Communication method and apparatus

Abstract

The present application belongs to the technical field of communications. Provided are a communication method and apparatus, which are used for improving the accuracy and precision of target detection. In the method, a first access network device can perform data fusion on second sensing measurement data, which is obtained by means of the first access network devices executing a sensing operation, and first sensing measurement data, which is obtained by means of other access network devices such as a second access network device executing a sensing operation on the basis of a sensing parameter, so as to fuse sensing measurement data of a plurality of access network by means of the first access network device, implement a first access network device and the perception measurement data of the plurality of access network devices are fused, and thus the problem of the accuracy of sensing measurement data being lower due to the fact that a target is not detected when some access network devices execute a sensing operation, such that the sparsity of the sensing measurement data can be improved, and the accuracy and precision of target detection are improved.

Description

Communication method and device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on August 30, 2023, with application number 202311128567.2 and application name “Communication Method and 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 in particular to a communication method and device. Background Art

[0003] Access network devices can perform perception measurements through a self-transmitting and self-receiving perception mode. For example, access network device A can send a perception signal and receive an echo signal of the perception signal for target detection. The echo signal is the signal after the perception signal is reflected by a target in the environment. Target detection is to compare the signal strength of the echo signal with a threshold to determine whether the target exists.

[0004] However, this process may result in severe path loss, which may cause the signal strength of the echo signal to be less than the background noise intensity, resulting in the inability to detect the target through threshold comparison, resulting in low accuracy and precision of target detection.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a communication method and apparatus for improving the accuracy and precision of target detection.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, a communication method is provided, which is applied to a first access network device. The method may be performed by the first access network device, or a device (such as a chip) in the first access network device, or a module that performs all or part of the functions of the first access network device. The method includes: sending a first message to a second access network device, receiving first perception measurement data from the second access network device, and determining third perception measurement data. The first message includes perception parameters; the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception parameters; the third perception measurement data is perception measurement data obtained by the first access network device after data fusion of the first perception measurement data and the second perception measurement data; and the second perception measurement data is obtained by the first access network device performing a perception operation.

[0009] Based on the methods described in the first aspect to the third aspect, it can be known that the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so as to realize the first access network device fusing the perception measurement data of multiple access network devices, so as to avoid the low accuracy of the perception measurement data due to the failure to detect the target when some access network devices perform the perception operation, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0010] In one possible design scheme, the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception parameters. In this way, it can be ensured that the first perception measurement data and the second perception measurement data are obtained by performing a perception operation based on the same perception parameters, thereby improving the accuracy of the third perception measurement data.

[0011] In one possible design scheme, the first message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session, that is, the first perception measurement data corresponds one-to-one to the perception session, and the second perception measurement data corresponds one-to-one to the perception session. In this way, the core network device can accurately determine which perception session the first perception measurement data and the second perception measurement data belong to, so as to avoid misidentification or erroneous identification.

[0012] In one possible design, the perception parameter includes at least one of the following: a perception area or a perception feature of a perceived target. The first access network device and the second access network device may determine the perception features to be reported based on the perception area and the perception features of the perceived target, that is, the type of perception data included in the first perception measurement data and the second perception measurement data. The perception features may include, without limitation, location information, angle information, speed information, or altitude information of the perceived target.

[0013] In one possible design scheme, the perception parameters also include the perception time period, that is, when there is a perception task, the first access network device and the second access network device can directly perform the perception operation based on the perception parameters. In this case, the core network device configures the perception parameters at the same time as the second access network device performs the perception operation. In this way, signaling interaction can be reduced and the delay is shorter.

[0014] In one possible design, after sending the first message to the second access network device, the method described in the first aspect may further include: sending a second message to the second access network device. The second message includes: a perception time period, or a perception time period and a perception session identifier. Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0015] That is, after the first access network device sends the perception area and the perception characteristics of the perceived target to the second access network device, the first access network device sends the perception time period to the second access network device. In this way, the second access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message at any required time period. In other words, the configuration of the perception parameters by the core network device and the perception operation process performed by the second access network device are separated from each other, thereby making the control more flexible.

[0016] In one possible design, the first perception measurement data is obtained by the second access network device performing a perception operation based on a perception area, perception characteristics, and a perception time period; and the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics, and perception time period. It will be appreciated that the first and second access network devices perform the perception operations based on the same perception area, perception characteristics, and perception time period, thereby improving the accuracy of the third perception measurement data.

[0017] In one possible design, before sending the second message to the second access network device, the method described in the first aspect may further include: receiving a third message from a core network device. The third message includes a perception time period, or a perception time period and a perception session identifier. Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0018] That is, after the first access network device sends the perception area and the perception characteristics of the perceived target to the second access network device, the first access network device receives the perception time period from the core network device. In this way, the first access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message at any required time period. In other words, the configuration of the perception parameters by the core network device is separated from the perception operation process performed by the first access network device, thereby making the control more flexible.

[0019] In one possible design, before sending the first message to the second access network device, the method described in the first aspect may further include: receiving a fourth message from the core network device. The fourth message includes a perception parameter, or a perception parameter and a perception session identifier; the fourth message also includes an identifier of at least one access network device, where the at least one access network device includes the second access network device. That is, the first access network device is triggered to perform a perception operation based on the perception parameter by the core network device. Simultaneously, the first access network device sends the perception parameter to the second access network device based on the identifier of the second access network device, so that the first access network device and the second access network device perform a perception operation based on the perception parameter.

[0020] In one possible design scheme, after determining the third perception measurement data, the method described in the first aspect may also include: sending the third perception measurement data to the core network functional device, so that the core network device can perform subsequent processing on the perception measurement data after data fusion, which can improve the accuracy and precision of the data in the subsequent processing process of the core network device, thereby improving the efficiency of communication.

[0021] In a second aspect, a communication method is provided, applied to a second access network device. The method may be performed by the second access network device, or a device (such as a chip) in the second access network device, or a module that performs all or part of the functions of the second access network device. The method includes receiving a first message from a first access network device, performing a sensing operation based on a sensing parameter, obtaining first sensing measurement data, and sending the first sensing measurement data to the first access network device. The first message includes the sensing parameter.

[0022] In a possible design scheme, the first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

[0023] In a possible design solution, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0024] In a possible design solution, the perception parameter also includes a perception time period.

[0025] In one possible design, after receiving the first message from the first access network device, the method of the second aspect may further include: receiving a second message from the first access network device, wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

[0026] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0027] In a possible design scheme, the first perception measurement data is obtained by the first access network device performing a perception operation according to the perception area, the perception feature, and the perception time period.

[0028] In addition, other technical effects of the method described in the second aspect can refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0029] In a third aspect, a communication method is provided, applied to a core network device. The method may be performed by the core network device, or a device (such as a chip) within the core network device, or a module that performs all or part of the functions of the core network device. The method includes: sending a fourth message to a first access network device, and receiving third perception measurement data from the first access network device. The fourth message includes perception parameters; the fourth message also includes an identifier of at least one access network device, where the at least one access network device includes a second access network device; the third perception measurement data is perception measurement data obtained by the first access network device fusing the first perception measurement data and the second perception measurement data; the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception parameters; and the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception parameters.

[0030] In a possible design scheme, the fourth message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0031] In a possible design solution, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0032] In a possible design solution, the perception parameter also includes a perception time period.

[0033] In one possible design, after sending the fourth message to the first access network device, the method described in the third aspect may further include: sending a third message to the first access network device, wherein the third message includes the perception time period, or the perception time period and the perception session identifier.

[0034] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0035] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0036] In addition, other technical effects of the method described in the third aspect can refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0037] In a fourth aspect, a communication method is provided, which is applied to a first access network device. The execution subject of the method can be the first access network device, or a device (such as a chip) in the first access network device, or can be a module that performs all or part of the functions of the first access network device. The method includes: determining first beam parameter information, and performing a sensing operation based on the first beam parameter information. The first beam parameter information is determined based on the beam parameter information of other access network devices, and the sensing area where the first access network device and the other access network devices need to perform the sensing operation overlaps.

[0038] Based on the methods described in aspects 4 to 6, it can be seen that the first beam parameter information used by the first access network device is determined based on the beam parameter information of other access network devices whose perception areas overlap, or in other words, the determination of the first beam parameter information can take into account the mutual interference with the beam parameter information of other access network devices, thereby reducing the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0039] In one possible design scheme, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam indicated by the beam parameter information of other access network devices is less than a preset value. In this way, it can be ensured that within the same time period, the interference of other access network devices to the first access network device is reduced.

[0040] In one possible design scheme, the other access network devices include a second access network device, and the method described in the fourth aspect may further include: receiving second beam parameter information from the second access network device. The second beam parameter information is used to determine the first beam parameter information. Optionally, determining the first beam parameter information includes: determining the first beam parameter information based on the second beam parameter information. That is, the first access network device replaces or modifies its own beam parameter information with the first beam parameter information based on the received second beam parameter information, thereby ensuring that the interference of the second access network device to the first access network device is reduced within the same time period.

[0041] Optionally, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam. The first perception signal is a perception signal used by the first access network device when performing a perception operation, and the first beam parameter may also include any other possible parameters without limitation. Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation, and the second beam parameter may also include any other possible parameters without limitation.

[0042] It can be understood that the first access network device can modify its own beam direction, beam period, or time-frequency resource position of the first perception signal according to the second beam direction, the second beam period, or the time-frequency resource position of the second perception signal. The implementation process is simple and flexible. For example, within the same time period, the first beam direction is the same as the second beam direction; the first beam period is the same as the second beam period; or, the first access network device sends the first perception signal, and the second access network device does not send the second perception signal, etc., without limitation.

[0043] Furthermore, within the same time period, interference between a first perception signal transmitted by the first access network device using the beam indicated by the first beam parameter information and a second perception signal transmitted by the second access network device using the beam indicated by the second beam parameter information is less than a preset value. That is, within the same time period, the interference between the first perception signal and the second perception signal is less than a preset value, thereby reducing the noise floor in target detection and improving the accuracy and precision of target detection.

[0044] In one possible design, determining the first beam parameter information includes receiving the first beam parameter information from a core network device. Optionally, before receiving the first beam parameter information from the core network device, the method of the fourth aspect may further include sending third beam parameter information to the core network device. The first beam parameter information is determined by the core network device based on the third beam parameter information and beam parameter information of other access network devices.

[0045] That is, the first beam parameter information is determined by the core network device based on the third beam parameter information and the beam parameter information of other access network devices. The first access network device uses the received first beam parameter information to perform perception operations, which can reduce mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0046] In one possible design, performing a sensing operation based on the first beam parameter information includes: transmitting a first sensing signal using a beam indicated by the first beam parameter information; receiving a first echo signal; and performing a sensing operation based on the first sensing signal and the first echo signal. The first echo signal is a reflection of the first sensing signal. That is, the first access network device uses the first beam parameter information to perform the sensing operation, which can reduce noise floor in target detection and improve the accuracy and precision of target detection.

[0047] In a fifth aspect, a communication method is provided, applied to a second access network device. The method may be performed by the second access network device, or a device (such as a chip) in the second access network device, or a module that performs all or part of the functions of the second access network device. The method includes obtaining second beam parameter information and sending the second beam parameter information. The second beam parameter information is used by the second access network device to perform a sensing operation.

[0048] In one possible design scheme, sending the second beam parameter information includes: sending the second beam parameter information to the first access network device.

[0049] Optionally, the method described in the fifth aspect may further include: performing a sensing operation based on the second beam parameter information. Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource location of a second sensing signal carried on the second beam. The second sensing signal is a sensing signal used by the second access network device when performing the sensing operation.

[0050] In one possible design, performing a sensing operation based on the second beam parameter information includes: transmitting a second sensing signal using a beam indicated by the second beam parameter information; receiving a second echo signal; and performing a sensing operation based on the second sensing signal and the second echo signal. The second echo signal is a reflection signal of the second sensing signal.

[0051] In one possible design scheme, sending the second beam parameter information includes: sending the second beam parameter information to the core network device.

[0052] Optionally, the method described in the fifth aspect may further include: receiving fourth beam parameter information from a core network device, and performing a perception operation based on the fourth beam parameter information. The fourth beam parameter information is determined by the core network device based on the second beam parameter information and the beam parameter information of other access network devices, and the second access network device and the other access network devices overlap in the perception area where the perception operation needs to be performed. That is, the determination of the fourth beam parameter information takes into account the mutual interference between the beam parameter information of other access network devices, which can reduce mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0053] Optionally, within the same time period, the interference between the beam indicated by the fourth beam parameter information and the beam indicated by the beam parameter information of other access network devices is less than a preset value. In this way, it can be ensured that within the same time period, the interference of other access network devices to the second access network device is reduced.

[0054] Furthermore, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource location of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation. The fourth beam parameter may also include any other possible parameters, without limitation.

[0055] In one possible design, performing a sensing operation based on the fourth beam parameter information includes: transmitting a second sensing signal using the beam indicated by the fourth beam parameter information; receiving a second echo signal; and performing a sensing operation based on the second sensing signal and the second echo signal. The second echo signal is a reflection of the second sensing signal. Other technical effects of the method described in aspect 5 may refer to the technical effects of aspect 4 and are not further elaborated here.

[0056] In a sixth aspect, a communication method is provided, which is applied to a core network device. The execution subject of the method can be a core network device, or a device (such as a chip) in the core network device, or can be a module that completes all or part of the functions of the core network device. The method includes: receiving beam parameter information from other access network devices, obtaining first beam parameter information and fourth beam parameter information based on second beam parameter information and third beam parameter information, and sending the first beam parameter information to the first access network device, and sending the fourth beam parameter information to the second access network device. The beam parameter information of the other access network devices includes the second beam parameter information and the third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device.

