception function, and the perception function receives the second location information from the access and mobility management function.

[0435] The second location information is the updated first location information, that is, the first location information and the second location information are location information of the target object in two different periods obtained by the access and mobility management function according to the positioning period.

[0436] Optionally, if the access and mobility management function determines a positioning period, the perception function in S806 may send the periodically acquired second location information, that is, the second location information may be location information of a certain period.

[0437] Optionally, S806 includes: the access and mobility management function sends a perception request #3 to the perception function, and the perception function receives the perception request #3 from the access and mobility management function, where the perception request #3 includes the second location information.

[0438] Optionally, the method further includes: S807, the perception function perceives the target object at the second position indicated by the second position information.

[0439] Optionally, if the perception request #2 includes a tracking instruction, S806 includes: the perception function perceives the target object at the second position indicated by the first position information according to the tracking instruction.

[0440] Optionally, in a case where the perception function determines the perception period according to the perception service description information, S808 includes: the perception function perceives the target object at the second position indicated by the second position information according to the perception period.

[0441] S808, the perception function determines the tracking result of the target object according to S804 and S807.

[0442] Optionally, the perception function may perceive the target object at the first position indicated by the first position information and the perception function may perceive the target object at the second position indicated by the second position information according to the perception function in S804 to obtain a tracking result.

[0443] Optionally, S808 includes a perception function that perceives the target object at the first position indicated by the first position information according to the perception function in S804 to obtain an initial tracking result, and calibrates the initial tracking result using the second position indicated by the second position information to obtain a final tracking result. At this time, the tracking result in S808 is the final tracking result.

[0444] Optionally, processes similar to S805 - S807 may be repeatedly executed, so that the target object may be sensed multiple times, thereby obtaining a tracking result.

[0445] Optionally, the perception function may perceive the target object based on the first position information in S804. In this case, there may be no steps related to the second position information. That is, S805, S806 and S807 are optional steps.

[0446] S809: The perception function sends the tracking result to the access and mobility management function, and the access and mobility management function receives the tracking result from the perception function.

[0447] S810: The access and mobility management function sends a tracking result to the terminal or the application server, and the terminal or the application server receives the tracking result from the access and mobility management function.

[0448] Optionally, if in S801, the application server sends a perception request #1 to the access and mobility management function through the capability exposure function and / or the gateway mobile perception center, then in S810, the access and mobility management function sends the tracking result to the application server through the capability exposure function and / or the gateway mobile perception center. If the perception request #1 in S801 is sent by the application server to the capability exposure function, the capability exposure function sends the perception request #1 to the gateway mobile perception center, and the gateway mobile perception center sends the perception request #1 to the access and mobility management function, then in S810 the access and mobility management function sends the tracking result to the gateway mobile perception center, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If in S801, the application server sends a perception request #1 to the access and mobility management function through the network element mobile tracking center, then in S810 the mobility management function sends the tracking result to the gateway mobile perception center, and the gateway mobile perception center sends the tracking result to the perception function. If the application server in S801 sends a perception request #1 to the access and mobility management function via the capability exposure function, then in S810 the mobility management function sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the perception function. If the application server in S801 sends a perception request #1 to the perception function via the capability exposure function, then in S810 the perception function sends the tracking result to the application server via the capability exposure function. If the application server in S801 sends a perception request #1 to the capability exposure function, and the capability exposure function sends a perception request #1 to the gateway mobility perception center, then in S810 the perception function sends the tracking result to the gateway mobility perception center, and the gateway mobility perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If the application server in S801 sends a perception request #1 to the perception function via the gateway mobility perception center, then in S810 the perception function sends the tracking result to the application server via the gateway mobility perception center.

[0449] Optionally, in method 800, the access and mobility management function may further obtain the first location information and / or second location information of the target object from the terminal or application server. For example, the first location information may be obtained from sensing request #1, and the second location information may be obtained from another sensing request sent by the terminal or application server. In this case, the access and mobility management function may not determine the positioning cycle.

[0450] Optionally, the target object in method 800 can be an object with communication capabilities. Therefore, the positioning management function can obtain the first position information and the updated first position information of the target object, so that the perception function can perceive the target object based on the first position information and the updated first position information.

[0451] In the above method 800, the access and mobility management function can periodically obtain the first location information of the target object, and the perception function can continuously track the target object, thereby providing a method for continuously tracking the target object.

[0452] The above method 800 perceives a target object. In a perception method 900 similar to method 800, the perception function can perceive the target object based on the position information of the reference object and the relative position information between the target object and the reference object. As shown in Figure 9, the method 900 includes:

[0453] S901, the terminal or application server sends a perception request #1 to the access and mobility management function, and the access and mobility management function receives the perception request #1 from the terminal or application server. The perception request #1 is used to request continuous tracking of the target object.

[0454] Optionally, perception request #1 includes perception service description information.

[0455] Optionally, perception request #1 may include an identifier of a reference object and relative position information between the target object and the reference object.

[0456] Optionally, perception request #1 may not include the identifier of the reference object. For example, the terminal sends perception request #1 to the access and mobility management function, and the reference object is the terminal. Since the terminal and the access and mobility management function have established a connection, the access and mobility management function can obtain the identifier of the reference object. Therefore, when the terminal sends perception request #1, it means that the reference object corresponding to the target object to be perceived is the terminal.

[0457] Optionally, the relative position information is used to indicate the relative position between the target object and the reference object.

[0458] Among them, perception request #1 is a request to perceive the target object, that is, the object to be tracked is the target object. The position information of the reference object and the relative position information of the target object and the reference object can be used to represent the position information of the target object, so that the target object can be tracked. For example, the target object is a criminal vehicle, and the reference object is a police car. The relative position between the police car and the criminal vehicle is certain. For example, the distance between the police car and the criminal vehicle is 200 meters, and the angle between the police car and the criminal vehicle is 15 degrees. Therefore, perception request #1 can include business description information, the identification of the police car, 200 meters and 15 degrees.

[0459] Optionally, the target object can be an area. In other words, the object to be tracked can be a specific object or a specific area. If it is a specific area, then as the reference object moves, the specific area also moves. Therefore, the specific area can be determined by determining the position of the reference object. Optionally, the specific area is an area formed with the reference object as the center; or, the specific area can be an area formed with the reference area as the reference point. For example, for vehicle automatic driving assistance, the vehicle needs to obtain road condition information within an area with a radius of 50 meters and an angle range of 0-15 degrees. In this case, the reference object is the vehicle, and the target object or target area is an area with the vehicle as the origin, a radius of 50 meters, and an angle range of 0-15 degrees.

[0460] Alternatively, the perception request #1 includes first information, which includes the identifier of the reference object and the relative position information between the target object and the reference object. In this case, the first information can be introduced.

[0461] Optionally, the sensing service description information is used to describe service requirements, etc. For example, the sensing service description information may include at least one of the sensing service type, sensing accuracy, resolution, latency, false detection rate, false alarm rate, or refresh rate. The service type may be a tracking service type, which may be used to indicate continuous tracking of a target object.

[0462] Optionally, perception request #1 includes a tracking indication, where the tracking indication is used to indicate continuous tracking of the target object.

[0463] Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function and the gateway mobility perception center. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the gateway mobility perception center, and the gateway mobility perception center selects an appropriate access and mobility management function and sends the perception request #1 to the access and mobility management function. Optionally, the application server sends the perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server and selects an appropriate access and mobility management function. If the application server passes the authorization check, the capability exposure function sends the perception request #1 to the access and mobility management function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends a perception request #1 through the gateway mobile perception center, specifically: the application server sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server authorization check passes, the gateway mobile perception center sends a perception request #1 to the access and mobility management function.

[0464] Optionally, in S901, the application server may send a perception request #1 to the perception function through the capability exposure function. Optionally, the application server may send a perception request #1 to the perception function through the capability exposure function, including: the capability exposure function performs an authorization check on the application server, and after the authorization check passes, the capability exposure function selects an appropriate perception function and sends the perception request #1 to the perception function.

[0465] Optionally, in S901, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the capability exposure network element and the gateway mobile perception center, including: the application server may send the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and after the authorization check passes, sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center selects an appropriate perception function, and sends the perception request #1 to the perception function.

[0466] Optionally, in S901, the application server may send the perception request #1 through the gateway mobile perception center. Optionally, the application server may send the perception request #1 through the gateway mobile perception center, including: the application server sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, selects an appropriate perception function, and sends the perception request #1 to the perception function after the authorization check passes.

[0467] S902: The access and mobility management function obtains first location information corresponding to the identifier of the reference object according to the perception request #1.