[0057] Based on the methods described in aspects 4 to 6, it can be seen that the core network device can determine / modify the beam parameter information of the first core network device and the second access network device based on the beam parameter information of other access network devices, such as the second beam parameter information and the third beam parameter information, so that the mutual interference between the access network devices is reduced, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0058] In a possible design, within the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

[0059] In one possible design, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource location of a first perception signal carried on the first beam. The first perception signal is a perception signal used by the first access network device when performing a perception operation.

[0060] In one possible design, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource location of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation.

[0061] Optionally, within the same time period, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

[0062] In addition, other technical effects of the method described in the sixth aspect can refer to the technical effects of the methods described in the fourth and fifth aspects, and will not be repeated here.

[0063] In a seventh aspect, a communication device is provided. The device includes: a module for executing the method described in the first aspect, for example, a transceiver module and a processing module.

[0064] The transceiver module is configured to send a first message to the second access network device. The transceiver module is further configured to receive first perception measurement data from the second access network device. The processing module is configured to determine third perception measurement data. The first message includes perception parameters; the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception parameters; the third perception measurement data is obtained by the first access network device fusing the first perception measurement data with the second perception measurement data; and the second perception measurement data is obtained by the first access network device performing a perception operation.

[0065] In a possible design scheme, the second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameters.

[0066] In a possible design scheme, the first message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0067] In a possible design solution, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0068] In a possible design solution, the perception parameter also includes a perception time period.

[0069] In one possible design, after sending the first message to the second access network device, the transceiver module is further configured to send a second message to the second access network device. The second message includes a sensing time period, or a sensing time period and a sensing session identifier. Optionally, the second message is configured to trigger the second access network device to perform a sensing operation.

[0070] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0071] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0072] In one possible design, before sending the second message to the second access network device, the transceiver module is further configured to receive a third message from the core network device, wherein the third message includes the perception time period, or the perception time period and the perception session identifier.

[0073] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0074] In one possible design, before sending the first message to the second access network device, the transceiver module is further configured to receive a fourth message from the core network device. The fourth message includes a perception parameter, or a perception parameter and a perception session identifier; the fourth message also includes an identifier of at least one access network device, where the at least one access network device includes the second access network device.

[0075] In one possible design scheme, after determining the third perception measurement data, the transceiver module is also used to send the third perception measurement data to the core network functional device.

[0076] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the seventh aspect, and the receiving module is used to implement the receiving function of the communication device described in the seventh aspect.

[0077] Optionally, the communication device described in the seventh aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device can execute the communication method described in the first aspect.

[0078] It should be noted that the communication device described in the seventh aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0079] In addition, the technical effects of the communication device described in the seventh aspect can refer to the technical effects of the communication method described in the first aspect, and will not be repeated here.

[0080] In an eighth aspect, a communication device is provided. The device includes: a module for executing the method described in the second aspect, for example, a transceiver module and a processing module.

[0081] The transceiver module is configured to receive a first message from a first access network device, the processing module is configured to perform a sensing operation based on the sensing parameter to obtain first sensing measurement data, and the transceiver module is further configured to send the first sensing measurement data to the first access network device.

[0082] In a possible design scheme, the first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

[0083] In a possible design solution, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0084] In a possible design solution, the perception parameter also includes a perception time period.

[0085] In one possible design, after receiving the first message from the first access network device, the transceiver module is further configured to receive a second message from the first access network device, wherein the second message includes: a sensing time period, or a sensing time period and a sensing session identifier.

[0086] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0087] In a possible design scheme, the first perception measurement data is obtained by the first access network device performing a perception operation according to the perception area, the perception feature, and the perception time period.

[0088] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the eighth aspect, and the receiving module is used to implement the receiving function of the communication device described in the eighth aspect.

[0089] Optionally, the communication device described in the eighth aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device can execute the communication method described in the second aspect.

[0090] It should be noted that the communication device described in the eighth aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0091] In addition, the technical effects of the communication device described in the eighth aspect can refer to the technical effects of the communication method described in the second aspect, and will not be repeated here.

[0092] In a ninth aspect, a communication device is provided. The device includes: a module for executing the method described in the third aspect, for example, a transceiver module and a processing module.

[0093] The processing module is configured to control the transceiver module to send a fourth message to the first access network device. The transceiver module is configured to receive third perception measurement data from the first access network device. The fourth message includes perception parameters; the fourth message also includes an identifier of at least one access network device, where the at least one access network device includes a second access network device; the third perception measurement data is perception measurement data obtained by the first access network device fusing the first perception measurement data with the second perception measurement data; the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception parameters; and the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception parameters.

[0094] In a possible design scheme, the fourth message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0095] In a possible design solution, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0096] In a possible design solution, the perception parameter also includes a perception time period.

[0097] In one possible design, after sending the fourth message to the first access network device, the processing module is further configured to control the transceiver module to send a third message to the first access network device, wherein the third message includes the perception time period, or the perception time period and the perception session identifier.

[0098] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0099] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0100] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the ninth aspect, and the receiving module is used to implement the receiving function of the communication device described in the ninth aspect.

[0101] Optionally, the communication device described in the ninth aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device may execute the communication method described in the third aspect.

[0102] It should be noted that the communication device described in the ninth aspect can be a core network device, or a chip (system) or other parts or components that can be set in the core network device, or a device that includes a core network device. This application does not limit this.

[0103] In addition, the technical effects of the communication device described in the ninth aspect can refer to the technical effects of the communication method described in the third aspect, and will not be repeated here.

[0104] In a tenth aspect, a communication device is provided. The device includes: a module for executing the method described in the fourth aspect, for example, a transceiver module and a processing module.

[0105] The processing module is configured to determine first beam parameter information. The processing module is further configured to perform a sensing operation based on the first beam parameter information. The first beam parameter information is determined based on beam parameter information of other access network devices, and the sensing areas where the first access network device and the other access network devices need to perform the sensing operation overlap.

[0106] In a possible design scheme, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam indicated by the beam parameter information of other access network devices is less than a preset value.

[0107] In one possible design, the other access network devices include a second access network device, and a transceiver module configured to receive second beam parameter information from the second access network device, wherein the second beam parameter information is used to determine the first beam parameter information.

[0108] Optionally, the processing module is configured to determine the first beam parameter information according to the second beam parameter information.

[0109] Optionally, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource location of a first perception signal carried on the first beam. The first perception signal is a perception signal used by the first access network device when performing a perception operation.

[0110] Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource location of a second perception signal carried on the second beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation.

[0111] Furthermore, within the same time period, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value.

[0112] In one possible design scheme, the transceiver module is also used to receive first beam parameter information from the core network device.

[0113] Optionally, before receiving the first beam parameter information from the core network device, the transceiver module is further configured to send third beam parameter information to the core network device, wherein the first beam parameter information is determined by the core network device based on the third beam parameter information and beam parameter information of other access network devices.

[0114] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the tenth aspect, and the receiving module is used to implement the receiving function of the communication device described in the tenth aspect.

[0115] Optionally, the communication device described in the tenth aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device can execute the communication method described in the fourth aspect.

[0116] It should be noted that the communication device described in the tenth aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0117] In addition, the technical effects of the communication device described in the tenth aspect can refer to the technical effects of the communication method described in the fourth aspect, and will not be repeated here.

[0118] In an eleventh aspect, a communication device is provided. The device includes: a module for executing the method described in the fifth aspect, for example, a transceiver module and a processing module.

[0119] The processing module is configured to obtain the second beam parameter information, and the transceiver module is configured to send the second beam parameter information. The second beam parameter information is used by the second access network device to perform a sensing operation.

[0120] In one possible design scheme, the transceiver module is also used to send second beam parameter information to the first access network device.

[0121] Optionally, the processing module is further configured to perform a sensing operation based on the second beam parameter information.

[0122] Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource location of a second perception signal carried on the second beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation.

[0123] In one possible design scheme, the transceiver module is also used to send second beam parameter information to the core network device.

[0124] Optionally, the transceiver module is further configured to receive fourth beam parameter information from the core network device. The processing module is further configured to perform a sensing operation based on the fourth beam parameter information. The fourth beam parameter information is determined by the core network device based on the second beam parameter information and beam parameter information of other access network devices, and the sensing areas of the second access network device and the other access network devices that require sensing operations overlap.

[0125] Optionally, within the same time period, interference between the beam indicated by the fourth beam parameter information and the beam indicated by beam parameter information of other access network devices is less than a preset value.

[0126] Furthermore, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource location of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation.

[0127] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the eleventh aspect, and the receiving module is used to implement the receiving function of the communication device described in the eleventh aspect.

[0128] Optionally, the communication device described in the eleventh aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device may execute the communication method described in the fifth aspect.

[0129] It should be noted that the communication device described in the eleventh aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0130] In addition, the technical effects of the communication device described in the eleventh aspect can refer to the technical effects of the communication method described in the fifth aspect, and will not be repeated here.

[0131] In a twelfth aspect, a communication device is provided. The device includes: a module for executing the method described in the sixth aspect, for example, a transceiver module and a processing module.

[0132] The transceiver module is configured to receive beam parameter information from other access network devices. The processing module is configured to obtain first beam parameter information and fourth beam parameter information based on the second beam parameter information and the third beam parameter information. The transceiver module is further configured to send the first beam parameter information to the first access network device. The transceiver module is further configured to send the fourth beam parameter information to the second access network device. The beam parameter information of the other access network devices includes the second beam parameter information and the third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device.

[0133] In a possible design, within the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

[0134] In one possible design, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource location of a first perception signal carried on the first beam. The first perception signal is a perception signal used by the first access network device when performing a perception operation.

[0135] In one possible design, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource location of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation.

[0136] Optionally, within the same time period, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

[0137] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in aspect 12, and the receiving module is used to implement the receiving function of the communication device described in aspect 12.

[0138] Optionally, the communication device described in the twelfth aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device can execute the communication method described in the sixth aspect.

[0139] It should be noted that the communication device described in the twelfth aspect can be a core network device, or a chip (system) or other parts or components that can be set in the core network device, or a device that includes a core network device. This application does not limit this.

[0140] In addition, the technical effects of the communication device described in the twelfth aspect can refer to the technical effects of the communication method described in the sixth aspect, and will not be repeated here.

[0141] In a thirteenth aspect, a communication device is provided, comprising: a processor configured to execute the method described in any one of the implementations of the first to sixth aspects.

[0142] In one possible design solution, the communication device described in aspect 13 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 13 to communicate with other communication devices.

[0143] In one possible design, the communication device described in aspect 13 may further include a memory. The memory may be integrated with the processor or provided separately. The memory may be used to store the computer program and / or data involved in the method described in any one of the implementations of aspects 1 to 6.

[0144] In the present application, the communication device described in the thirteenth aspect can be the access network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device can be the core network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0145] In addition, the technical effects of the communication device described in the thirteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0146] In a fourteenth aspect, a communication device is provided, comprising: a processor coupled to a memory, the processor configured to execute a computer program stored in the memory, so that the communication device performs the method described in any one of the implementations of the first to sixth aspects.

[0147] In one possible design solution, the communication device described in aspect 14 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 14 to communicate with other communication devices.

[0148] In the present application, the communication device described in the fourteenth aspect can be the access network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device can be the core network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0149] In addition, the technical effects of the communication device described in the fourteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0150] In the fifteenth aspect, a communication device is provided, comprising: a processor; when the processor executes computer instructions, the communication device executes the method described in any one of the implementation methods of the first to sixth aspects.

[0151] In one possible design solution, the communication device described in aspect 15 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 15 to communicate with other communication devices.

[0152] In the present application, the communication device described in the fifteenth aspect may be the access network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device may be the core network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0153] In addition, the technical effects of the communication device described in the fifteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0154] In the sixteenth aspect, a communication device is provided, comprising: a processor; the processor is used to couple with a memory, and after reading a computer program in the memory, execute the method described in any one of the implementation methods of the first to sixth aspects according to the computer program.

[0155] In one possible design solution, the communication device described in aspect 16 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 16 to communicate with other communication devices.

[0156] In the present application, the communication device described in the sixteenth aspect can be the access network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device can be the core network device in the above-mentioned first to sixth aspects or any implementation thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0157] In addition, the technical effects of the communication device described in the sixteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first aspect to the sixth aspect, and will not be repeated here.

[0158] In a seventeenth aspect, a communication system is provided, which includes the access network device described in the above aspect and the core network device described in the above aspect.

[0159] In the eighteenth aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are run on a computer, the computer executes the method described in any one of the implementation methods of the first to sixth aspects.

[0160] In the nineteenth aspect, a computer program product is provided, comprising a computer program or instructions, which, when executed on a computer, causes the computer to execute the method described in any one of the implementations of the first to sixth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0161] Figure 1 is a schematic diagram of the 5G communication system architecture;

[0162] Figure 2 is a schematic diagram of the range-velocity spectrum for target detection;

[0163] FIG3 is a schematic diagram of gNB1 and gNB2 performing sensing operations;

[0164] FIG4 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0165] FIG5 is a flow chart of a communication method according to an embodiment of the present application;

[0166] FIG6 is a second flow chart of a communication method provided in an embodiment of the present application;

[0167] FIG7 is a third flow chart of a communication method provided in an embodiment of the present application;

[0168] FIG8 is a fourth flow chart of a communication method provided in an embodiment of the present application;

[0169] FIG9 is a fifth flow chart of a communication method provided in an embodiment of the present application;

[0170] FIG10 is a sixth flow chart of a communication method provided in an embodiment of the present application;

[0171] FIG11 is a flow chart of a communication method according to an embodiment of the present application;

[0172] FIG12 is a flow chart of a communication method according to an embodiment of the present application;

[0173] FIG13 is a first structural diagram of a communication device provided in an embodiment of the present application;

[0174] FIG14 is a second structural diagram of the communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0175] For ease of understanding, the technical terms involved in the embodiments of this application are first introduced below.

[0176] 1. Fifth generation (5G) mobile communication system

[0177] Figure 1 is a schematic diagram of the 5G communication system architecture. As shown in Figure 1, the 5G network may include terminal equipment, an access network (radio access network, RAN) and a core network (core network, CN).

[0178] The terminal device may be a terminal device with transceiver functions, or may be a chip or chip system provided in the terminal device. The terminal device may also be referred to as user equipment (UE), access terminal device, subscriber unit (subscriber unit), user station, mobile station (MS), mobile station, remote station, remote terminal device, mobile device, user terminal device, terminal device, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a tablet computer, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handheld device (handset), a laptop computer, a machine type communication (MTC) terminal device, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a smart home device (for example, a refrigerator, a television, an air conditioner, an electric meter, etc.), an intelligent robot, a robotic arm, a workshop device, a wireless terminal device in unmanned driving, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical care, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a smart home, etc. The terminal device of the present application may also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit that is built into a vehicle as one or more components or units. The terminal device may also be other devices with terminal device functions, for example, the terminal device may also be a device that functions as a terminal device in D2D communication.

[0179] The embodiments of this application do not limit the form of the terminal device. The device used to implement the functions of the terminal device can be the terminal device; it can also be a device that supports the terminal device to implement the functions, such as a chip system. The device can be installed in the terminal device or used in conjunction with the terminal device. In the embodiments of this application, the chip system can be composed of a chip or include a chip and other discrete devices.

[0180] The AN implements access-related functions, providing network access for authorized users in a specific area and determining transmission links of varying quality for user data based on user level and service requirements. The AN forwards control signals and user data between terminals and the CN. The AN may include access network equipment, also known as radio access network (RAN) equipment.

[0181] A RAN device may be a device with wireless transceiver functions, or may be a chip or chip system provided on the device, located in the access network (AN) of a communication system, and used to provide access services to terminals. For example, an access network device may be referred to as a radio access network device (RAN), and may specifically be an access network device of a next-generation mobile communication system, such as a 6G base station. Alternatively, in a next-generation mobile communication system, network devices may also have other naming methods, all of which are covered within the scope of protection of the embodiments of this application, and this application does not impose any limitations thereon. Alternatively, the network device may include 5G, such as a gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in 5G, or a network node constituting a gNB, a transmission and reception point (TRP or TP), or a transmission measurement function (TMF), such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), an RSU with base station functions, a wired access gateway, or a 5G core network element. Alternatively, the network device may include an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, various types of macro base stations, micro base stations (also known as small cells), relay stations, access points, wearable devices, vehicle-mounted devices, and the like.

[0182] CN is mainly responsible for maintaining the subscription data of the mobile network and providing functions such as session management, mobility management, policy management and security authentication for terminals. CN mainly includes the following network functions: user plane function (UPF), authentication server function (AUSF), access and mobility management function (AMF), session management function (SMF), network slice selection function (NSSF), network exposure function (NEF), network function repository function (NRF), policy control function (PCF), unified data management (UDM), application function (AF), as well as network slice-specific and SNPN authentication and authorization function (NSSAAF), location management function (LMF), network data analytics function (NWDAF), short message service function (SMSF), and security anchor functionality (SEAF).

[0183] Among them, UPF is mainly responsible for user data processing (forwarding, receiving, billing, etc.). For example, UPF can receive user data from the data network (DN) and forward the user data to the terminal through the access network equipment. UPF can also receive user data from the terminal through the access network equipment and forward the user data to the DN. DN refers to the operator network that provides data transmission services to users. For example, the Internet Protocol (IP) Multimedia Service (IMS), the Internet, etc. DN can be an operator's external network or a network controlled by the operator, used to provide business services to terminal devices.

[0184] AUSF can be used to perform security authentication for terminal access to the network.

[0185] The AMF is mainly responsible for access and mobility management in mobile networks, such as user location updates, user network registration, and user handover.

[0186] The SMF is primarily responsible for session management in mobile networks, such as session establishment, modification, and release. Specific functions include allocating Internet Protocol (IP) addresses to users and selecting the UPF that provides packet forwarding capabilities.

[0187] PCF primarily supports providing a unified policy framework to control network behavior, providing policy rules to the control layer network functions, and is responsible for obtaining user subscription information related to policy decisions. PCF can provide policies to AMF and SMF, such as quality of service (QoS) policies and slice selection policies.

[0188] NSSF can be used to select network slices for terminals.

[0189] NEF can be used to support the exposure of capabilities and events.

[0190] UDM can be used to manage user data, such as subscription data, authentication / authorization data, etc.

[0191] AF mainly supports interaction with CN to provide services, such as influencing data routing decisions, policy control functions, or providing some third-party services to the network side.

[0192] NSSAAF can be used to support slice authentication and authorization, as well as support access to independent non-public networks using the credentials of the credential holder. NSSAAF can interact with the authentication, authorization, and accounting server (AAA-S) through the authentication, authorization, and accounting proxy (AAA-P).

[0193] LMF can be used to manage the location information of terminals and provide location services for terminals.

[0194] NWDAF can be used to collect data within the network and perform analysis and prediction, providing data analysis services for other network functions.

[0195] SMSF can be used to manage the short message subscription data of the terminal, forward short messages to the terminal, and charge for the short message service.

[0196] SEAF can be used to derive non-access stratum (NAS) and access stratum (AS) keys based on the keys passed by AUSF to protect data in the communication process. It initiates the authentication process and calls the AUSF authentication service.

[0197] It is understandable that there may be other network elements in the 5G network. For example, the 5G network may also include an authentication service function (AUSF) network element, a sensing function (SF) network element, etc., and there is no specific limitation on this.

[0198] 2. Perception

[0199] Perception can refer to the communication entity in a wireless network determining information about the surrounding environment by sending and receiving signals that have passed through objects. The information about the surrounding environment may include information about one or more objects in the environment. The information about the object may include the position, speed, size, or shape of the object. These objects can change the transmission characteristics of the signal, for example, they can change the transmission direction of the signal, change the transmission gain of the signal, change the transmission delay of the signal, or change the frequency of the signal. Therefore, the communication entity can achieve perception by obtaining changes in the signal transmission characteristics. For example, the channel response information obtained through channel estimation can feedback the changes in the signal after passing through different transmission environments (or channels). Then, when the signal passes through the above-mentioned object, the channel response information can feedback the changes in the signal transmission characteristics caused by the object.

[0200] Exemplarily, the channel response information may include a channel impulse response (CIR), a channel frequency response (CFR), or channel state information (CSI), etc., which is not specifically limited in the embodiments of the present application.

[0201] It should be understood that the "signal after being affected by an object" mentioned above may include: the signal after being reflected by the object; the signal after being refracted by the object; the signal after being scattered by the object; the signal after being diffracted by the object; or the signal after being transmitted through the object, etc. The embodiments of the present application do not make specific limitations on this.

[0202] It is understood that the aforementioned objects can be moving or stationary, and can be active or passive. Active objects can refer to objects with data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, and radio frequency identification (RFID) devices. Passive objects can refer to objects without data processing capabilities, such as humans, animals, plants, vehicles, and buildings.

[0203] It should be understood that an "object" may also be referred to as a "scatterer," "reflector," "refractor," "blocker," or "obstacle." In other words, in the embodiments of the present application, "object," "scatterer," "reflector," "refractor," "blocker," and "obstacle" may be used interchangeably and are described herein for the purposes of this disclosure. Detailed descriptions are omitted.

[0204] It should also be understood that the above-mentioned "communication entity" may also be referred to as a "network entity," "communication device," "communication equipment," "communication node," or "site." In other words, in the embodiments of the present application, "communication entity," "network entity," "communication device," "communication equipment," "communication node," and "site" may be used interchangeably and will not be further described below.

[0205] 3. Harmonized communication and sensing (HCS)

[0206] The vision for the fifth generation-advanced (5.5G) is to enhance and expand 5G scenarios. First, the 5.5G vision continues to strengthen the three standard scenarios defined by the International Telecommunication Union (ITU): enhanced mobile broadband (eMBB), massive machine type communication (mMTC), and ultra reliable low latency communication (URLLC). 5.5G also adds three new scenarios: uplink-centric broadband communication (UCBC), real-time broadband communication (RTBC), and high-speed connectivity (HCS), transforming the "triangle" of 5G scenarios into a richer "hexagon." HCS is a key technology in next-generation wireless communication systems. It aims to integrate wireless communication and perception functions into a single system, leveraging the diverse propagation characteristics of wireless signals to enable perception functions such as target positioning, detection, imaging, and recognition. This provides information about the surrounding physical environment, improving communication performance, and enhancing the user experience. In the integrated communication and perception technology, network equipment can perceive by sending perception signals and receiving echo signals to obtain information such as the location and speed of targets in the environment.

[0207] A perception signal can refer to a signal used to perceive or detect a target, or a signal used to perceive or detect environmental information. For example, a perception signal can be an electromagnetic wave transmitted by a network device to perceive environmental information. A perception signal can also be referred to as a radar signal, radar perception signal, detection signal, radar detection signal, or environmental perception signal, without limitation.

[0208] The echo signal is the signal generated by the perception signal being reflected by the target in the environment. The time delay of the echo signal relative to the transmitted perception signal reflects the distance of the target; the Doppler frequency shift of the echo signal relative to the transmitted perception signal reflects the speed of the target.

[0209] Targets (or perceived targets) can include various tangible objects on the ground that can be sensed, such as mountains, forests, or buildings. They can also include movable objects such as vehicles, drones, pedestrians, and terminal devices. A target is a target that can be sensed by a network device with sensing capabilities and can feed electromagnetic waves back to the network device. Targets can also be referred to as detected targets, perceived objects, detected objects, or perceived devices, without limitation.

[0210] HCS can help advance autonomous driving. It primarily enables connected vehicles (IoVs) and drones, with autonomous driving being a key requirement. By applying cellular network massive multiple input multiple output (MIMIO) beam scanning technology to the perception domain, HCS can provide both communication and perception in these scenarios. Extending this to indoor scenarios also allows for positioning services. Here are some examples of HCS application scenarios:

[0211] (1) Autonomous driving

[0212] Scenario 1 (Smart Transportation and Drones):

[0213] Since vehicles or drones have a short perception range or cannot perceive non-line of sight (NLOS), wireless communication systems can generate large-scale dynamic map information based on perception.

[0214] Scenario 2 (Smart Transportation and Drones):

[0215] When a vehicle or drone is driving, if a person or object suddenly appears, such as a ghosting dangerous event, the wireless communication system can identify the dangerous event based on perception and notify the UE to perform emergency operations.

[0216] Scenario 3 (Smart Transportation and Drones):

[0217] For vehicle or drone autonomous driving assistance, the wireless communication system can generate customized high-precision dynamic maps based on perception to assist UE in autonomous driving.

[0218] (2) Safety supervision

[0219] Scenario 1 (Smart Transportation and Drones):

[0220] In the event of illegal driving, such as a vehicle occupying the emergency lane or a drone driving off its route, the wireless communication system can identify the vehicle violation based on perception and issue real-time warnings / post-event penalties.

[0221] Scenario 2 (Smart Transportation, National Railway Perimeter, Drones):

[0222] If a foreign object (human, animal, falling rock, etc.) intrudes onto a highway or railway track, or a drone intrudes into a no-fly zone (e.g., an airport), the wireless communication system can identify the foreign object based on perception, or perform real-time emergency processing.

[0223] (3) Family Health

[0224] Scenario 1: Detecting abnormal postures such as people falling. The wireless communication system can identify abnormal postures based on perception and issue an alarm.

[0225] Scenario 2: For health checks such as human breathing and heartbeat, the wireless communication system can identify abnormal indicators based on perception and issue alarms.

[0226] (4) Meteorological monitoring: Wireless communication systems can sense, detect, or predict changes in the environment, climate, and weather.

[0227] 4. Perception Mode

[0228] In the current 3rd Generation Partnership Project (3GPP) discussions, it has been determined that the sensing modes can be divided into the following six modes:

[0229] (1) Base station self-transmission and self-reception: The sensing signal is sent by the base station, reflected by the target in the environment, and then the echo signal is received by the base station.

[0230] (2) Base station A transmits and base station B receives: The sensing signal is sent by base station A, reflected by the target in the environment, and then the echo signal is received by base station B.

[0231] (3) Base station sends and terminal receives: The sensing signal is sent by the base station, reflected by the target in the environment, and then the echo signal is received by the terminal.

[0232] (4) Terminal sends and base station receives: The sensing signal is sent by the terminal, reflected by the target in the environment, and then the echo signal is received by the base station.

[0233] (5) Terminal self-transmission and self-reception: The sensing signal is sent by the terminal, reflected by the target in the environment, and then the echo signal is received by the terminal.

[0234] (6) Terminal A transmits and terminal B receives: The sensing signal is sent by terminal A, reflected by the target in the environment, and then the echo signal is received by terminal B.

[0235] 5. Object Detection

[0236] In the base station's self-transmitting and self-receiving mode, since the base station knows the transmitted sensing signal (sensing signal) it is using, it can directly correlate the transmitted sensing signal with the reflected sensing signal (echo signal) for target detection. Furthermore, since the base station's self-transmitting and self-receiving mode sends the sensing signal in a single direction, it can receive the strongest echo signal in that direction, making target detection easier.