[0468] Optionally, the access and mobility management function determines the positioning period according to the perception service description information, S902, including: the access and mobility management function obtains the first location information corresponding to the identifier of the reference object according to the positioning period and perception request #1.

[0469] Optionally, the first position information corresponding to the identifier of the reference object may be: the first position information of the reference object identified by the identifier of the reference object.

[0470] Optionally, if the perception service description information can include at least one of the service type, perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate, the access and mobility management function determines the positioning period based on the perception service description information, including: the access and mobility management function determines the positioning period based on the perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate. For example, if the perception service description information includes the refresh rate, it can be determined that the positioning period is equal to the refresh rate, or less than the refresh rate (when the refresh rate is expressed as a time period).

[0471] Optionally, the first position information is used to indicate a first position of the reference object.

[0472] Optionally, the access and mobility management function obtains the first location information corresponding to the identifier of the reference object, including: the access and mobility management function sends a first positioning request to the positioning management function, where the first positioning request includes the identifier of the reference object. After receiving the first positioning request, the positioning management function may locate the reference object identified by the identifier of the reference object, obtain the first location information of the reference object, and send the first location information of the reference object to the access and mobility management function.

[0473] Optionally, if perception request #1 includes perception service description information and / or tracking indication, and the perception service description information includes tracking service type, the access and mobility management function determines the positioning period based on the perception service description information and tracking indication, that is, the access and mobility management function determines that the target object needs to be tracked continuously based on the tracking service type and / or tracking indication. Therefore, the access and mobility management function learns that the reference object needs to be located multiple times, and therefore can determine the positioning period based on the perception service description information, that is, the tracking indication and / or tracking service type can trigger the access and mobility management function to determine the positioning period based on the perception service description information.

[0474] S903: The access and mobility management function sends the first location information and the relative location information to the perception function, and the perception function receives the first location information and the relative location information from the access and mobility management function.

[0475] Optionally, S903 includes: the access and mobility management function sends a perception request #2 to the perception function, and the perception function receives the perception request #2 from the access and mobility management function, where the perception request #2 includes the first location information and the relative location information.

[0476] Alternatively, perception request #2 may include second information, and the second information may include first position information and relative position information. In this case, S903 may introduce the second information.

[0477] Optionally, if perception request #1 includes a tracking instruction, perception request #2 may also include a tracking instruction, where the tracking instruction is used to instruct continuous tracking of the target object.

[0478] Optionally, in the case where the perception request #1 includes the perception service description information, the perception request #2 in S903 may also include the perception service description information.

[0479] Alternatively, Sensing Request #2 may include the location of the target object. Prior to S903, the access and mobility management function may determine the location of the target object based on the first location indicated by the first location information and the relative location indicated by the relative location information. In other words, Sensing Request #2 in S903 may include two parameters, or may include a result obtained by including two parameters.

[0480] Optionally, if the access and mobility management function determines a positioning period, the perception function in S903 may send periodically acquired first location information, that is, the first location information may be location information of a certain period.

[0481] S904: The perception function perceives the target object according to the first position indicated by the first position information and the relative position indicated by the relative position information.

[0482] Optionally, S904 includes: a sensing function determining a position of the target object based on the first position and the relative position of the reference object, and sensing the position of the target object. For example, if the first position of the reference object is (x1, y1) and the relative position is (d1, d2), the position of the target object may be (x1+d1, y1+d2).

[0483] Optionally, if the perception request #2 includes a tracking instruction, S904 includes: the perception function perceives the target object at the position determined according to the first position and the relative position according to the tracking instruction.

[0484] Optionally, when perception request #2 includes perception service description information, method 900 also includes: the perception function determines the perception period based on the perception service description information, and S904 includes: the perception function instructs the perception execution device to perceive the target object at the first position and the position determined by the relative position according to the perception period.

[0485] Alternatively, if in S903, perception request #2 may include the position of the target object, and the position of the target object is obtained based on the first position indicated by the first position information and the relative position indicated by the relative position information, then as an alternative to S904, the perception function perceives the target object based on the position of the target object.

[0486] In the case where the access and mobility management function determines the positioning period, S905 may exist.

[0487] S905: The access and mobility management function obtains second location information corresponding to the identifier of the reference object according to the positioning period.

[0488] Optionally, the second position information may indicate a second position of the reference object.

[0489] Optionally, after S902, the access and mobility management function may send a positioning period to the positioning management function. For example, the positioning period may be included in the first positioning request. The positioning management function may periodically send periodic location information of the reference object to the access and mobility management function according to the positioning period. For example, after the positioning management function obtains the first location information in S903, in the next period, the positioning management function may continue to send the second location information to the access and mobility management function, so that in S905, the access and mobility management function can obtain the second location information.

[0490] Optionally, S905 includes: the access and mobility management function periodically requesting the positioning management function for the location information of the reference object according to the positioning period, and the positioning management function sending the second location information of the reference object to the access and mobility management function according to the request of the access and mobility management function. In other words, the access and mobility management function may not send the positioning period to the positioning management function. For example, after receiving the first location information, the access mobility management function may continue to send a first positioning request to the positioning management function, and the first positioning request may include an identifier of the reference object. Then, the access and mobility management function receives the second location information of the reference object from the positioning management function.

[0491] S906: The access and mobility management function sends the second location information to the perception function, and the perception function receives the second location information from the access and mobility management function.

[0492] The second location information is the updated first location information, that is, the first location information and the second location information are location information of the target object in two different periods obtained by the access and mobility management function according to the positioning period.

[0493] Optionally, S906 includes: the access and mobility management function sends a perception request #3 to the perception function, and the perception function receives the perception request #3 from the access and mobility management function, where the perception request #3 includes the second location information.

[0494] Optionally, in S906, the access and mobility management function may send the second position information and the relative position information to the perception function. Optionally, if the relative position between the reference object and the target object does not change, the relative position indicated by the relative position information in S901 and S903 is the same as the relative position indicated by the relative position information in S906. At this time, S906 may not include the relative position information, but only include the second position information. That is, when the relative position between the target object and the reference object does not change, but the reference object is moving, the access and mobility management function may send the relative position information once in S903, and may not send the relative position information in S906. When the relative position between the target object and the reference object changes relative to S903, the access and mobility management function in S906 may send the changed relative position information. In this way, the perception function can determine the position of the target object based on the second position information and the changed relative position information. Optionally, the changed relative position information may originate from the terminal or the application server. If S901 originates from the terminal, the changed relative position information may also originate from the terminal. That is, when the terminal senses a change in the relative position between the reference object and the target object, the changed relative position information may be sent to the access and mobility management function. If S901 originates from the application server, the changed relative position information may also originate from the application server. That is, when the application server senses a change in the relative position between the reference object and the target object, the changed relative position information may be sent to the access and mobility management function.

[0495] Optionally, as an alternative to the access and mobility management function sending the second location information and the relative location information to the perception function, the access and mobility management function may send the updated location of the target object to the perception function, wherein the access and mobility management function may determine the updated location of the target object based on the second location indicated by the second location information and the relative location indicated by the relative location information. In other words, in S906, two parameters may be sent, or a result obtained by the two parameters may be sent.

[0496] Optionally, as an alternative to the access and mobility management function sending the second location information and the changed relative location information to the perception function, the access and mobility management function may send the updated location of the target object to the perception function, wherein the access and mobility management function may determine the updated location of the target object based on the second location indicated by the second location information and the relative location indicated by the changed relative location information. In other words, in S906, two parameters may be sent, or a result obtained by the two parameters may be sent.

[0497] Optionally, the method further includes: S907, the perception function perceives the target object according to the second position indicated by the second position information and the relative position indicated by the relative position information.

[0498] Optionally, S907 includes: the perception function determines the position of the target object based on the second position and relative position of the reference object, and perceives the position of the target object. For example, if the second position of the reference object is (x2, y2) and the relative position is (d1, d2), the position of the target object may be (x2+d1, y2+d2). If in S906, the access and mobility management function also sends the changed relative position information to the perception function, the changed relative position information may indicate the changed relative position between the reference object and the target object. For example, if the second position of the reference object is (x2, y2) and the relative position is (d3, d4), the position of the target object may be (x2+d3, y2+d3).

[0499] Optionally, if the perception request #2 includes a tracking instruction, S906 includes: the perception function perceives the target object at the position determined according to the second position and the relative position according to the tracking instruction.

[0500] Optionally, in the case where the perception function determines the perception period according to the perception service description information, S908 includes: the perception function perceives the target object at the second position and the position determined by the relative position according to the perception period.