[0237] The base station's echo signal processing process is similar to radar signal processing. During the signal conditioning phase, after receiving the echo signal, the receiving radar performs range spectrum estimation, velocity spectrum estimation, and angle spectrum estimation. After obtaining these spectrum estimation results, a range-velocity spectrum (RV-spectrum) or range-Doppler velocity spectrum is plotted, which is then used by the radar for target detection.

[0238] Target detection involves comparing the strength of an echo signal with a threshold to determine the presence of a target. For example, if the echo signal's strength exceeds the threshold, it indicates a target; if the echo signal's strength is less than the threshold, it is considered noise. Therefore, the core of target detection lies in finding an appropriate threshold. Generally speaking, the threshold is a function of the probability of detection and the probability of false alarm. In many phased array systems, due to the cost associated with false alarms, it is desirable to find a detection threshold that maximizes the probability of detection while keeping the false alarm probability below a preset level.

[0239] Figure 2 is a schematic diagram of the range-velocity spectrum for target detection. As shown in Figure 2, in order for the base station to detect the perceived target, two conditions must be met:

[0240] (1) The intensity of the echo signal is greater than the basic background noise.

[0241] The background noise may include the average value of the echo signal strength in the surrounding adjacent areas and noise interference.

[0242] For example, Figure 3 is a schematic diagram of gNB1 and gNB2 performing perception operations. As shown in Figure 3, gNB1 and gNB2 are responsible for the perception tasks of the same area, and the perception signals used by gNB1 and gNB2 are composed of different beams. It can be understood that since the energy on the beam is more concentrated and has better directionality, gNB1 and gNB2 can perform perception tasks more accurately.

[0243] If gNB1 and gNB2 are simultaneously performing self-transmission and self-reception, gNB1's transmit beam and gNB2's transmit beam may illuminate the same sensing space. In this case, gNB2's transmit beam may reflect off a target and be received by gNB1, interfering with gNB1's echo signal reception. This interference, known as background noise, affects gNB1's target detection accuracy. Similarly, gNB1's transmit beam may reflect off a target and be received by gNB2, interfering with gNB2's echo signal reception. This interference also affects gNB2's target detection accuracy.

[0244] It can be understood that the echo signal strength of the detected target needs to be greater than the basic background noise so that the basic target outline can be displayed in the above Figure 2.

[0245] (2) The target appears as a local peak on the range-velocity spectrum.

[0246] After receiving the echo signal, the radar needs to correlate the sensing signal with the echo signal, resulting in an autocorrelation peak. It is understood that after the base station performs the above target detection operation, the detected data obtained can be called point cloud data. The base station can report this point cloud data to the core network equipment for further processing.

[0247] 6. Beam

[0248] A beam is a communication resource that creates a unique, directional transmission or reception effect through an antenna array in a transmitter or receiver of a network device or terminal. This effect is similar to the beam formed by a flashlight that focuses light in a single direction. Transmitting and receiving signals using beams can effectively increase signal transmission distance.

[0249] Beams can be divided into transmit beams and receive beams. The technology for forming beams can be beamforming technology or other technical means. Beamforming includes transmit beamforming and receive beamforming. The beamforming technology can be digital beamforming technology, analog beamforming technology, or hybrid digital / analog beamforming technology.

[0250] Transmit beam: The transmitting end device transmits a signal with a certain beamforming weight, forming a spatially directional beam. In the uplink direction, the transmitting end device can be a terminal device; in the downlink direction, the transmitting end device can be a network device.

[0251] Receive beam: The receiving device receives signals using certain beamforming weights, forming a spatially directional beam. In the uplink direction, the receiving device can be a network device; in the downlink direction, the receiving device can be a terminal device.

[0252] Transmit beamforming: When a transmitting device with an antenna array transmits a signal, it sets a specific amplitude and phase on each antenna element in the array. This gives the transmitted signal a certain spatial directionality, meaning that the signal power is high in some directions and low in others. The direction with the highest signal power defines the direction of the transmit beam. The antenna array consists of multiple antenna elements, and the specific amplitude and phase values ​​assigned to them are the beamforming weights.

[0253] Receive beamforming: When a receiving device with an antenna array receives a signal, it sets a specific amplitude and phase on each antenna element in the array. This ensures that the power gain of the received signal is directional. Specifically, the power gain is high when receiving signals from certain directions, and low when receiving signals from other directions. The direction with the highest power gain is the direction of the receive beam. The antenna array consists of multiple antenna elements, and the specific amplitude and phase values ​​assigned to them are the beamforming weights.

[0254] Sending a signal using a certain transmit beam: Sending a signal using a certain beamforming weight. Receiving a signal using a receive beam: Receive a signal using a certain beamforming weight.

[0255] The beam can be a wide beam, a narrow beam, or other types of beams.

[0256] Beams generally correspond to resources. For example, when performing beam measurement, the network device measures different beams through different resources, and the terminal device feeds back the measured resource quality, so that the network device can know the quality of the corresponding beam. During data transmission, the beam can also be indicated by its corresponding resource. For example, the network device indicates a transmission configuration indication-state through the transmission configuration index (TCI) field in the downlink control information (DCI), and the terminal device determines the beam corresponding to the reference resource based on the reference resource contained in the TCI-state. Different beams can be considered as different resources, and the same information or different information can be sent using (or through) different beams.

[0257] A beam pair is based on the concept of a beam. A beam pair typically consists of a transmit beam from a transmitting device and a receive beam from a receiving device. Unless otherwise specified, the transmit beam in the following text refers to the transmit beam of the network device, and the receive beam refers to the receive beam of the terminal.

[0258] In a communication system, such as a 5G new radio (NR) system, both network equipment and terminal devices can generate one or more transmit beams and one or more receive beams. Network equipment and terminal devices need to perform beam alignment before transmitting data. In the communication protocol, a beam can be specifically characterized as a digital beam, an analog beam, a spatial domain filter, a spatial filter, a spatial parameter, TCI, a TCI-state, etc. The beam used to send a signal can be called a transmission beam (or Tx beam), a spatial domain transmission filter, a spatial transmission filter, a spatial domain transmission parameter, a spatial transmission parameter, etc. The beam used to receive signals can be called a reception beam (or Rx beam), a spatial domain reception filter, a spatial reception filter, a spatial domain reception parameter, a spatial reception parameter, etc. It can be understood that the embodiments of the present application uniformly use beams for description, but beams can be replaced by other equivalent concepts and are not limited to the concepts mentioned above.

[0259] 7. Resources

[0260] In communication protocols, reference signals are configured as resources. Network equipment allocates each reference signal to a terminal device as a resource. A resource is a configuration information unit that typically includes parameters related to a reference signal, such as the reference signal's time-frequency resource location, number of ports, and time domain type (periodic, semi-static, or aperiodic).

[0261] The resources may be either uplink signal resources or downlink signal resources. Uplink signals include, but are not limited to, sounding reference signals (SRS) and demodulation reference signals (DMRS). Downlink signals include, but are not limited to, channel state information reference signals (CSI-RS), cell specific reference signals (CS-RS), user equipment specific reference signals (US-RS), demodulation reference signals (DMRS), and synchronization system / physical broadcast channel blocks (SS / PBCH blocks). SS / PBCH blocks may be referred to as synchronization signal blocks (SSBs).

[0262] Resources can be configured through radio resource control (RRC) messages. In terms of configuration structure, a resource is a data structure that includes relevant parameters of its corresponding uplink / downlink signal. For example, the type of uplink / downlink signal, the resource element that carries the uplink / downlink signal, the transmission time and period of the uplink / downlink signal, the number of ports used to send the uplink / downlink signal, etc. Each uplink / downlink signal resource has a unique identifier to identify the resource of the downlink signal. It is understandable that the resource identifier can also be called the resource identifier, and the embodiments of the present application do not impose any restrictions on this.

[0263] Access network devices can perform perception measurements through a self-transmitting and self-receiving perception mode. For example, access network device A can send a perception signal and receive an echo signal of the perception signal for target detection. The echo signal is the signal after the perception signal is reflected by a target in the environment. Target detection is to compare the signal strength of the echo signal with a threshold to determine whether the target exists.

[0264] However, this process may result in severe path loss, which may cause the signal strength of the echo signal to be less than the background noise intensity, resulting in the inability to detect the target through threshold comparison, resulting in low accuracy and precision of target detection.

[0265] In summary, in response to the above technical problems, the embodiments of the present application propose the following technical solutions to improve the accuracy and precision of target detection.

[0266] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0267] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as wireless fidelity (WiFi) systems, vehicle to everything (V2X) communication systems, device-to-device (D2D) communication systems, 4G, such as long-term evolution (LTE) systems, world-wide interoperability for microwave access (WiMAX) communication systems, 5G, such as new radio (NR) systems, and future communication systems.

[0268] This application will present various aspects, embodiments, or features in the context of systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. Furthermore, combinations of these aspects may also be used.

[0269] Additionally, in the embodiments of this application, words such as "exemplary" and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner.

[0270] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are matched. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are matched. In addition, the " / " mentioned in the present application can be used to represent an "or" relationship. It can be understood that in the present application, "indication" can include direct indication, indirect indication, explicit indication and implicit indication. When describing a certain indication information as being used to indicate A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A.

[0271] In this application, the information indicated by the indication information is referred to as the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated, etc., or the information to be indicated can be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each information agreed in advance (such as specified in the protocol), thereby reducing the indication overhead to a certain extent.

[0272] The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. The transmission period and / or transmission timing of these sub-information can be the same or different. The specific transmission method is not limited in this application. The transmission period and / or transmission timing of these sub-information can be predefined, for example, according to a protocol, or can be configured by the transmitting device through sending configuration information to the receiving device.

[0273] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field will know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0274] To facilitate understanding of the embodiments of the present application, a communication system applicable to the embodiments of the present application is first described in detail using the communication system shown in Figure 4 as an example. For example, Figure 4 is a schematic diagram of the architecture of a communication system applicable to the communication method provided in the embodiments of the present application.

[0275] As shown in FIG4 , the communication system mainly includes: access network equipment and core network equipment.

[0276] There may be multiple access network devices, such as a first access network device, a second access network device, etc.

[0277] In the embodiments of this application, the form of the access network device is not limited. The device used to implement the functions of the access network device can be the access network device; it can also be a device that supports the access network device to implement the functions, such as a chip system. The device can be installed in the access network device or used in conjunction with the access network device. The detailed description of the access network device can be referred to the relevant description in Figure 1 above and will not be repeated here.

[0278] The specific introduction of the core network device can refer to the relevant introduction in Figure 1 above and will not be repeated here. In an embodiment of the present application, the core network device may include an SF, which is mainly involved in receiving a perception service request and obtaining corresponding perception requirements, selecting and requesting relevant perception devices to perform perception operations and receive corresponding perception measurement data, and opening the perception measurement data or the perception results obtained based on the perception measurement data to the perception requester.

[0279] The SF may be a control plane separated from a user plane, that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separated, wherein the SF-C can send control signaling, such as a perception control request, to the perception device via the control plane, and the SF-U can receive perception measurement data from the perception device via the data plane and optionally process the perception measurement data to obtain a perception result. The SF-C can control the SF-U, for example, the SF-C can select an appropriate SF-U and configure one or more identification rules, processing rules, or routing rules for the perception measurement data to the SF-U. The SF may be a location management function (LMF), or the SF may be part of the LMF; or the SF and LMF may be co-located, without limitation.

[0280] The core network device may also include other network elements, which are not limited. For ease of understanding, the present application embodiment is introduced by taking the core network device including SF as an example, and no further details will be given later.

[0281] In this communication system, the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so that the first access network device can fuse the perception measurement data of multiple access network devices, thereby avoiding the situation where some access network devices fail to detect the target when performing the perception operation, resulting in low accuracy of the perception measurement data, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0282] It can be understood that FIG4 is a simplified schematic diagram for ease of understanding, and the communication system may also include other access network devices and / or other core network devices, which are not shown in FIG4 .

[0283] For ease of understanding, the communication method provided in the embodiment of the present application will be specifically described below with reference to Figures 5 to 12.

[0284] 5 is a flow chart of a communication method according to an embodiment of the present application. The method can be applied to the above communication system and involves interaction between a first access network device, a second access network device, and a core network device.

[0285] Specifically, as shown in FIG5 , the process of the communication method is as follows:

[0286] S501: A core network device sends a fourth message to a first access network device. Correspondingly, the first access network device receives the fourth message from the core network device.

[0287] The fourth message may include a perception parameter, and the perception parameter may include at least one of the following: a perception area, or a perception feature of a perceived target.

[0288] The sensing area may indicate the geographic location or area where the sensing device needs to perform the sensing operation, and may be represented by absolute or relative coordinates, such as a latitude and longitude range. It is understood that the sensing area may also be referred to as the sensing area feature, without limitation.

[0289] The perception feature may indicate the type of feature that needs to be perceived by the perception device, and the perception feature may include at least one of the following: position information of the perceived target, angle information of the perceived target, speed information of the perceived target, or height information of the perceived target. The perception device may include a first access network device and a second access perception device. That is, the first access network device and the second access network device need to perform perception measurements on the position information, angle information, speed information, height information, etc. of the perceived target. It can be understood that the perception feature may also include parameter information of other perceived targets, without limitation. The perceived target, perception target, and target in the embodiments of the present application can be interchangeable without limitation.

[0290] In one possible design, the sensing parameter may further include a sensing time period. The sensing time period may indicate a specific time period during which the sensing device needs to perform sensing. That is, the first access network device and the second access network device need to perform sensing operations or sensing measurements within the sensing time period. It is understood that the sensing time period may also be referred to as a sensing time interval, a sensing time, a sensing moment, etc., without limitation.

[0291] The fourth message may also include an identifier of at least one access network device, and the at least one access network device may include a second access network device. The at least one access network device may be an access network device predetermined by the core network device to participate in the current perception task, or an access network device predetermined by the core network device to participate in the perception measurement data fusion. The process of the core network device predetermining the access network device to participate in the current perception task can refer to the introduction of the following relevant steps and will not be repeated here. It can be understood that the at least one access network device may also include other access network devices, such as a third access network device, a fourth access network device, etc., without limitation.

[0292] Optionally, the fourth message may also include a perception session identifier (identity, ID), the perception session ID corresponds one-to-one to the perception parameters, and the first perception measurement data and the second perception measurement data are determined based on the perception parameters (for specific introductions, please refer to the relevant introductions in the following steps S503 and S505). Therefore, the perception session ID corresponds one-to-one to the first perception measurement data, and the perception session ID corresponds one-to-one to the second perception measurement data. That is, the perception session ID can be used to indicate that the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session, so that subsequent core network devices can identify which perception measurement results the received correspond to.

[0293] It is understood that when the core network device receives a perception service request, the core network device may send a fourth message to the first access network device based on the perception task requirements in the perception service request. A perception task may include one or more perception sessions, without limitation. It is understood that the perception service received by the core network device is determined by the application layer. That is, when an application needs to obtain perception data or perception measurement results, the application layer notifies the core network device, that is, sends a perception service request to the core network to request the core network device to provide the perception data or perception measurement results of the relevant perception service.

[0294] It should be noted that the naming of the above-mentioned fourth message is only an example. The fourth message can also be called a request message, a perception information request message, message #4, etc., without limitation.

[0295] S502: The first access network device sends a first message to the second access network device. Correspondingly, the second access network device receives the first message from the first access network device.

[0296] After receiving the fourth message, the first access network device may send the first message to the second access network device based on the access network device identifier carried in the fourth message, such as the identifier of the second access network device.

[0297] The first message may include a perception parameter. It is understood that the perception parameter in the first message is the same as the perception parameter in the fourth message. For a detailed description, please refer to the description in step S501 above and will not be repeated here. Optionally, the first message may also include a perception session ID, which is the same as the perception session ID carried in the fourth message and will not be repeated here.

[0298] It is understood that the first access network device can send the first message to the corresponding access network device based on the identifier of the other access network device carried in the fourth message. The specific implementation is similar to step S502, which can be understood by reference and will not be repeated here. It should be noted that the naming of the above-mentioned first message is only an example. The first message can also be called a request message, a collaborative perception information request message, message #1, etc. without limitation.

[0299] S503: The second access network device performs a sensing operation according to the sensing parameter to obtain first sensing measurement data.

[0300] That is, the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameters.

[0301] Exemplarily, the first perception measurement data may be obtained by the second access network device performing a perception operation according to the perception area, the perception feature, and the perception time period, which is specifically introduced in the following two ways.

[0302] Method 1: The second access network device performs a sensing operation according to the first message to obtain first sensing measurement data.

[0303] The first message can include the sensing area, the sensing characteristics of the target, and the sensing time period. This means that the core network device configures the sensing parameters simultaneously with the second access network device performing the sensing operation, thus reducing signaling interactions and latency.

[0304] For example, the first message may include: sensing area #1, sensing feature #1, and sensing time period #1. Sensing area #1 may be area A, sensing feature #1 may include location information of the sensed target, and sensing time period #1 may be [t1, t2]. The second access network device may perform a sensing operation or sensing measurement on the location information of the sensed target in area A within [t1, t2] to obtain sensing measurement data #1a.

[0305] Mode 2: The second access network device performs a sensing operation according to the first message and the second message to obtain the first sensing measurement data, which will be described in detail below.

[0306] Exemplarily, after the first access network device sends the first message to the second access network device, the method may further include:

[0307] The first access network device sends a second message to the second access network device. Correspondingly, the second access network device receives the second message from the first access network device.

[0308] The second message may include: a perception time period, or a perception time period and a perception session identifier, and the second message may be used to trigger the second access network device to perform a perception operation.

[0309] That is, the perception area and the perception characteristics of the perceived target in the first message can be pre-configured parameters. After the second access network device receives the second message, the second access network device can perform perception operations or perception measurements based on the perception area, the perception characteristics of the perceived target and the perception time period. In this way, the second access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message at any required time period. In other words, the configuration of the perception parameters by the core network device and the execution of the perception operation by the second access network device are separated from each other, thereby making the control more flexible.

[0310] It should be noted that the perception session identifier carried in the second message is the same as the perception session identifier carried in the above-mentioned first message, the perception session identifier carried in the first message is the same as the perception session identifier carried in the fourth message, the perception session identifier carried in the second message corresponds one-to-one to the perception time period carried in the second message, and the perception session identifier carried in the first message corresponds one-to-one to the perception area and the perception characteristics of the perceived target in the first message. Therefore, the second access network device can determine the corresponding perception area and the perception characteristics of the perceived target based on the perception session identifier carried in the second message, so as to use the perception area, the perception characteristics of the perceived target and the perception time period to perform perception operations or perception measurements.

[0311] For example, the first message may include: perception area #1, perception feature #1 and perception session #1, and the second message may include perception time period #1 and perception session #1. After the second access network device receives the second message, the second access network device can determine the corresponding perception area #1 and perception feature #1 based on perception session #1, and perform perception operations based on perception area #1, perception feature #1 and perception time period #1, that is, the second access network device performs perception operations or perception measurements on the location information of the perceived target in area A within [t1, t2] to obtain perception measurement data #1a.

[0312] For another example, the first message may include: perception area #1, perception feature #1 and perception session #1, and the second message may include perception time period #2 and perception session #1. Perception time period #2 may be [t3, t4]. After the second access network device receives the second message, the second access network device may determine the corresponding perception area #1 and perception feature #1 based on perception session #1, and perform a perception operation based on the perception area #1, perception feature #1 and perception time period #2. That is, the second access network device performs a perception operation or perception measurement on the position information of the perceived target in area A within [t3, t4] to obtain perception measurement data #1b. It should be noted that the first perception measurement data may be a speed-distance spectrum, a Doppler speed-distance spectrum, an angle spectrum, or point cloud data, etc., without limitation.

[0313] S504: The second access network device sends the first perception measurement data to the first access network device. Correspondingly, the first access network device receives the first perception measurement data from the second access network device.

[0314] Among them, the first perception measurement data can be carried in the first response message. The first response message can be understood as a response message of the second access network device to the first message. The naming of the first response message is only an example. The first response message can also be called a response message, a collaborative perception information response message, etc., without limitation. It should be noted that the second access network device can also send device information of the second access network device to the first access network device. The device information of the second access network device may include: location information of the second access network device (such as latitude and longitude coordinates), altitude information, pitch angle information, or other parameters related to the second access network device, without limitation.

[0315] S505: The first access network device determines third perception measurement data.

[0316] Among them, the third perception measurement data is the perception measurement data obtained after the first access network device fuses the first perception measurement data and the second perception measurement data; or in other words, the first access network device fuses the first perception measurement data and the second perception measurement data to obtain the third perception measurement data.

[0317] The second perception measurement data may be obtained by the first access network device performing a perception operation, or in other words, the second perception measurement data may be obtained by the first access network device performing a perception operation according to a perception parameter, which is specifically introduced in the following two ways.

[0318] Mode 3: The first access network device performs a sensing operation according to the fourth message to obtain second sensing measurement data.

[0319] The fourth message may include the sensing area, sensing characteristics of the target, and sensing time period. This means that the core network device configures the sensing parameters simultaneously with the first access network device performing the sensing operation, thus reducing signaling interaction and latency.

[0320] For example, the fourth message may include: sensing area #1, sensing feature #1, and sensing time period #1. Sensing area #1 may be area A, sensing feature #1 may include location information of the sensed target, and sensing time period #1 may be [t1, t2]. The first access network device may perform a sensing operation or sensing measurement on the location information of the sensed target in area A within [t1, t2] to obtain sensing measurement data #2a.

[0321] It should be understood that method 3 corresponds to the above-mentioned method 1. In this case, the fourth message and the first message both contain the same perception area, perception characteristics of the perceived target and perception time period, or in other words, the first message is determined by the first access network device based on the fourth message. The first access network device can directly perform the perception operation based on the fourth message to obtain the second perception measurement data; the second access network device can directly perform the perception operation based on the first message to obtain the first perception measurement data.

[0322] If both the first message and the fourth message contain a perception session identifier, the first message and the fourth message contain the same perception session identifier, and the first message and the fourth message contain the same perception parameters. In this way, it can be ensured that the first access network device and the second access network device perform perception operations based on the same perception area, perception characteristics and perception time period.

[0323] Mode 4: The first access network device performs a sensing operation according to the third message and the fourth message to obtain the second sensing measurement data, which will be described in detail below.

[0324] Exemplarily, after the core network device sends the fourth message to the first access network device, the method may further include:

[0325] The core network device sends a third message to the first access network device. Correspondingly, the first access network device receives the third message from the core network device.

[0326] The third message may include a perception time period, or a perception time period and a perception session identifier, and the third message is used to trigger the first access network device to perform a perception operation.

[0327] That is, the sensing area and sensing characteristics of the sensed target in the fourth message can be preconfigured parameters. After the first access network device receives the third message, it performs sensing operations or sensing measurements based on the sensing area, sensing characteristics of the sensed target, and sensing time period. In this way, the first access network device can use the preconfigured sensing area and sensing characteristics of the sensed target to trigger sensing operations via the third message at any desired time period. In other words, the core network device's configuration of sensing parameters is separated from the first access network device's execution of sensing operations, thereby enabling more flexible control.

[0328] It should be noted that the second perception measurement data may be a velocity-range spectrum (RV spectrum), a Doppler velocity-range spectrum, or point cloud data, etc., without limitation.

[0329] It should be understood that Mode 4 corresponds to Mode 2 above. In this case, the fourth message and the first message both contain the same perception area and perception characteristics of the perceived target, and the third message and the second message both contain the same perception time period. In other words, the first access network device first sends the first message to the second access network device based on the fourth message. Then, after the first access network device receives the third message, it sends the second message to the second access network device based on the third message. The first access network device performs a perception operation based on the third and fourth messages to obtain second perception measurement data; and the second access network device performs a perception operation based on the first and second messages to obtain first perception measurement data.

[0330] If the first message, the second message, the third message and the fourth message all contain a perception session identifier, then the first message, the second message, the third message and the fourth message contain the same perception session identifier, the first message and the fourth message all contain the same perception area and perception characteristics, and the third message and the second message all contain the same perception time period. In this way, it can be ensured that the first access network device and the second access network device perform perception operations based on the same perception area, perception characteristics and perception time period.

[0331] The first access network device can fuse the first perception measurement data and the second perception measurement data based on the device information of the first access network device and the device information reported by the second access network device. The device information of the first access network device may include the location information, height information, pitch angle information, etc. of the first access network device, without limitation. For example, the first access network device can synthesize the first perception measurement data and the second perception measurement data in the same coordinate system (such as a spherical coordinate system, a three-dimensional coordinate system, a Cartesian coordinate system, etc.) based on the location coordinate information of the first access network device and the second access network device to generate third perception measurement data. It should be noted that the third perception measurement data can be a velocity-range spectrum (RV spectrum), a Doppler velocity-range spectrum, or point cloud data, etc., without limitation.

[0332] For example, the first perception measurement data is RV spectrum #1, and the second perception measurement data is RV spectrum #2. The first access network device can fuse RV spectrum #1 and RV spectrum #2. The specific steps are as follows: (1) The first access network device needs to convert RV spectrum #1 and RV spectrum #2 to the same absolute coordinate system. (2) The first access network device determines the overlapping parts of RV spectrum #1 and RV spectrum #2. If there are targets at the same position in RV spectrum #1 and RV spectrum #2, the target in one of the RV spectra can be selected; for the non-overlapping parts of RV spectrum #1 and RV spectrum #2, the first access network device can migrate the non-overlapping parts of RV spectrum #2 to RV spectrum #1 based on RV spectrum #2, so as to fuse RV spectrum #1 and RV spectrum #2 and obtain the fused RV spectrum #3 (i.e., the third perception measurement data mentioned above).

[0333] It can be understood that the above data fusion process is only an example and is not limited to this embodiment of the present application.

[0334] S506: The first access network device sends the third perception measurement data to the core network device. Correspondingly, the core network device receives the third perception measurement data from the first access network device.

[0335] Among them, the third perception measurement data can be carried in the fourth response message. The fourth response message can be understood as the response message returned by the first access network device to the fourth message. The naming of the fourth response message is only an example. The fourth response message can also be called a response message, a perception information response message, etc., without limitation.

[0336] The core network device can perform subsequent processing based on the received third-party sensory measurement data. For example, if the third-party sensory measurement data is a speed-range spectrum, the core network device needs to use a constant false-alarm rate (CFAR) algorithm for target detection, and then use algorithms such as clustering to characterize features such as the target's shape or distance. For another example, if the third-party sensory measurement data is point cloud data, this indicates that the CFAR detection algorithm has been implemented in the access network device. The core network device only needs to use algorithms such as clustering to characterize features such as the target's shape or distance, without limitation.

[0337] In summary, the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so as to enable the first access network device to fuse the perception measurement data of multiple access network devices, so as to avoid the low accuracy of the perception measurement data due to the failure to detect the target when some access network devices perform the perception operation, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0338] In conjunction with the above embodiments, it can be understood that when a core network device receives a perception service request, it needs to determine the access network devices participating in the current perception and select an appropriate perception mode and method. At this time, the core network device needs to obtain the perception capability of at least one access network device (such as a first access network device and a second access network device). The at least one access network device can be an access network device in the same area or an adjacent area, without limitation. The core network device can obtain the perception capability of the access network device in the following two ways, which are described in detail below.