[0501] Alternatively, if in S906, the access and mobility management function sends the updated position of the target object to the perception function, and the updated position of the target object is obtained based on the second position indicated by the second position information and the relative position indicated by the relative position information (or the changed relative position information), then as an alternative to S907, the perception function perceives the target object based on the updated position of the target object.

[0502] S908, the perception function determines the tracking result of the target object according to S904 and S907.

[0503] Optionally, the perception function may perceive the target object at the first position indicated by the first position information and the perception function may perceive the target object at the second position indicated by the second position information according to the perception function in S904 to obtain a tracking result.

[0504] Optionally, S908 includes: the perception function perceives the target object at the first position indicated by the first position information according to the perception function in: 904 to obtain an initial tracking result, and calibrates the initial tracking result using the second position indicated by the second position information to obtain a final tracking result. At this time, the tracking result in S908 is the final tracking result.

[0505] Optionally, processes similar to S905 - S907 may be repeatedly executed, so that the target object may be sensed multiple times, thereby obtaining a tracking result.

[0506] Optionally, the perception function may perceive the target object based on the first position information in S904. In this case, there may be no steps related to the second position information. That is, S905, S906 and S907 are optional steps.

[0507] S909: The perception function sends the tracking result to the access and mobility management function, and the access and mobility management function receives the tracking result from the perception function.

[0508] S910: The access and mobility management function sends a tracking result to the terminal or the application server, and the terminal or the application server receives the tracking result from the access and mobility management function.

[0509] Optionally, if in S901, the application server sends a perception request #1 to the access and mobility management function through the capability exposure function and / or the gateway mobile perception center, then in S910, the access and mobility management function sends the tracking result through the capability exposure function and / or the gateway mobile perception center. If the perception request #1 in S901 is sent by the application server to the capability exposure function, the capability exposure function sends the perception request #1 to the gateway mobile perception center, and the gateway mobile perception center sends the perception request #1 to the access and mobility management function, then in S910, the access and mobility management function sends the tracking result to the gateway mobile perception center, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If in S901, the application server sends a perception request #1 to the access and mobility management function through the network element mobile tracking center, then in S910, the mobility management function sends the tracking result to the gateway mobile perception center, and the gateway mobile perception center sends the tracking result to the perception function. If the application server in S901 sends a perception request #1 to the access and mobility management function via the capability exposure function, then in S910 the mobility management function sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the perception function. If the application server in S901 sends a perception request #1 to the perception function via the capability exposure function, then in S910 the perception function sends the tracking result to the application server via the capability exposure function. If the application server in S901 sends a perception request #1 to the capability exposure function, and the capability exposure function sends a perception request #1 to the gateway mobility perception center, then in S910 the perception function sends the tracking result to the gateway mobility perception center, and the gateway mobility perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If the application server in S901 sends a perception request #1 to the perception function via the gateway mobility perception center, then in S910 the perception function sends the tracking result to the application server via the gateway mobility perception center.

[0510] Optionally, in method 900, the access and mobility management function may further obtain the first location information and / or second location information of the reference object from the terminal or application server. For example, the first location information may be obtained from sensing request #1, and the second location information may be obtained from another sensing request sent by the terminal or application server. In this case, sensing request #1 may not include sensing service description information, and the access and mobility management function may not determine the positioning period.

[0511] Optionally, the reference object in method 900 can be an object with communication capabilities. Therefore, the positioning management function can obtain the first position information and the updated first position information of the reference object, so that the perception function can perceive the target object based on the first position information, the updated first position information and the relative position information.

[0512] In the above-mentioned method 900, the access and mobility management function can periodically obtain the first position information of the reference object, and the perception function can continuously track the target object, thereby providing a method for continuously tracking the target object. Since the target object is perceived based on the position information, the perception accuracy is also relatively high.

[0513] In the above methods 800 and 900, the access and mobility management function obtains the first location information of the target object, or the first location information of the reference object. In some embodiments, the perception function may also obtain the first location information of the target object, or the first location information of the reference object. The following method 1000 describes the perception function obtaining the first location information of the target object, and method 1100 describes the perception function obtaining the first location information of the reference object. As shown in Figure 10, method 1000 includes:

[0514] S1001: A terminal or an application server sends a sensing request #1 to an access and mobility management function. The access and mobility management function receives the sensing request #1 from the terminal or application server, or the application server sends the sensing request #1 to the sensing function. The sensing request #1 is used to request continuous tracking of a target object.

[0515] Optionally, perception request #1 includes perception service description information.

[0516] Optionally, perception request #1 may include an identification of the target object.

[0517] Optionally, perception request #1 may not include the identification of the target object. For example, the terminal sends perception request #1 to the access and mobility management function, and the target object may be the terminal. Since the terminal has established a connection with the access and mobility management function, the access and mobility management function can obtain the identification of the target object. Therefore, when the terminal sends perception request #1, it means that the terminal is to be perceived.

[0518] Among them, perception request #1 is a request to perceive the target object.

[0519] Alternatively, the perception request #1 includes first information, and the first information includes an identifier of the target object. In this case, the first information can be introduced.

[0520] Optionally, the sensing service description information is used to describe service requirements, etc. For example, the sensing service description information may include at least one of a service type, sensing accuracy, resolution, latency, false detection rate, false alarm rate, or refresh rate. The service type may be a tracking service type, which may be used to indicate continuous tracking of a target object.

[0521] Optionally, perception request #1 includes a tracking indication, where the tracking indication is used to indicate continuous tracking of the target object.

[0522] That is to say, S1001 is divided into three situations. The first is: the terminal sends a perception request #1 to the access and mobility management function; the second is: the application server sends a perception request #1 to the mobility management function; the third is: the application server sends a perception request #1 to the perception function.

[0523] Optionally, for the second scenario of S1001, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function and the gateway mobility perception center. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the gateway mobility perception center, the gateway mobility perception center selects an appropriate access and mobility management function, and sends the perception request #1 to the access and mobility management function. Optionally, the application server sends the perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server and selects an appropriate access and mobility management function. If the application server passes the authorization check, the capability exposure function sends the perception request #1 to the access and mobility management function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends a perception request #1 through the gateway mobile perception center, specifically: the application server sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server authorization check passes, the gateway mobile perception center sends a perception request #1 to the access and mobility management function.

[0524] Optionally, for the third scenario in S1001, the application server sends a perception request #1 to the perception function, including: the application server sends the perception request #1 to the perception function via the capability exposure function and / or the gateway mobile perception center. Optionally, the application server sends the perception request #1 to the perception function via the capability exposure function, including: the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server that sent the perception request #1, if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the perception function, and the perception function receives the perception request #1 from the capability exposure function. Optionally, the application server sends the perception request #1 to the perception function via the gateway mobile perception center, including: the application server sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server that sent the perception request #1, if the gateway mobile perception center passes the authorization check on the application server, the gateway mobile perception center sends the perception request #1 to the perception function, and the perception function receives the perception request #1 from the gateway mobile perception center. The application server may send the perception request #1 via the capability exposure network element and the gateway mobile perception center. Optionally, the application server can send a perception request #1 through the capability exposure network element and the gateway mobile perception center, including: the application server can send a perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and after the authorization check passes, sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center selects a suitable perception function, and sends a perception request #1 to the perception function.

[0525] If S1001 is in the first or second case, S1001 may exist. If neither the first nor the second case exists, S1002 may not be included. In other words, S1002 is the access and mobility management function sending the perception request #1 to the perception function. If the application server sends the perception request #1 to the perception function in the third case, the access and mobility management function may not send the perception request #1, so S1002 does not exist.

[0526] Among them, one of the first, second and third situations of S1001 may exist, that is, either the terminal initiates a perception request to the access and mobility management function, or the application server initiates a perception request to the access and mobility management function, or the application server initiates a perception request to the perception function.

[0527] S1002: The access and mobility management function sends a perception request #1 to the perception function, and the perception function receives the perception request #1 from the access and mobility management function.

[0528] Optionally, in S1002, the access and mobility management function transparently transmits the perception request #1.

[0529] S1003, the perception function obtains the first position information corresponding to the identifier of the target object according to the perception request #1.

[0530] Optionally, if the perception request #1 includes perception service description information, S1003 includes: the perception function determines the positioning period according to the perception service description information, and obtains the first position information corresponding to the identifier of the target object according to the positioning period.

[0531] Optionally, the first position information corresponding to the identifier of the target object may be: the first position information of the object identified by the identifier of the target object.

[0532] Optionally, if the perception service description information can include at least one of the service type, perception accuracy, resolution, latency, false detection rate, false alarm rate or refresh rate, the perception function determines the positioning period based on the perception service description information, including: the perception function determines the positioning period based on the perception accuracy, resolution, latency, false detection rate, false alarm rate or refresh rate. For example, if the perception service description information includes the refresh rate, it can be determined that the positioning period is equal to the refresh rate, or less than the refresh rate (the refresh rate is a time period, representing time).

[0533] Optionally, the first position information is used for the first position of the target object.

[0534] Optionally, the perception function obtains first location information corresponding to the identifier of the target object, including: the perception function sends a first location request to the positioning management function, where the first location request includes the identifier of the target object. After receiving the first location request, the positioning management function may locate the target object identified by the identifier of the target object, obtain the first location information of the target object, and send the first location information of the target object to the perception function.

[0535] Optionally, if perception request #1 includes perception service description information and / or tracking indication, and the perception service description information includes tracking service type, the access and mobility management function determines the positioning period based on the perception service description information and tracking indication, that is, the access and mobility management function determines that the target object needs to be tracked continuously based on the tracking service type and / or tracking indication. Therefore, the access and mobility management function learns that the target object needs to be located multiple times, and therefore can determine the positioning period based on the perception service description information, that is, the tracking indication and / or tracking service type can trigger the access and mobility management function to determine the positioning period based on the perception service description information.

[0536] Optionally, in S1003, for the first case of S1001 and S1002, it can be understood that the perception request #1 comes from the terminal; for the second case of S1001 and S1002, or the third case of S1001, it can be understood that the perception request #1 comes from the application server.

[0537] S1004, the perception function sends first location information to the access network device, and the access network device receives the first location information from the perception function.

[0538] Among them, the perception execution device may include access network equipment.

[0539] Optionally, S1004 includes: the perception function sends a perception request #2 to the access network device, and the access network device receives the perception request #2 from the perception function, where the perception request #2 includes the first location information.

[0540] Alternatively, perception request #2 may include second information, and the second information may include first location information. In this case, S1104 may introduce the second information.

[0541] Optionally, if the sensing function determines a positioning period, the sensing function in S1004 may send the periodically acquired first position information, that is, the first position information may be position information of a certain period.

[0542] S1005: The access network device senses the target object at the first location indicated by the first location information to obtain a first sensing result.

[0543] S1006: The access network device sends a first perception result to the perception function, and the perception function receives the first perception result from the access network device.

[0544] Optionally, in S1006, the access network device may send a response message of perception request #2 to the perception function, and the perception function receives a response message from the access network device, where the response message includes the first perception result.

[0545] S1007: The perception function obtains second position information corresponding to the identifier of the target object according to the positioning cycle.

[0546] Optionally, the second position information may indicate a second position of the target object.

[0547] The second position information is the updated first position information, that is, the first position information and the second position information are position information of the target object in two different periods obtained by the perception function according to the positioning period.

[0548] Optionally, if the sensing function determines a positioning period, the sensing function in S1007 may send the periodically acquired second position information, that is, the second position information may be position information of a certain period.

[0549] Optionally, after S1003, the perception function may send a positioning cycle to the positioning management function. For example, the positioning cycle may be included in the first positioning request. The positioning management function may periodically send the location information of the target object to the perception function according to the positioning cycle. For example, after the positioning management function obtains the first location information in S1004, in the next cycle, the positioning management function may continue to send the second location information to the perception function, so that in S1007, the perception function can obtain the second location information.

[0550] Optionally, S1007 includes: the perception function periodically requesting the location information of the target object from the positioning management function according to the positioning period, and the positioning management function sending the second location information of the target object to the perception function according to the perception function's request. In other words, the perception function may not send the positioning period to the positioning management function. For example, after receiving the first location information, the perception function may continue to send a first positioning request to the positioning management function, the first positioning request may include the identifier of the target object, and then the perception function receives the second location information of the target object from the positioning management function.

[0551] S1008, the perception function sends the second location information to the access network device, and the access network device receives the second location information from the perception function.

[0552] Optionally, S1008 includes: the perception function sends a perception request #3 to the access network device, and the access network device receives the perception request #3 from the perception function, where the perception request #3 includes the second location information.

[0553] S1009: The access network device senses the target object at the second location indicated by the second location information to obtain a second sensing result.

[0554] S1010, the access network device sends a second perception result to the perception function, and the perception function receives the second perception result from the access network device.

[0555] Optionally, if in S1008, the access network device may send a perception request #3 to the perception function, where the perception request #3 includes the second location information. Then, in S1010, the access network device may send a response message to the perception request #3 to the perception function, and the perception function receives a response message from the access network device, where the response message includes the second perception result.

[0556] Optionally, S1006 and S1010 can be executed simultaneously or separately, that is, each perception result obtained by the access network device can be sent to the perception function, or the access network device can send multiple perception results together to the perception function.

[0557] S1011, the perception function obtains a tracking result of the target object according to the first perception result and the second perception result.

[0558] Optionally, processes similar to S1007-S1010 may be repeatedly executed, so that the target object may be sensed multiple times, thereby obtaining a tracking result.

[0559] Optionally, steps S1008 to S1010 are optional. That is, the first perception result in S1006 may be the final tracking result of the target object, that is, the tracking result in S1012 may be the first perception result, and the perception function may not obtain the second perception result. In some embodiments, step S1007 may be present, in which the perception function may calibrate the first perception result in S1006 based on the second position indicated by the second position information to obtain the final perception result. In this case, the tracking result in S1012 may be a calibration of the first perception result.

[0560] S1012: The perception function sends the tracking result to the access and mobility management function or to the application server, and the access and mobility management function or the application server receives the tracking result from the perception function.

[0561] For the first or second case in S1001, in S1012, the perception function sends the tracing result to the access and mobility management function, and the access and mobility management function receives the tracing result from the perception function. In this case, S1013 may also be included. For the third case in S1001, in S1012, the perception function sends the tracing result to the application server, and the application server receives the tracing result from the perception function. The perception function sends the tracking result to the application server, and the application server receives the tracking result from the perception function, including: if the application server sends perception request #1 to the perception function through the capability exposure function in S1001, then the perception function sends the tracking result to the application server through the capability exposure function in S1012; if the application server sends perception request #1 to the capability exposure function in S1001, and the capability exposure function sends perception request #1 to the gateway mobile perception center, then the perception function sends the tracking result to the gateway mobile perception center in S1012, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server; if the application server sends perception request #1 to the perception function through the gateway mobile perception center in S1001, then the perception function sends the tracking result to the application server through the gateway mobile perception center in S1012.

[0562] S1013: The access and mobility management function sends the tracking result to the terminal or the application server, and the terminal or the application server receives the tracking result from the access and mobility management function.

[0563] Optionally, S1013 includes: if in S1001, the application server sends a perception request #1 to the access and mobility management function through the capability exposure function and / or the gateway mobility perception center, then in S1013, the access and mobility management function sends the tracking result to the application server through the capability exposure function and / or the gateway mobility perception center. If the perception request #1 in S1001 is sent by the application server to the capability exposure function, the capability exposure function sends the perception request #1 to the gateway mobility perception center, and the gateway mobility perception center sends the perception request #1 to the access and mobility management function, then in S1013, the access and mobility management function sends the tracking result to the gateway mobility perception center, the gateway mobility perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If in S1001, the application server sends a perception request #1 to the access and mobility management function through the network element mobile tracking center, then in S1013, the mobility management function sends the tracking result to the gateway mobility perception center, and the gateway mobility perception center sends the tracking result to the perception function. If the application server sends a perception request #1 to the access and mobility management function through the capability exposure function in S1001, then in S1013 the mobility management function sends a tracking result to the capability exposure function, and the capability exposure function sends a tracking result to the perception function.

[0564] Optionally, in method 1000, the sensing function may further obtain the first location information and / or second location information of the target object from the terminal or application server. For example, the first location information may be obtained from sensing request #1, and the second location information may be obtained from another sensing request sent by the terminal or application server. In this case, sensing request #1 may not include sensing service description information, and the sensing function may not determine the positioning period.

[0565] Optionally, the target object in method 1000 may be an object with communication capabilities, so that the positioning management function may obtain the first position information and the second position information of the target object, and thus the perception function may perceive the target object based on the first position information and the second position information.

[0566] In the above method 1000, the perception function can periodically obtain the first position information of the target object and can continuously track the target object, thereby providing a method for continuously tracking the target object. Since the target object is perceived based on the position information, the perception accuracy is also relatively high.

[0567] The above method 1000 perceives a target object. In a perception method 1100 similar to method 1000, the perception function can perceive the target object based on the position information of the reference object and the relative position information between the target object and the reference object. As shown in Figure 11, the method 1100 includes:

[0568] S1101: A terminal or an application server sends a sensing request #1 to an access and mobility management function. The access and mobility management function receives the sensing request #1 from the terminal or application server, or the application server sends the sensing request #1 to the sensing function. The sensing request #1 is used to request continuous tracking of a target object.