[0339] Mode a: The first access network device reports the first sensing capability to the core network device. Correspondingly, the core network device receives the first sensing capability from the first access network device.

[0340] The second access network device reports the second sensing capability to the core network device. Correspondingly, the core network device receives the second sensing capability from the second access network device.

[0341] Among them, the first perception capability may include at least one of the following parameters: perception resolution, perception accuracy, perception area, refresh rate, delay, detection rate, missed detection rate, false alarm rate, confidence, or processing capability of the first access network device.

[0342] The perception resolution may include distance resolution, speed resolution, angle resolution, etc., which respectively indicate the ability of the perception result obtained by the perception device when performing perception on the measurement target to distinguish two adjacent targets in terms of distance, speed, and angle, or the requirement for distinguishing two adjacent targets, or the difference required to distinguish two adjacent targets, or respectively indicate the ability of the perception device when performing perception on the measurement target to distinguish two adjacent targets in terms of distance, speed, and angle, or the requirement for distinguishing two adjacent targets, or the difference required to distinguish two adjacent targets.

[0343] Perception accuracy may include perception distance accuracy, speed accuracy, angle accuracy, etc., which are used to indicate the error capability between the perception measurement results obtained by the perception device and the actual results when perceiving the measurement target, or the error requirement, or the degree of closeness. For example, the perception angle measurement accuracy may indicate: the error between the perception measurement value of the measured target in angle and the true value.

[0344] The perception area can be used to indicate the geographical location or area where the perception device needs to perform a perception operation. It can be represented by absolute coordinates or relative coordinates without limitation.

[0345] The refresh rate can indicate the frequency with which the perception measurement data or perception results are updated, or the continuity of the perception measurement data or perception results. The refresh rate can also be called the frame rate. For example, if the perception measurement data is perception point cloud information or point cloud image, the refresh rate can be the refresh rate of the point cloud information. The higher the refresh rate, the better the continuity of the point cloud information or point cloud image. For example, a refresh rate of 30 times / second can be used to indicate that 1 second contains 30 points of point cloud information or 30 frames of point cloud image. For another example, if the perception measurement data is further processed to obtain a perception result, and the perception result is perception image information, a refresh rate of 30 times / second can be used to indicate that 1 second contains 30 frames of image information.

[0346] Latency can be used to indicate the time interval between receiving a perception request from a perception requester and returning the perception result to the requester; or, the time interval between a perception application triggering a perception request and its application perception result; or, the time interval between a perception device performing a perception operation and returning the perception result to the perception requester.

[0347] The detection rate indicates the probability of determining a target when it is actually present. Alternatively, it indicates the ratio of successful detections of actual targets to all detections within a predetermined period. For example, if the probability of determining a target when it is actually present is P1, then the probability of determining an absence when it is actually present is 1-P1. For example, if the perception device determines that there are 95 vehicles on Road A through perception measurements, but there are actually 100 vehicles on Road A, the detection rate is 95%.

[0348] The false alarm rate can be used to indicate the probability of judging a target as present when none actually exists, or the probability of judging a target as absent when none actually exists. In other words, it indicates the ratio of events that do not represent the target to all detection events within a predetermined period. For example, if the probability of judging a target as present when none actually exists is Q1, then the probability of judging a target as absent when none actually exists is 1-Q1.

[0349] The confidence level can be used to indicate the percentage of true perception results among all the perception results obtained by detection under a given perception accuracy.

[0350] The processing capability of the first access network device may be the capability of the first access network device to process data. For example, the data processing capability of the first access network device may be supporting a target detection algorithm, etc., without limitation. The processing capability of the first access network device may also be referred to as the granularity of data reported by the first access network device, without limitation.

[0351] It should be noted that the first perception capability may also include any other possible parameters without limitation.

[0352] The second perception capability may include at least one of the following parameters: perception resolution, perception accuracy, perception area, refresh rate, delay, detection rate, missed detection rate, false alarm rate, confidence level, or processing capability of the second access network device.

[0353] For a detailed description of the perception resolution, perception accuracy, perception area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, and confidence level, please refer to the description of the first perception capability above and will not be repeated here. The processing capability of the second access network device can be the ability of the second access network device to process data. For example, the data processing capability of the second access network device can be supporting target detection algorithms, etc., without limitation. The processing capability of the second access network device can also be referred to as the granularity of the data reported by the second access network device, without limitation.

[0354] It should be noted that the second perception capability may also include any other possible parameters without limitation.

[0355] It can be understood that in mode a, the first access network device and the second access network device periodically report their perception capabilities to the core network device.

[0356] Mode b: The core network device sends a fifth message to the first access network device and the second access network device, wherein the fifth message is used to instruct to report the corresponding sensing capability.

[0357] The first access network device sends the first perception capability to the core network device based on the fifth message.

[0358] The second access network device sends the second perception capability to the core network device based on the fifth message.

[0359] For a detailed introduction to the first perception capability and the second perception capability, please refer to the detailed introduction in method a above, which will not be repeated here.

[0360] It can be understood that in method b, the core network device can request the first access network device and the second access network device to report corresponding perception capabilities through the fifth message.

[0361] The naming of the above-mentioned fifth message is only an example. The fifth message can also be called a perception capability request message, a request message, etc., without limitation.

[0362] Optionally, after the first access network device sends the first perception capability to the core network device, and the second access network device sends the second perception capability to the core network device, the method further includes:

[0363] The core network device determines the access network device to report the perception measurement results (such as the third perception measurement results mentioned above) and the access network device participating in the current perception task (or the access network device participating in the perception measurement data fusion) based on the received perception capabilities.

[0364] For example, the core network device may determine the access network device that reports the sensing measurement results and the access network device that participates in the current sensing task based on whether the sensing capabilities reported by multiple access network devices meet the sensing requirements corresponding to the current sensing task. The sensing requirements corresponding to the current sensing task may include, without limitation, sensing resolution, sensing accuracy, sensing area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, confidence level, or data processing capability.

[0365] For example, the current perception task corresponds to the perception requirement of sensing the location of the traffic light in Square A with a refresh rate of 2 times per second. If the first perception capability's perception area is Area A with a refresh rate of 1 time per second, and Area A includes Square A, the processing capability of the first access network device can support the target detection algorithm; the second perception capability's perception area is Square A with a refresh rate of 2 times per second; the third perception capability's perception area is Area A with a refresh rate of 4 times per second, and the third perception capability is the perception capability reported by the third access network device in the area.

[0366] First, the core network device can determine the access network device participating in the current perception task based on the first perception capability, the second perception capability, and the third perception capability. It can be understood that the perception area and refresh rate of the first perception capability can meet the perception requirements of the pre-perception task; the perception area and refresh rate of the second perception capability can meet the perception requirements of the pre-perception task; the perception area of ​​the third perception capability can meet the requirements of the pre-perception task, but its refresh rate cannot meet the perception requirements of the pre-perception task. Therefore, the core network device can select the access network devices corresponding to the first perception capability and the second perception capability as the access network devices participating in the current perception task, that is, the core network device can select the first access network device and the second access network device as the access network devices participating in the current perception task.

[0367] Secondly, the core network device determines the access network device to which to report the perception measurement data based on the first perception capability and the second perception capability. It is understood that if the core network device does not have a target detection algorithm, and the core network device requires a data type that has undergone the target detection algorithm, then because the first access network device supports the target detection algorithm but the second access network device does not, the core network device may select the first access network device as the access network device to which to report the perception measurement data.

[0368] In this way, the core network device can determine that the first access network device is the access network device reporting the perception measurement data, and the second access network device is the access network device participating in the current perception task. That is, the identifier of the at least one access network device included in the fourth message may include the identifier of the second access network device. It is understood that the core network device may also receive perception capabilities from other access network devices, and the identifier of the at least one access network device included in the fourth message may also include the identifiers of other access network devices, without limitation.

[0369] The above is a general introduction to the communication method provided by the embodiment of the present application in combination with the method embodiment. For ease of understanding, the above method is introduced in the following two specific scenarios:

[0370] Assume that gNB1 (such as the first access network device mentioned above) is a device that reports perception measurement data to SF (the above-mentioned core network device includes SF), and gNB2 (such as the second access network device mentioned above) is an access network device participating in the current perception task.

[0371] Scenario 1: The first perception measurement result is determined by the above-mentioned method 1, and the second perception measurement result is determined by the above-mentioned method 3. As shown in FIG6 , the method may include:

[0372] S601, SF sends perception information request message #1 (such as the fourth message mentioned above) to gNB1.

[0373] Among them, the perception information request message #1 may include: perception session ID #1, perception characteristics, gNB2 ID, perception time period and perception area, etc.

[0374] S602: gNB1 sends a perception information coordination request message #1 (such as the first message mentioned above) to gNB2.

[0375] gNB1 can send perception information coordination message #1 to gNB2 based on the ID of gNB2.

[0376] The perception information collaborative request message #1 may include perception session ID #1, perception characteristics, perception time period, and perception area, etc.

[0377] It can be understood that the perception information collaboration message #1 and the perception information request message #1 contain the same perception session ID #1, perception characteristics, and perception time period.

[0378] S603, gNB1 performs a perception operation according to the perception information request message #1 and obtains perception measurement data #2 (such as the second perception measurement data mentioned above).

[0379] gNB1 can perform sensing operations based on the sensing features, sensing time period, and sensing area to obtain sensing measurement data #2.

[0380] It should be noted that the embodiment of the present application does not limit the order of step S602 and step S603.

[0381] S604. gNB2 performs a perception operation according to the perception information coordination message #1 and obtains perception measurement data #1 (such as the first perception measurement data mentioned above).

[0382] gNB2 may perform sensing operations based on the sensing features, sensing time period, and sensing area to obtain sensing measurement data #1.

[0383] S605: gNB2 sends a perception information coordination response message #1 to gNB1.

[0384] Among them, the perception information coordination response message #1 can be a response message returned by gNB2 to the perception information coordination message #1, and the perception information coordination response message #1 can include perception measurement data #1 and device information of gNB2.

[0385] In step S606, gNB1 performs data fusion on the perception measurement data #1 and the perception measurement data #2 to obtain the perception measurement data #3 (such as the third perception measurement data mentioned above).

[0386] gNB1 may fuse perception measurement data #1 and perception measurement data #2 into the same coordinate system based on the device information of gNB1 and the device information of gNB2 to generate perception measurement data #3.

[0387] S607, gNB1 sends perception information response message #1 to SF.

[0388] Among them, the perception information response message #1 can be a response message returned by gNB1 to the perception information request message #1. The perception information response message #1 can include perception measurement data #3. The SF can perform subsequent processing based on the received perception measurement data #3.

[0389] Scenario 2: The first perception measurement result is determined by the above-mentioned method 2, and the second perception measurement result is determined by the above-mentioned method 4. As shown in FIG7 , the method may include:

[0390] S701, SF sends perception information request message #2 (such as the fourth message mentioned above) to gNB1.

[0391] Among them, the perception information request message #2 may include: perception session ID #1, perception characteristics, ID of gNB2, and perception area, etc.

[0392] It can be understood that the difference between the perception information request message #2 and the above-mentioned perception information request message 1 is that the perception information request message #2 does not include the perception time period.

[0393] S702. gNB1 sends a perception information coordination request message #2 (such as the first message mentioned above) to gNB2.

[0394] gNB1 can send perception information coordination request message #2 to gNB2 based on the ID of gNB2.

[0395] The perception information collaborative request message #2 may include the perception session ID #1, perception features, and perception areas, etc.

[0396] It can be understood that the perception information collaboration request message #2 and the perception information request message #2 contain the same perception session ID #1, perception characteristics, and perception area.

[0397] S703, gNB2 sends perception information coordination response message #2 to gNB1.

[0398] Among them, the perception information coordination response message #2 can be a response message returned by gNB2 to the perception information coordination request message #2, and the perception information coordination response message #2 can be used to indicate that gNB2 has successfully received the perception information coordination request message #2.

[0399] S704, gNB1 sends perception information response message #2 to SF.

[0400] Among them, the perception information response message #2 can be a response message returned by gNB1 to the perception information request message #2, and the perception information response message #2 can be used to indicate that gNB1 has successfully received the perception information request message #2.

[0401] S705. SF sends a perception session activation request message #1 (such as the third message mentioned above) to gNB1.

[0402] The Awareness Session Activation Request Message #1 may include the Awareness Time Period and Awareness Session ID #1. The Awareness Session Activation Request Message #1 may be used to trigger gNB1 to perform a Awareness operation.

[0403] S706: gNB1 sends a perception session activation request message #2 (such as the second message mentioned above) to gNB2 based on the perception session activation request message #1.

[0404] The Awareness Session Activation Request Message #2 may include the Awareness Time Period and Awareness Session ID #1. The Awareness Session Activation Request Message #2 may be used to trigger gNB2 to perform a Awareness operation.

[0405] S707, gNB1 performs a perception operation according to the perception session activation request message #1 and obtains perception measurement data #2 (such as the second perception measurement data mentioned above).

[0406] It can be understood that the perception session ID#1 in the perception session activation request message #1 is the same as the perception session ID#1 in the perception information request message #2. gNB1 can determine the corresponding perception information request message #2 based on the perception session ID#1 in the perception session activation request message #1, and perform perception operations based on the perception features, perception areas in the perception information request message #2, and the perception time period in the perception session activation request message #1.

[0407] It should be noted that the embodiment of the present application does not limit the order of step S706 and step S707.

[0408] S708. gNB2 performs a sensing operation according to the sensing session activation request message #2 and obtains sensing measurement data #1 (such as the first sensing measurement data mentioned above).