[0569] Optionally, perception request #1 includes perception service description information.

[0570] Optionally, perception request #1 includes the identification of the reference object and the relative position information between the target object and the reference object.

[0571] Optionally, perception request #1 may not include the identifier of the reference object. For example, the terminal sends perception request #1 to the access and mobility management function, and the reference object is the terminal. Since the terminal and the access and mobility management function have established a connection, the access and mobility management function can obtain the identifier of the reference object. Therefore, when the terminal sends perception request #1, it means that the reference object corresponding to the target object to be perceived is the terminal.

[0572] Optionally, the relative position information is used to indicate the relative position between the target object and the reference object.

[0573] Among them, perception request #1 is a request to perceive the target object, that is, the object to be tracked is the target object. The position information of the reference object and the relative position information of the target object and the reference object can be used to represent the position information of the target object, so that the target object can be tracked. For example, the target object is a criminal vehicle, and the reference object is a police car. The relative position between the police car and the criminal vehicle is certain. For example, the distance between the police car and the criminal vehicle is 200 meters, and the angle between the police car and the criminal vehicle is 15 degrees. Therefore, perception request #1 can include business description information, the identification of the police car, 200 meters and 15 degrees.

[0574] Optionally, the target object can be an area. In other words, the object to be tracked can be a specific object or a specific area. If it is a specific area, then as the reference object moves, the specific area also moves. Therefore, the specific area can be determined by determining the position of the reference object. Optionally, the specific area is an area formed with the reference object as the center; or, the specific area can be an area formed with the reference area as the reference point. For example, for vehicle automatic driving assistance, the vehicle needs to obtain road condition information within an area with a radius of 50 meters and an angle range of 0-15 degrees. In this case, the reference object is the vehicle, and the target object or target area is an area with the vehicle as the origin, a radius of 50 meters, and an angle range of 0-15 degrees.

[0575] Alternatively, the perception request #1 includes first information, which includes the identifier of the reference object and the relative position information between the target object and the reference object. In this case, the first information can be introduced.

[0576] Optionally, the sensing service description information is used to describe service requirements, etc. For example, the sensing service description information may include at least one of the sensing service type, sensing accuracy, resolution, latency, false detection rate, false alarm rate, or refresh rate. The service type may be a tracking service type, which may be used to indicate continuous tracking of a target object.

[0577] Optionally, perception request #1 includes a tracking indication, where the tracking indication is used to indicate continuous tracking of the target object.

[0578] That is to say, S1101 is divided into three situations. The first is: the terminal sends a perception request #1 to the access and mobility management function; the second is: the application server sends a perception request #1 to the mobility management function; the third is: the application server sends a perception request #1 to the perception function.

[0579] Optionally, for the second scenario of S1101, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function and the gateway mobility perception center. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the gateway mobility perception center, the gateway mobility perception center selects an appropriate access and mobility management function, and sends the perception request #1 to the access and mobility management function. Optionally, the application server sends the perception request #1 to the access and mobility management function, including: the application server sends the perception request #1 through the capability exposure function. Specifically, the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server and selects an appropriate access and mobility management function, and if the application server passes the authorization check, the capability exposure function sends the perception request #1 to the access and mobility management function. Optionally, the application server sends a perception request #1 to the access and mobility management function, including: the application server sends a perception request #1 through the gateway mobile perception center, specifically: the application server sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server, and selects an appropriate access and mobility management function. If the application server authorization check passes, the gateway mobile perception center sends a perception request #1 to the access and mobility management function.

[0580] Optionally, for the third scenario in S1101, the application server sends a perception request #1 to the perception function, including: the application server sends the perception request #1 to the perception function via the capability exposure function or the gateway mobile perception center. Optionally, the application server sends the perception request #1 to the perception function via the capability exposure function, including: the application server sends the perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server that sent the perception request #1, and if the capability exposure function passes the authorization check on the application server, the capability exposure function sends the perception request #1 to the perception function, and the perception function receives the perception request #1 from the capability exposure function. Optionally, the application server sends the perception request #1 to the perception function via the gateway mobile perception center, including: the application server sends the perception request #1 to the gateway mobile perception center, the gateway mobile perception center performs an authorization check on the application server that sent the perception request #1, and if the gateway mobile perception center passes the authorization check on the application server, the gateway mobile perception center sends the perception request #1 to the perception function, and the perception function receives the perception request #1 from the gateway mobile perception center. The application server may send the perception request #1 via the capability exposure network element and the gateway mobile perception center. Optionally, the application server can send a perception request #1 through the capability exposure network element and the gateway mobile perception center, including: the application server can send a perception request #1 to the capability exposure function, the capability exposure function performs an authorization check on the application server, and after the authorization check passes, sends a perception request #1 to the gateway mobile perception center, the gateway mobile perception center selects a suitable perception function, and sends a perception request #1 to the perception function.

[0581] If S1101 is in the first or second case, S1101 may exist. If neither the first nor the second case exists, S1102 may not be included. In other words, S1102 is the access and mobility management function sending the perception request #1 to the perception function. If the application server sends the perception request #1 to the perception function in the third case, the access and mobility management function may not send the perception request #1, so S1102 does not exist.

[0582] Among them, one of the first, second and third situations of S1101 may exist, that is, either the terminal initiates a perception request to the access and mobility management function, or the application server initiates a perception request to the access and mobility management function, or the application server initiates a perception request to the perception function.

[0583] S1102: The access and mobility management function sends a perception request #1 to the perception function, and the perception function receives the perception request #1 from the access and mobility management function.

[0584] Optionally, in S1102, the access and mobility management function transparently transmits the perception request #1.

[0585] S1103, the perception function obtains the first position information corresponding to the identifier of the reference object according to the perception request #1.

[0586] Optionally, if the perception request #1 includes perception service description information, S1103 includes: the perception function determines a positioning period according to the perception service description information, and obtains first position information corresponding to the identifier of the reference object according to the positioning period.

[0587] Optionally, the first position information corresponding to the identifier of the reference object may be: the first position information of the reference object identified by the identifier of the reference object.

[0588] Optionally, if the perception service description information can include at least one of the service type, perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate, the access and mobility management function determines the positioning period based on the perception service description information, including: the access and mobility management function determines the positioning period based on the perception accuracy, resolution, delay, false detection rate, false alarm rate or refresh rate. For example, if the perception service description information includes the refresh rate, it can be determined that the positioning period is equal to the refresh rate, or less than the refresh rate (when the refresh rate is expressed as a time period).

[0589] Optionally, the first position information is used to indicate a first position of the reference object.

[0590] Optionally, the sensing function obtains first location information corresponding to the identifier of the reference object, including: the sensing function sends a first positioning request to the positioning management function, where the first positioning request includes the identifier of the reference object. After receiving the first positioning request, the positioning management function may locate the reference object identified by the identifier of the reference object, obtain the first location information of the reference object, and send the first location information of the reference object to the access and mobility management function.

[0591] Optionally, if perception request #1 includes perception service description information and / or tracking indication, and the perception service description information includes tracking service type, the perception function determines the positioning period based on the perception service description information and tracking indication. That is, the perception function determines that the target object needs to be tracked continuously based on the service description information and / or tracking indication. Therefore, the perception function learns that the reference object needs to be located multiple times, and therefore can determine the positioning period based on the perception service description information. That is, the tracking indication and / or tracking service type can trigger the perception function to determine the positioning period based on the perception service description information.

[0592] Optionally, in S1103, for the first case of S1101 and S1102, it can be understood that the perception request #1 comes from the terminal; for the second case of S1101 and S1102, or the third case of S1101, it can be understood that the perception request #1 comes from the application server.

[0593] S1104, the perception function sends the first location information and the relative location information to the access network device, and the access network device receives the first location information and the relative location information from the perception function.

[0594] Among them, the perception execution device may include access network equipment.

[0595] Optionally, S1104 includes: the perception function sends a perception request #2 to the access network device, and the access network device receives the perception request #2 from the perception function, where the perception request #2 includes the first location information and relative location information.

[0596] Alternatively, perception request #2 may include second information, and the second information may include first position information and relative position information. In this case, S1104 may introduce the second information.

[0597] Alternatively, Perception Request #2 may include the location of the target object. Prior to S1104, the perception function may determine the location of the target object based on the first location indicated by the first location information and the relative location indicated by the relative location information. In other words, Perception Request #2 in S1104 may include two parameters, or may include a result derived from the two parameters.

[0598] Optionally, if the sensing function determines a positioning period, the sensing function in S1104 may send the periodically acquired first position information, that is, the first position information may be position information of a certain period.

[0599] S1105: The access network device senses the target object according to the first position indicated by the first position information and the relative position indicated by the relative position information to obtain a first sensing result.

[0600] Optionally, S1105 includes: the access network device determines the position of the target object based on the first position and the relative position of the reference object, and senses the position of the target object. For example, if the first position of the reference object is (x1, y1) and the relative position is (d1, d2), the position of the target object may be (x1+d1, y1+d2).

[0601] Alternatively, if in S1104, perception request #2 may include the position of the target object, and the position of the target object is obtained based on the first position indicated by the first position information and the relative position indicated by the relative position information, then as an alternative to S1105, the perception function perceives the target object based on the position of the target object.

[0602] In the case where the access and mobility management function determines the positioning period, S1106 may exist.

[0603] S1106: The access network device sends a first perception result to the perception function, and the perception function receives the first perception result from the access network device.

[0604] Optionally, in S1106, the access network device may send a response message of perception request #2 to the perception function, and the perception function receives a response message from the access network device, where the response message includes the first perception result.

[0605] S1107: The perception function obtains second position information corresponding to the identifier of the reference object according to the positioning cycle.

[0606] Optionally, the second position information may indicate a second position of the reference object.

[0607] The second position information is the updated first position information, that is, the first position information and the second position information are position information of the target object in two different periods obtained by the perception function according to the positioning period.

[0608] Optionally, if the sensing function determines a positioning period, the sensing function in S1107 may send the periodically acquired second position information, that is, the second position information may be position information of a certain period.

[0609] Optionally, after S1103, the perception function may send a positioning cycle to the positioning management function. For example, the positioning cycle may be included in the first positioning request. The positioning management function may periodically send the location information of the reference object to the perception function according to the positioning cycle. For example, after the positioning management function obtains the first location information in S1103, in the next cycle, the positioning management function may continue to send the second location information to the perception function, so that in S1107, the perception function can obtain the second location information.

[0610] Optionally, S1107 includes: the perception function periodically requesting the location information of the reference object from the location management function according to the location period, and the location management function sending the second location information of the reference object to the perception function according to the perception function's request. In other words, the perception function may not send the location period to the location management function. For example, after receiving the first location information, the perception function may continue to send a first location request to the location management function, where the first location request may include an identifier of the reference object, and then the perception function receives the second location information of the reference object from the location management function.

[0611] S1108, the perception function sends the second location information to the access network device, and the access network device receives the second location information from the perception function.

[0612] Optionally, S1108 includes: the perception function sends a perception request #3 to the access network device, and the access network device receives the perception request #3 from the perception function, and the perception request #3 includes the second location information.

[0613] Optionally, in S1108, the perception function sends the second position information and relative position information to the access network device. Optionally, if the relative position between the reference object and the target object remains unchanged, the relative position indicated by the relative position information in S1101 and S1104 is the same as the relative position indicated by the relative position information in S1108. In this case, S1108 may not include the relative position information, but only include the second position information. That is, when the relative position between the target object and the reference object remains unchanged, but the reference object is moving, the perception function may send the relative position information once in S1104 and may not send the relative position information in S1108. When the relative position between the target object and the reference object changes relative to S1104, the perception function in S1108 may send the changed relative position information. In this way, the access network device can determine the position of the target object based on the second position information and the changed relative position information. Optionally, the changed relative position information may originate from the terminal or the application server. If S1101 originates from the terminal, the changed relative position information may also originate from the terminal, and the terminal sends it to the access and mobility management function, which in turn sends it to the perception function. That is, when the terminal senses that the relative position between the reference object and the target object has changed, the changed relative position information may be sent to the access and mobility management function. If S1101 originates from the application server, the changed relative position information may also originate from the application server. That is, when the application server senses that the relative position between the reference object and the target object has changed, the changed relative position information may be sent to the access and mobility management function, which in turn sends the changed relative position information to the perception function.

[0614] Optionally, as an alternative to the perception function sending the second location information and the relative location information to the access network device, the perception function may send the updated location of the target object to the access network device, wherein the perception function may determine the updated location of the target object based on the second location indicated by the second location information and the relative location indicated by the relative location information. In other words, in S1108, two parameters may be sent, or a result obtained by the two parameters may be sent.

[0615] Optionally, as an alternative to the perception function sending the second location information and the changed relative location information to the access network device, the perception function may send the updated location of the target object to the access network device, wherein the perception function may determine the updated location of the target object based on the second location indicated by the second location information and the relative location indicated by the changed relative location information. In other words, in S1108, two parameters may be sent, or a result obtained by the two parameters may be sent.

[0616] S1109: The access network device senses the target object according to the second position indicated by the second position information and the relative position indicated by the relative position information to obtain a second sensing result.

[0617] Optionally, S1109 includes: the access network device determines the position of the target object based on the second position and relative position of the reference object, and senses the position of the target object. For example, if the second position of the reference object is (x2, y2) and the relative position is (d1, d2), the position of the target object may be (x2+d1, y2+d2). If in S1108, the access and mobility management function also sends the changed relative position information to the perception function, the changed relative position information may indicate the changed relative position between the reference object and the target object. For example, if the second position of the reference object is (x2, y2) and the relative position is (d3, d4), the position of the target object may be (x2+d3, y2+d3).

[0618] Alternatively, if the access and mobility management function in S1108 sends the second location information to the perception function, the updated position of the target object is obtained based on the second position indicated by the second location information and the relative position indicated by the relative position information (or the changed relative position information), then as an alternative to S1109, the access network device perceives the target object based on the updated position of the target object.

[0619] S1110, the access network device sends the second perception result to the perception function, and the perception function receives the second perception result from the access network device.

[0620] Optionally, if in S1108, the access network device may send a perception request #3 to the perception function, where the perception request #3 includes the second location information. Then, in S1110, the access network device may send a response message to the perception request #3 to the perception function, and the perception function receives a response message from the access network device, where the response message includes the second perception result.

[0621] Optionally, S1106 and S1110 can be executed simultaneously or separately, that is, each perception result obtained by the access network device can be sent to the perception function, or the access network device can send multiple perception results together to the perception function.

[0622] S1111, the perception function obtains a tracking result of the target object according to the first perception result and the second perception result.

[0623] Optionally, processes similar to S1107 - S1110 may be repeatedly executed, so that the target object may be sensed multiple times, thereby obtaining a tracking result.

[0624] Optionally, steps S1108 to S1110 are optional. That is, the first perception result in S1106 may be the final tracking result of the target object, that is, the tracking result in S1112 may be the first perception result, and the perception function may not obtain the second perception result. In some embodiments, step S1107 may be present, in which the perception function may calibrate the first perception result in S1006 based on the second position indicated by the second position information to obtain the final perception result. In this case, the tracking result in S1112 may be a calibration of the first perception result.

[0625] S1112: The perception function sends the tracking result to the access and mobility management function or to the application server, and the access and mobility management function or the application server receives the tracking result from the perception function.

[0626] For the first or second case in S1101, in S1112, the perception function sends the tracing result to the access and mobility management function, and the access and mobility management function receives the tracing result from the perception function. In this case, S1113 may also be included. For the third case in S1101, in S1112, the perception function sends the tracing result to the application server, and the application server receives the tracing result from the perception function. The perception function sends the tracking result to the application server, and the application server receives the tracking result from the perception function, including: if the application server in S1101 sends perception request #1 to the perception function through the capability exposure function, then the perception function in S1112 sends the tracking result to the application server through the capability exposure function; if the application server in S1101 sends perception request #1 to the capability exposure function, and the capability exposure function sends perception request #1 to the gateway mobile perception center, then the perception function in S1112 sends the tracking result to the gateway mobile perception center, the gateway mobile perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server; if the application server in S1101 sends perception request #1 to the perception function through the gateway mobile perception center, then the perception function in S1112 sends the tracking result to the application server through the gateway mobile perception center.

[0627] S1113: The access and mobility management function sends the tracking result to the terminal or the application server, and the terminal or the application server receives the tracking result from the access and mobility management function.