[0409] It can be understood that the perception session ID#1 in the perception session activation request message #2 is the same as the perception session ID#1 in the perception information coordination request message #2. gNB2 can determine the corresponding perception information coordination request message #2 based on the perception session ID#1 in the perception session activation request message #2, and perform perception operations based on the perception features, perception areas in the perception information coordination request message #2, and the perception time period in the perception session activation request message #2.

[0410] S709: gNB2 sends a perception information coordination response message #2 to gNB1.

[0411] Among them, the perception information coordination response message can be a response message returned by gNB2 to the perception information coordination request message #2. The perception information coordination response message #2 may include perception measurement data #1 and device information of gNB2.

[0412] S710. gNB1 fuses perception measurement data #1 and perception measurement data #2 to obtain perception measurement data #3 (such as the third perception measurement data mentioned above).

[0413] gNB1 may fuse perception measurement data #1 and perception measurement data #2 in the same coordinate system based on the device information of gNB1 and the device information of gNB2 to generate perception measurement data #3.

[0414] S711, gNB1 sends perception information response message #2 to SF.

[0415] Among them, the perception information response message #2 can be a response message returned by gNB1 to the perception information request message #2. The perception information response message #2 can include perception measurement data #3. The SF can perform subsequent processing based on the received perception measurement data #3.

[0416] It can be understood that in scenario 1, the SF's configuration process for perception parameters is performed simultaneously with the first access network device and the second access network device performing the perception operation. This can reduce signaling interaction and shorten latency. In scenario 2, the SF's configuration process for perception parameters is separated from the first access network device and the second access network device performing the perception operation, thereby making control more flexible. For example, Figure 8 is a flow chart diagram 4 of a communication method provided in an embodiment of the present application. This method can be applied to the above-mentioned communication system and involves interaction between the first access network device, the second access network device, and the core network device.

[0417] Specifically, as shown in FIG8 , the process of the communication method is as follows:

[0418] S801: A second access network device obtains second beam parameter information.

[0419] Among them, the second beam parameter information can be used by the second access network device to perform perception operations, and the second beam parameter information may include at least one second beam parameter; the second beam parameter may include at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam.

[0420] The second beam may be a beam used when the second access network device performs a sensing operation. The second beam direction may be used to indicate the direction in which the second beam is pointing. The second beam direction may be the direction of the second beam in a spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system. The geodetic coordinate system may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth. It is understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0421] The second beam period can be used to indicate the scanning period of the second beam, or in other words, the period in which the second access network device uses the second beam to perform a sensing operation.

[0422] The second perception signal may be a perception signal used when the second access network device performs a perception operation; the time-frequency resource location of the second perception signal carried on the second beam may be: the time-frequency resource location where the second access network device uses the second beam to send the second perception signal, or in other words, the pattern information configured when the second access network device uses the second beam to send the second perception signal.

[0423] It is understood that the second beam parameter information may also include other configuration information about the second beam, without limitation. The naming of the second beam parameter information is only an example, and the second beam parameter information may also be referred to as second beam configuration information, beam configuration #2, etc., without limitation.

[0424] S802: The second access network device sends second beam parameter information to the first access network device. Correspondingly, the first access network device receives the second beam parameter information from the second access network device.

[0425] The second access network device sends the second beam parameter information to the first access network device according to the Xn interface.

[0426] S803: The first access network device obtains first beam parameter information.

[0427] The first beam parameter information may include at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of the first perception signal carried on the first beam.

[0428] The first beam may be a beam used by the first access network device when performing a sensing operation. The first beam direction is used to indicate the direction in which the first beam is pointing. The first beam direction may be the direction of the first beam in a spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, which may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the Earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the Earth. It is understood that the spatial coordinate system may also be other forms of coordinate systems, without limitation.

[0429] The first beam period can be used to indicate the scanning period of the first beam, or in other words, the period in which the first access network device uses the first beam to perform a sensing operation.

[0430] The first perception signal may be a perception signal used when the first access network device performs a perception operation; the time-frequency resource location of the first perception signal carried on the first beam may be: the time-frequency resource location where the first access network device uses the first beam to send the first perception signal, or in other words, the pattern information configured when the first access network device uses the first beam to send the first perception signal.

[0431] It is understood that the first beam parameter information may also include other configuration information about the first beam, without limitation. The naming of the first beam parameter information is only an example, and the first beam parameter information may also be referred to as first beam configuration information, beam configuration #1, etc., without limitation.

[0432] It should be understood that one beam parameter information can correspond to one beam, such as, one first beam parameter information corresponds to one first beam, and one second beam parameter information corresponds to one second beam; one beam parameter information can also correspond to multiple beams, such as, one first beam parameter information corresponds to multiple first beams, and one second beam parameter information corresponds to multiple second beams, without limitation.

[0433] The first beam parameter information can be determined based on the beam parameter information of other access network devices. The first access network device and the other access network devices need to perform perception operations in overlapping perception areas. In other words, the first access network device and the other access network devices need to perform perception operations in completely overlapping or partially overlapping perception areas, without limitation.

[0434] If the other access network devices may include a second access network device, then the first access network device may determine the first beam parameter information based on the second beam parameter information. Exemplarily, the first access network device may determine the first beam parameter information based on the first beam parameter information and the third beam parameter information.

[0435] Among them, the third beam parameter information can be the beam parameter information corresponding to the first access network device before obtaining the first beam parameter information, or in other words, the third beam parameter information can be the beam parameter information used by the first access network device without considering the mutual interference between access network devices.

[0436] The third beam parameter information may include at least one of the following: a third beam direction, a third beam period, or a time-frequency resource position of the first perception signal carried on the third beam.

[0437] The third beam may be a beam used by the first access network device when performing a sensing operation. The third beam direction is used to indicate the direction in which the third beam is pointing. The third beam direction may be the direction of the third beam in a spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, which may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the Earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the Earth. It is understood that the spatial coordinate system may also be other forms of coordinate systems, without limitation.

[0438] The third beam period can be used to indicate the scanning period of the third beam, or in other words, the period in which the first access network device uses the third beam to perform a sensing operation.

[0439] The time-frequency resource location of the first perception signal carried on the third beam may be: the time-frequency resource location at which the first access network device sends the first perception signal using the third beam, or, in other words, the pattern information configured when the first access network device sends the first perception signal using the third beam.

[0440] Before the first access network device obtains the first beam parameter information, the first access network device may use the third beam to send the first perception signal according to the third beam direction, the third beam period, and the time-frequency resource position of the first perception signal carried on the third beam.

[0441] It should be noted that the third beam parameter information is different from the first beam parameter information, or in other words, at least one parameter included in the third beam parameter information is different from the parameters included in the second beam parameter information, which is not limited.

[0442] In order to reduce the background noise during target detection, the first access network device can coordinate or modify its own beam parameter information based on the second beam parameter information and the third beam parameter information. That is, the first access network device can coordinate or modify the third beam parameter information to the first beam parameter information. The first access network device can use the first beam parameter information to perform the perception operation, and the second access network device can use the second beam parameter information to perform the perception operation. At this time, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam parameter information of other access network devices, such as the beam indicated by the second beam parameter information, is less than a preset value. In other words, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value. The preset value can be predefined or preconfigured and is not limited.

[0443] For example, within the same time period, the perception areas illuminated by the perception signals of the first access network device and the second access network device are different, or, when the first access network device performs a perception operation, the second access network device may not perform a perception operation, that is, the time periods in which the first access network device and the second access network device perform perception operations are staggered, thereby reducing mutual interference between the access network devices and reducing the background noise in target detection.

[0444] It can be understood that the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information can be understood as: the interference caused by the second perception signal sent by the second access network device using the second beam and the echo signal of the second perception signal (such as the second echo signal in step S805 below) to the echo signal of the first perception signal sent by the first access network device using the first beam (such as the first echo signal in step S804 below). In one possible design scheme, the first access network device can directly modify the third beam parameter information to the second beam parameter information, that is, the first beam parameter information is the same as the second beam parameter information. In this case, the beam direction, beam period, and time-frequency resource position of the perception signal on the beam of the first access network device and the second access network device are the same, so that the perception areas illuminated by the perception signals of the first access network device and the second access network device are different.

[0445] S804: The first access network device performs a sensing operation according to the first beam parameter information.

[0446] The first access network device can use the first beam to send the first perception signal according to the first beam direction, the first beam period and the time-frequency resource position of the first perception signal carried on the first beam; the first access network device can receive the first echo signal corresponding to the first perception signal after being reflected by the perceived target in the environment; the first access network device can use the first perception signal and the first echo signal to perform related operations to obtain perception measurement results, such as the third perception measurement result, thereby realizing target detection.

[0447] S805: The second access network device performs a sensing operation according to the second beam parameter information.

[0448] The second access network device can perform a perception operation based on the second beam parameter information, that is, the second access network device can use the second beam to send the first perception signal based on the second beam direction, the second beam period and the time-frequency resource position of the second perception signal carried on the second beam; the second access network device can receive a second echo signal corresponding to the second perception signal after being reflected by a perceived target in the environment; the second access network device can use the second perception signal and the second echo signal to perform related operations to obtain perception measurement results, such as the fourth perception measurement result, thereby realizing target detection.

[0449] In summary, the first beam parameter information used by the first access network device can be determined based on the beam parameter information of other access network devices whose perception areas overlap, such as the second access network device. In other words, the determination of the first beam parameter information takes into account the mutual interference with the beam parameter information of the second access network device, which can reduce the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0450] In combination with the above embodiment, optionally, the above method may further include:

[0451] S806: The first access network device sends the third perception measurement result to the core network device.

[0452] The first access network device can send the third perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0453] Optionally, the above method may further include:

[0454] S807: The second access network device sends the fourth perception measurement result to the core network device.

[0455] The second access network device can send the fourth perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the fourth perception measurement data, without limitation.

[0456] The above is an overall introduction to the communication method provided by the embodiment of the present application in combination with the method embodiment. For ease of understanding, the above method is introduced below in the following two specific scenarios:

[0457] Scenario 3: As shown in FIG9 , the method may include:

[0458] S901: gNB1 sends a sensing signal configuration request message #1 to gNB2.

[0459] Among them, the perception signal configuration request message #1 can be used to instruct gNB2 to send beam parameter information to gNB1.

[0460] S902: gNB2 sends a perception signal configuration response message #2 to gNB1.

[0461] Among them, the perception signal configuration response message #2 can be a response message returned by gNB2 to the perception signal configuration request message #1. The perception signal configuration response message #2 may include beam parameter information #2 (such as the above-mentioned second beam parameter information). The beam parameter information #2 may include: beam #2 (such as the above-mentioned second beam) direction, beam #2 period, or the time-frequency resource position of the perception signal #2 (such as the above-mentioned second perception signal) carried on beam #2.

[0462] S903, gNB1 determines beam parameter information #1 (such as the first beam parameter information mentioned above) based on beam parameter information #2.

[0463] Based on beam parameter information #2, gNB1 can coordinate or modify beam parameter information #3 (e.g., the third beam parameter information) to beam parameter information #1 (e.g., the first beam parameter information). For example, beam parameter information #1 and beam parameter information #2 can contain the same parameters. Beam parameter information #3 is the beam parameter information used by gNB1 without considering interference between access network devices.

[0464] Beam parameter information #1 may include the direction of beam #1 (such as the first beam mentioned above), the period of beam #1, or the time-frequency resource position of perception signal #1 (such as the first perception signal mentioned above) carried on beam #1.

[0465] S904. gNB1 performs a sensing operation using beam parameter information #1 and obtains sensing measurement data #3.

[0466] gNB1 can use beam #1 to transmit sensing signal #1 based on the direction of beam #1, the period of beam #1, and the time-frequency resource location of sensing signal #1 carried on beam #1. gNB1 receives echo signal #1 (such as the first echo signal described above) and performs a correlation operation on sensing signal #1 and echo signal #1 to obtain sensing measurement data #3 (such as the third sensing measurement data described above) to achieve target detection.

[0467] S905. gNB2 performs a sensing operation using beam parameter information #2 to obtain sensing measurement data #4.

[0468] gNB2 may use beam #2 to transmit sensing signal #2 based on the direction of beam #2, the period of beam #2, and the time-frequency resource location of sensing signal #2 carried on beam #2. gNB2 receives echo signal #2 (such as the second echo signal described above) and performs a correlation operation using sensing signal #2 and echo signal #2 to obtain sensing measurement data #4 (such as the third sensing measurement data described above) to achieve target detection.

[0469] It should be noted that the embodiment of the present application does not limit the order of step S904 and step S905.

[0470] S906, gNB1 sends perception measurement data #3 to SF.

[0471] In step S907, gNB2 sends sensing measurement data #4 to the SF. It should be noted that the present embodiment does not limit the order of step S906 and step S907.

[0472] Scenario 4: As shown in FIG10 , the method may include:

[0473] S1001, gNB2 sends a perception signal configuration modification request message #1 to gNB1.

[0474] Among them, the perception signal configuration request message is used to instruct gNB1 to modify the beam parameter information.

[0475] The modification request message #1 may include the beam parameter information #2 of gNB2, and the beam parameter information #2 may include: the direction of beam #2, the period of beam #2, or the time-frequency resource location of the perception signal #2 carried on beam #2.

[0476] S1002, gNB1 determines beam parameter information #1 based on beam parameter information #2.

[0477] Based on beam parameter information #2, gNB1 can coordinate or modify beam parameter information #3 to beam parameter information #1. For example, beam parameter information #1 and beam parameter information #2 can have the same parameters. Beam parameter information #3 is the beam parameter information used by the first access network device without considering interference between access network devices.