[0628] Optionally, S1013 includes: if in S1001, the application server sends a perception request #1 to the access and mobility management function through the capability exposure function and / or the gateway mobility perception center, then in S1113, the access and mobility management function sends the tracking result to the application server through the capability exposure function and / or the gateway mobility perception center. If the perception request #1 in S1001 is sent by the application server to the capability exposure function, the capability exposure function sends the perception request #1 to the gateway mobility perception center, and the gateway mobility perception center sends the perception request #1 to the access and mobility management function, then in S1113, the access and mobility management function sends the tracking result to the gateway mobility perception center, the gateway mobility perception center sends the tracking result to the capability exposure function, and the capability exposure function sends the tracking result to the application server. If in S1001, the application server sends a perception request #1 to the access and mobility management function through the network element mobile tracking center, then in S1113, the mobility management function sends the tracking result to the gateway mobility perception center, and the gateway mobility perception center sends the tracking result to the perception function. If the application server sends a perception request #1 to the access and mobility management function through the capability exposure function in S1001, then in S1113 the mobility management function sends a tracking result to the capability exposure function, and the capability exposure function sends a tracking result to the perception function.

[0629] Optionally, in method 1100, the sensing function may further obtain the first location information and / or second location information of the target object from the terminal or application server. For example, the first location information may be obtained from sensing request #1, and the second location information may be obtained from another sensing request sent by the terminal or application server. In this case, sensing request #1 may not include sensing service description information, and the sensing function may not determine the positioning period.

[0630] Optionally, the reference object in method 1100 can be an object with communication capabilities. Therefore, the positioning management function can obtain the first position information and the updated first position information of the reference object, so that the target object can be perceived based on the first position information, the updated first position information and the relative position information.

[0631] In the above method 1100, the perception function can periodically obtain the first position information of the reference object, and the access network device can continuously track the target object, thereby providing a method for continuously tracking the target object. Since the target object is perceived based on the position information, the perception accuracy is also relatively high.

[0632] In the above-mentioned methods 800-1100, the first position information or the second position information of the target object can be obtained based on the identification of the target object, or the first position information or the second position information of the reference object can be obtained based on the identification of the reference object, so that the target object can be perceived based on the first position information or the second position information, or the target object can be perceived based on the first position information or the second position information and the relative position information.

[0633] It should also be noted that in the embodiments of the present application, the same noun between similar embodiments expresses the same meaning, while the same noun between different embodiments expresses different meanings. For example, in methods 200-700, the same noun expresses the same meaning, for example, the meaning of perception request #1 is the same. For example, in methods 800-1100, the same noun expresses the same meaning. For example, the same noun in methods 200-700 and methods 800-1100 can express different meanings, for example, the meaning of perception request #1 is different.

[0634] The above describes the method embodiments provided by this application, and the following describes the device embodiments provided by this application. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for matters not described in detail, reference can be made to the method embodiments above. For the sake of brevity, they will not be repeated here.

[0635] Figure 12 is a schematic block diagram of a communication device provided in an embodiment of the present application. As shown in Figure 12, the communication device 1200 may include a processing unit 1210 and a communication unit 1220. The communication unit 1220 can implement corresponding communication functions, and the communication can be internal communication of the communication device 1200 or communication between the communication device 1200 and other devices; the processing unit 1210 can implement corresponding processing functions. The communication unit 1220 can also be referred to as a communication interface or a transceiver unit. Optionally, the communication device 1200 may also include a storage unit, which can be used to store instructions and / or data, and the processing unit 1210 can read the instructions and / or data in the storage unit so that the device implements the aforementioned method embodiment.

[0636] In one possible design, the communication device 1200 may be the sensing function in method 200 or method 300 above, or the SF in methods 400 to 700, or may be a module or chip applied to the sensing function or SF. The communication device 1200 may be used to execute the steps or processes performed by the sensing function or SF in the above-mentioned embodiments.

[0637] In one possible design, the communication device 1200 may be the access and mobility management function in the above method 200 or method 300, or may be the AMF in methods 400 to 700, or may be a module or chip applied to the access and mobility management function or AMF. The communication device 1200 can be used to execute the steps or processes performed by the access and mobility management function or AMF in the above embodiments.

[0638] In one possible design, the communication device 1200 may be the sensing function in the above methods 800-1100, or a module or chip applied to the sensing function or SF. The communication device 1200 may be used to execute the steps or processes executed by the sensing function in the above embodiments.

[0639] In one possible design, the communication device 1200 may be the access and mobility management function in methods 800-1100 above, or may be a module or chip applied to the access and mobility management function. The communication device 1200 may be used to execute the steps or processes performed by the access and mobility management function in the above-mentioned embodiments.

[0640] Regarding the steps or processes executed by each unit in the communication device 1200, please refer to the above method for details, which will not be described in detail here.

[0641] It should be understood that the "unit" in the communication device 1200 can be implemented by hardware, can be implemented by software, and can also be implemented by hardware executing the corresponding software implementation. For example, the "unit" can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit and / or other suitable components that support the described functions. For another example, the communication unit 1220 can be replaced by a transceiver transceiver circuit (for example, a receiving circuit and a transmitting circuit), and the processing unit 1210 can be replaced by a processor or a processing circuit.

[0642] Figure 13 shows a communication device 1300 provided in an embodiment of the present application. The communication device 1300 includes a processor 1310 and a transceiver 1320. The processor 1310 and the transceiver 1320 communicate with each other via an internal connection path. The processor 1310 is configured to execute instructions to control the transceiver 1320 to send and / or receive signals.

[0643] Optionally, the communication device 1300 may further include a memory 1330, which communicates with the processor 1310 and the transceiver 1320 via an internal connection path. The memory 1330 is used to store instructions, and the processor 1310 can execute the instructions stored in the memory 1330. In one possible implementation, the communication device 1300 is used to implement the various processes and operations corresponding to the perception function in the above-mentioned method 200 or method 300 or the SF in methods 400-700. In one possible implementation, the communication device 1300 is used to implement the various processes and operations corresponding to the access and mobility management function in the above-mentioned method 200 or method 300 or the AMF in methods 400-700. In one possible implementation, the communication device 1300 is used to implement the various processes and operations corresponding to the perception function in methods 800-1100. In a possible implementation, the communication device 1300 is used to implement various processes and operations corresponding to the access and mobility management functions in the above-mentioned methods 800 to 1100.

[0644] It should be understood that the communication device 1300 can be specifically each device in the above-mentioned embodiment (for example, a network device or a terminal device, or a chip or a chip system. Correspondingly, the transceiver 1320 can be a transceiver circuit of the chip, which is not limited here. Specifically, the communication device 1300 can be used to perform the various operations and / or processes corresponding to the network device or terminal device in the above-mentioned method embodiment. Optionally, the memory 1330 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store device type information. The processor 1310 can be used to execute instructions stored in the memory, and when the processor 1310 executes the instructions stored in the memory, the processor 1310 is used to execute the various operations and / or processes of the above-mentioned method embodiments corresponding to the various devices.

[0645] During implementation, each operation of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The operation of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the operation of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0646] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, the various operations of the above-mentioned method embodiments can be completed by hardware integrated logic circuits in the processor or instructions in the form of software. The above-mentioned processor can 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 devices, discrete gate or transistor logic devices, discrete hardware components. The various methods, operations and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The operations of the methods disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the operations of the above-mentioned method in combination with its hardware.

[0647] It is understood that 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.

[0648] According to the method provided in the embodiment of the present application, the present application also provides a computer program product, which includes: computer program code, which, when the computer program code runs on a computer, enables the computer to execute the various operations or processes performed by the access and mobility management function or AMF or perception function or SF in the above method embodiment.

[0649] According to the method provided in the embodiment of the present application, the present application also provides a computer-readable storage medium, which stores a program code. When the program code runs on a computer, the computer executes the various operations or processes performed by the access and mobility management function or AMF or perception function or SF in the above method embodiment.

[0650] According to the method provided in the embodiment of the present application, the present application also provides a communication system, which includes at least two of the aforementioned access and mobility management function, perception function, terminal, application server, gateway mobile perception center, capability exposure function or positioning management function; or, includes: UE, AMF, LMF, SF, GMSC, NEF or AF. At least two of them.

[0651] The above-mentioned various apparatus embodiments correspond completely to the method embodiments, and the corresponding modules or units perform t...

Claims

1. A communication method, characterized in that: include: receiving a first sensing request, where the first sensing request includes first position information, where the first position information is used to indicate a first position where a target object is located; Acquire object distribution information within a first area where the first position is located; According to the first position and the object distribution information, a first object in the first area is identified as a target object, and the target object is sensed.

2. The communication method according to claim 1, characterized in that: The first sensing request is used to request continuous tracking of the target object; The sensing of the target object includes: continuously tracking the target object.

3. The communication method according to claim 1 or 2, characterized in that: The first perception request includes a tracking indication, and the tracking indication is used to indicate continuous tracking.

4. The communication method according to any one of claims 1 to 3, characterized in that: The communication method further comprises: Acquire distribution information of user equipment UE in the first area; The step of identifying the first object in the first area as the target object according to the first position and the object distribution information includes: According to the first position, the object distribution information and the UE distribution information, a first object in the first area is identified as the target object; wherein the target object is not a UE.

5. The communication method according to claim 4, characterized in that: The first perception request includes a non-UE indication, where the non-UE indication is used to indicate that the first perception request is for a non-UE.

6. The communication method according to claim 4 or 5, characterized in that: The acquiring distribution information of UEs in the first area includes: receiving distribution information of the UE from an access and mobility management function; or, Obtaining an identifier of a UE in the first area from an access and mobility management function; Sending an identifier of the UE to a positioning function; The location information corresponding to the identifier of the UE is received from the positioning function.

7. The communication method according to any one of claims 1 to 6, characterized in that: The acquiring of the object distribution information in the first area includes at least one of the following methods: receiving the object distribution information from a terminal; or, receiving the object distribution information from an application server; or, The object distribution information is obtained from the first perception data.

8. The communication method according to claim 7, characterized in that: Before receiving the first sensing request, the communication method further includes: acquiring predicted location information, the predicted location information being used to indicate the predicted location of the target object; triggering the access network device to sense the area where the predicted location is located; The obtaining of the object distribution information from the first perception data includes: obtaining the first perception data corresponding to the area where the predicted position is located from an access network device, and obtaining the object distribution information from the first perception data, wherein the first position is covered by the area where the predicted position is located.

9. The communication method according to claim 8, characterized in that: Before receiving the first perception request, the communication method further includes: acquiring information corresponding to the predicted position information and used to indicate a first moment or a first time range; The triggering of the access network device to sense the area where the predicted location is located includes: determining a third time or a third time range according to the first time or the first time range; The access network device is triggered to sense the area where the predicted location is located starting from the third moment or within a third time range.

10. The communication method according to claim 9, characterized in that: The first perception request further includes information for indicating a second moment or a second time range; The second moment or the starting moment of the second time range is later than the third moment; or the second moment or the starting moment of the second time range is covered by the third time range.

11. The communication method according to any one of claims 8 to 10, characterized in that: Before receiving the first sensing request, the method further includes: receiving a second sensing request, wherein the second sensing request is used to request continuous tracking of the target object; The obtaining of the predicted location information includes: obtaining the predicted location information carried by the second perception request.

12. The communication method according to claim 11, characterized in that: The obtaining of information corresponding to the predicted position information and used to indicate the first moment or the first time range includes: obtaining information carried by the second perception request and used to indicate the first moment or the first time range.

13. The communication method according to claim 11 or 12, characterized in that: The second perception request includes a tracking indication, where the tracking indication is used to indicate continuous tracking.

14. The communication method according to any one of claims 1 to 13, characterized in that: The receiving the first perception request comprises: Receive the first perception request from a terminal or an application server.

15. The communication method according to any one of claims 1 to 14, characterized in that: The communication method further comprises: Acquiring second perception data obtained by continuously tracking the target object; receiving second location information from a terminal or an application server, where the second location information is used to indicate a second location of the target object; A tracking result is determined according to the second position information and the second perception data.

16. The communication method according to claim 15, characterized in that: Before receiving the second location information from the terminal or the application server, the communication method further includes: A location request is sent to the terminal or the application server, where the location request is used to request the location of the target object.

17. A communication method, characterized in that: include: receiving a third sensing request, where the third sensing request includes first position information, where the first position information is used to indicate a first position where the target object is located; Acquire distribution information of UEs in a first area where the first location is located; A first perception request is sent to a perception function, where the first perception request includes the first location information and distribution information of the UE.

18. The communication method according to claim 17, characterized in that: The third perception request is used to request continuous tracking of the target object, and the first perception request is used to request continuous tracking of the target object.

19. The communication method according to claim 17 or 18, characterized in that: The acquiring distribution information of UEs in a first area where the first location is located includes: Obtaining an identifier of a UE in the first area, and sending the identifier of the UE to a positioning function; The distribution information corresponding to the identity of the UE is received from the positioning function.

20. The communication method according to any one of claims 17 to 19, characterized in that: The communication method further comprises: The first perception request and the third perception request include object distribution information within the first area, and the object distribution information is used to identify the target object.

21. The communication method according to any one of claims 17 to 20, characterized in that: The first perception request includes a non-UE indication, where the non-UE indication is used to indicate that the first perception request is for a non-UE.

22. The communication method according to any one of claims 17 to 21, characterized in that: The first perception request includes a tracking indication, and the tracking indication is used to indicate continuous tracking.

23. The communication method according to claim 22, characterized in that: Before receiving the third perception request, the communication method further includes: Acquiring predicted position information, where the predicted position information is used to indicate a predicted position of a target object; A second perception request is sent to the perception function, wherein the second perception request includes the predicted position information.

24. The communication method according to claim 23, characterized in that: Before receiving the third perception request, the method further includes: acquiring information corresponding to the predicted position information and indicating a first moment or a first time range; The second perception request includes the information indicating the first moment or the first time range.

25. The communication method according to claim 24, characterized in that: The third perception request further includes information for indicating a second moment or a second time range; The second moment or the starting moment of the second time range is later than the first moment; or the second moment or the starting moment of the second time range is covered by the first time range.

26. The communication method according to any one of claims 23 to 25, characterized in that: Before receiving the third sensing request, the method further includes: receiving a second sensing request, wherein the second sensing request is used to request continuous tracking of the target object; The obtaining of the predicted location information includes: obtaining the predicted location information carried by the second perception request.

27. The communication method according to claim 26, characterized in that: The obtaining of information corresponding to the predicted position information and used to indicate the first moment or the first time range includes: obtaining the information used to indicate the first moment or the first time range carried by the second perception request.

28. The communication method according to claim 26 or 27, characterized in that: The second perception request includes a tracking indication, where the tracking indication is used to indicate continuous tracking.

29. A communication method, characterized in that: include: Receiving a first sensing request from a terminal or an application server, the first sensing request is used to request continuous tracking of a target object, the first sensing request includes first information, the first information includes an identifier of the target object, or the first information includes an identifier of a reference object and relative position information between the target object and the reference object; Acquire, according to the first perception request, first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information; Send the first position information, or the first position information and the relative position information.

30. The communication method according to claim 29, characterized in that: The first perception request further includes perception service description information; and the communication method further includes: Determine a positioning period according to the sensing service description information; The acquiring, according to the first perception request, the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information includes: acquiring the first position information according to the first perception request and the positioning period; The sending of the first location information, or the first location information and the relative location information, includes: The first position information obtained periodically is sent, or the first position information obtained periodically and the relative position information are sent.

31. The communication method according to claim 30, characterized in that: The first perception request also includes a tracking instruction, and the tracking instruction is used to instruct continuous tracking of the target object.

32. The communication method according to claim 31, characterized in that: The determining the positioning period according to the perception service description information in the first perception request includes: The positioning period is determined according to the perception service description information and the tracking indication in the first perception request.

33. The communication method according to any one of claims 30 to 32, characterized in that: The acquiring the first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information includes: Sending a first positioning request to a positioning management function, wherein the first positioning request includes an identifier of the target object or an identifier of the reference object; The first position information corresponding to the identifier of the target object or the identifier of the reference object in the first information is received from the positioning management function.

34. The communication method according to claim 33, characterized in that: The first positioning request includes the positioning period.

35. The communication method according to any one of claims 31 to 34, characterized in that: The method is performed by an access and mobility management function; Among them, the sending of the first location information, or the first location information and the relative location information, includes: sending a fourth perception request to the perception function, the fourth perception request includes sending the first location information, or the first location information and the relative location information, wherein the fourth perception request includes the tracking indication.

36. The communication method according to claim 35, characterized in that: The method is performed by an access and mobility management function, and the communication method further comprises: Send the perception description information to the perception function, where the perception description information is used by the perception function to determine the target The perception period of the target object.

37. The communication method according to any one of claims 29 to 36, characterized in that: The communication method is performed by a sensing function; The sending of the first location information, or the first location information and the relative location information, includes: A fourth perception request is sent to the access network device, where the fourth perception request includes the first location information, or the first location information and the relative location information.

38. The communication method according to claim 37, characterized in that: The method is performed by a sensing function, and the communication method further comprises: A perception period is determined according to the perception description information.

39. A communication device, characterized in that: Comprising means for implementing the method as claimed in any one of claims 1 to 38.

40. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 38 is implemented.

41. A chip, characterized in that: The method comprises a processor connected to a memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory to implement the method as claimed in any one of claims 1 to 38.

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