[0478] S1003, gNB1 sends the perception signal configuration modification confirmation message #1 to gNB2.

[0479] Among them, the perception signal configuration modification confirmation message #1 can be used to indicate that gNB1 has modified or updated the beam parameter information #3 to the beam parameter information #1.

[0480] S1004. gNB1 performs a perception operation using beam parameter information #1 to obtain perception measurement data #3.

[0481] gNB1 can use beam #1 to transmit sensing signal #1 based on the direction of beam #1, the period of beam #1, and the time-frequency resource location of sensing signal #1 carried on beam #1. gNB1 receives echo signal #1 and performs correlation operations on sensing signal #1 and echo signal #1 to obtain sensing measurement data #3 for target detection.

[0482] S1005. gNB2 performs a sensing operation using beam parameter information #2 to obtain sensing measurement data #4.

[0483] gNB2 can use beam #2 to transmit sensing signal #2 based on the direction of beam #2, the period of beam #2, and the time-frequency resource location of sensing signal #2 carried on beam #2. gNB2 receives echo signal #2 and performs correlation operations on sensing signal #2 and echo signal #2 to obtain sensing measurement data #4 for target detection.

[0484] It should be noted that the embodiment of the present application does not limit the order of step S1004 and step S1005.

[0485] S1006, gNB1 sends perception measurement data #3 to SF.

[0486] signal, and uses the perception signal #2 and the echo signal #2 to perform correlation operations to achieve target detection.

[0487] S1007, gNB2 sends perception measurement data #4 to SF.

[0488] It should be noted that the embodiment of the present application does not limit the order of step S1006 and step S1007.

[0489] 11 is a flow chart 5 of a communication method provided in an embodiment of the present application. The method can be applied to the above communication system, involving interaction between a first access network device, a second access network device and a core network device.

[0490] Specifically, as shown in FIG11 , the core network device may receive beam parameter information from other access network devices, where the other access network devices may include a first access network device and a second access network device. The process of the communication method is as follows:

[0491] S1101: A first access network device sends third beam parameter information to a core network device. Correspondingly, the core network device receives the third beam parameter information from the first access network device.

[0492] For a detailed introduction to the third beam parameter information, please refer to the related introduction in the above step S803, which will not be repeated here.

[0493] S1102: The second access network device sends second beam parameter information to the core network device. Correspondingly, the core network device receives the second beam parameter information from the second access network device. For a detailed description of the second beam parameter information, please refer to the relevant description in step S801 above and will not be repeated here.

[0494] S1103: The core network device obtains the first beam parameter information and the fourth beam parameter information according to the second beam parameter information and the third beam parameter information.

[0495] Among them, the first beam parameter information is the beam parameter information corresponding to the first access network device. The specific introduction of the first beam parameter information can refer to the relevant introduction in the above step S803, and will not be repeated here.

[0496] The fourth beam parameter information is the beam parameter information corresponding to the second access network device. The fourth beam parameter information may include at least one fourth beam parameter; the fourth beam parameter may include at least one of the following: a fourth beam direction, a fourth beam period, or the time-frequency resource position of the second perception signal carried on the fourth beam.

[0497] The fourth beam may be a beam used when the second access network device performs a sensing operation. The fourth beam direction is used to indicate the direction in which the fourth beam points. The fourth beam direction may be the direction of the fourth beam in the spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system. The geodetic coordinate system may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth. It is understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0498] The fourth beam period can be used to indicate the scanning period of the first beam, or in other words, the period in which the first access network device uses the fourth beam to perform a sensing operation.

[0499] The time-frequency resource location of the second perception signal carried on the fourth beam may be: the time-frequency resource location of the second access network device using the fourth beam to send the second perception signal, or, in other words, the pattern information configured when the second access network device uses the fourth beam to send the first perception signal.

[0500] It should be noted that the fourth beam parameter information is different from the second beam parameter information, or in other words, at least one parameter included in the fourth beam parameter information is different from the parameters included in the second beam parameter information, which is not limited.

[0501] In order to reduce the background noise during target detection, the core network device can coordinate or modify the beam parameter information of the first access network device and the beam parameter information of the second access network device based on the second beam parameter information and the third beam parameter information. That is, the core network device can coordinate or modify the third beam parameter information to the first beam parameter information, and coordinate or modify the second beam parameter information to the fourth beam parameter information. The first access network device can use the first beam parameter information to perform the perception operation, and the second access network device can use the fourth beam parameter information to perform the perception operation. At this time, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value. In other words, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value. The preset value can be predefined or preconfigured and is not limited.

[0502] It can be understood that the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information can be understood as: the second perception signal sent by the second access network device using the fourth beam, and the echo signal of the second perception signal (such as the second echo signal in the following step S1108), causing interference to the echo signal of the first perception signal sent by the first access network device using the first beam (such as the first echo signal in the following step S1106). It should be noted that the implementation process of the core network device obtaining the first beam parameter information and the four-beam parameter information based on the second beam parameter information and the third beam parameter information is similar to the implementation process of the first access network device determining the first beam parameter information based on the second beam parameter information and the third beam parameter information in the above step S803, which can be referred to for understanding and will not be repeated here.

[0503] S1104: The core network device sends first beam parameter information to the first access network device. Correspondingly, the first access network device receives the first beam parameter information from the core network device.

[0504] The core network device can send the first beam parameter information to the first access network device according to the N2 interface.

[0505] S1105: The first access network device obtains first beam parameter information.

[0506] That is, the first beam parameter information is the beam parameter information sent by the core network device to the first access network device.

[0507] S1106: The first access network device performs a sensing operation according to the first beam parameter information.

[0508] The first access network device can use the first beam to send the first perception signal according to the first beam direction, the first beam period and the time-frequency resource position of the first perception signal carried on the first beam; the first access network device can receive the first echo signal corresponding to the first perception signal after being reflected by the perceived target in the environment; the first access network device can use the first perception signal and the first echo signal to perform related operations to obtain perception measurement results, such as the third perception measurement result, thereby realizing target detection.

[0509] S1107: The core network device sends fourth beam parameter information to the second access network device. Correspondingly, the second access network device receives the fourth beam parameter information from the core network device.

[0510] The core network device can send the fourth beam parameter information to the second access network device according to the N2 interface.

[0511] S1108. The second access network device performs a sensing operation according to the fourth beam parameter information.

[0512] The second access network device can use the second beam to send the second perception signal according to the fourth beam direction, the fourth beam period and the time-frequency resource position of the second perception signal carried on the fourth beam; the second access network device can receive the second echo signal corresponding to the second perception signal after being reflected by the perceived target in the environment; the second access network device can use the second perception signal and the second echo signal to perform related operations to obtain perception measurement results, such as the fourth perception measurement result, thereby realizing target detection.

[0513] In summary, the first beam parameter information used by the first access network device can be determined based on the beam parameter information of other access network devices whose perception areas overlap, such as the second access network device. In other words, the determination of the first beam parameter information takes into account the mutual interference with the beam parameter information of the second access network device, which can reduce the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0514] In combination with the above embodiment, optionally, the above method may further include:

[0515] S1109: The first access network device sends the third perception measurement result to the core network device.

[0516] The first access network device can send the third perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0517] Optionally, the above method may further include:

[0518] S1110. The second access network device sends a fourth perception measurement result to the core network device.

[0519] The second access network device can send the fourth perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0520] It can be understood that the embodiment of the present application is introduced by taking the example of the first beam parameter information being determined according to the third beam parameter information corresponding to the first access network device and the second beam parameter information corresponding to the second access network device. The first beam parameter information can also be determined by the beam parameter information of multiple access network devices. Its implementation principle is similar to the principle of determining the first beam parameter information according to the third beam parameter information and the second beam parameter information. It can be understood by reference and will not be repeated here.

[0521] The above is a general introduction to the process of the communication method provided in the embodiment of the present application in combination with the method embodiment. For ease of understanding, the above method is introduced below in the following specific scenario:

[0522] Scenario 5: As shown in FIG12 , the method may include:

[0523] S1201, SF sends perception signal configuration request message #2 to gNB1.

[0524] Among them, the perception signal configuration request message #2 is used to instruct gNB1 to send beam parameter information to SF.

[0525] S1202, gNB1 sends a perception signal configuration response message #a2 to SF.

[0526] Among them, the perception signal configuration response message #a2 can be the response message returned by gNB1 to the perception signal configuration request message #2. The perception signal configuration response message #a2 may include beam parameter information #3. The beam parameter information #3 may include: beam #3 direction, beam #3 period, or the time-frequency resource location of the perception signal #1 carried on beam #3.

[0527] S1203, SF sends perception signal configuration request message #2 to gNB2.

[0528] Among them, the perception signal configuration request message #2 is used to instruct gNB2 to send beam parameter information to SF.

[0529] S1204. gNB2 sends a perception signal configuration response message #b2 to SF.

[0530] Among them, the perception signal configuration response message #b2 can be a response message returned by gNB2 to the perception signal configuration request message #2. The perception signal configuration response message #b may include beam parameter information #2. The beam parameter information #2 may include: beam #2 direction, beam #2 period, or the time-frequency resource location of the perception signal #2 carried on beam #2.

[0531] S1205: SF determines beam parameter information #1 and beam parameter information #4 based on beam parameter information #2 and beam parameter information #3.

[0532] Beam parameter information #1 is the beam parameter information corresponding to gNB1, and beam parameter information #4 is the beam parameter information corresponding to gNB2. Beam parameter information #1 may include the direction of beam #1, the period of beam #1, or the time-frequency resource location of sensing signal #1 carried on beam #1.

[0533] Beam parameter information #4 may include the direction of beam #4 (such as the fourth beam mentioned above), the period of beam #4, or the time-frequency resource position of the perception signal #2 carried on beam #4.

[0534] S1206, SF sends beam parameter information #1 to gNB1.

[0535] S1207, gNB1 uses beam parameter information #1 to perform perception operations and obtain perception measurement data #3.

[0536] gNB1 can use beam #1 to transmit sensing signal #1 based on the direction of beam #1, the period of beam #1, and the time-frequency resource location of sensing signal #1 carried on beam #1. gNB1 receives echo signal #1 and performs correlation operations on sensing signal #1 and echo signal #1 to obtain sensing measurement data #3 for target detection.

[0537] S1208, SF sends beam parameter information #4 to gNB2.

[0538] It should be noted that the embodiment of the present application does not limit the order of step S1206 and step S1208.

[0539] In step S1209, gNB2 performs a sensing operation using beam parameter information #4 to obtain sensing measurement data #4.

[0540] gNB2 can use beam #4 to transmit sensing signal #2 based on beam direction #4, beam period #4, and the time-frequency resource location of sensing signal #2 carried on beam #4. gNB2 receives echo signal #2 and performs correlation operations on sensing signal #2 and echo signal #2 to obtain sensing measurement data #4 for target detection.

[0541] S1210, gNB1 sends perception measurement data #3 to SF.

[0542] S1211, gNB2 sends perception measurement data #4 to SF.

[0543] It should be noted that the embodiment of the present application does not limit the order of step S12010 and step S1211.

[0544] It should be noted that in the embodiments of the present application, "send" can be replaced by "input"; "receive" can be replaced by "output"; "determine" can be replaced by "generate" or "obtain"; and "obtain" can be replaced by "receive", "determine" or "input" without limitation.

[0545] The communication method provided by the embodiment of the present application is described in detail above in conjunction with Figures 5 to 12. The communication device for executing the communication method provided by the embodiment of the present application is described in detail below in conjunction with Figures 13 and 14.

[0546] For example, Figure 13 is a structural diagram of a communication device according to an embodiment of the present application. As shown in Figure 13, the communication device 1300 includes a transceiver module 1301 and a processing module 1302. For ease of illustration, Figure 13 only shows the main components of the communication device.

[0547] In some embodiments, the communication apparatus 1300 may be applicable to the communication system shown in FIG. 4 to perform the functions of the above-mentioned first access network device.

[0548] The transceiver module 1301 may be configured to execute the function of sending and receiving messages on the first access network, and the processing module 1302 may execute functions other than sending and receiving messages on the first access network.

[0549] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0550] Optionally, the communication device 1300 may further include a storage module, wherein the storage module stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above-mentioned communication method.

[0551] It should be noted that the communication device 1300 can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0552] In addition, the technical effects of the communication device 1300 can refer to the technical effects of the above-mentioned communication method, which will not be repeated here.

[0553] In some other embodiments, the communication apparatus 1300 may be applicable to the communication system shown in FIG. 4 to perform the functions of the above-mentioned second access network device.

[0554] The transceiver module 1301 may be configured to execute the function of the second access network device to send and receive messages, and the processing module 1302 may execute functions of the second access network device other than sending and receiving messages.

[0555] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0556] Optionally, the communication device 1300 may further include a storage module, wherein the storage module stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above-mentioned communication method.

[0557] It should be noted that the communication device 1300 can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0558] In some other embodiments, the communication device 1300 may be applicable to the communication system shown in FIG. 4 to perform the functions of the above-mentioned core network device.

[0559] Among them, the transceiver module 1301 can be used to execute the function of sending and receiving messages of the core network device, and the processing module 1302 can execute the functions of the core network device other than sending and receiving messages.

[0560] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0561] Optionally, the communication device 1300 may further include a storage module, wherein the storage module stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above-mentioned communication method.

[0562] It should be noted that the communication device 1300 can be a core network device, a chip (system) or other component or assembly that can be set in the core network device, or a device that includes a core network device, and this application does not limit this. In addition, the technical effects of the communication device 1300 can refer to the technical effects of the above-mentioned communication method and will not be repeated here.

[0563] For example, FIG14 is a second structural diagram of a communication device provided in an embodiment of the present application. The communication device may be a terminal, or a chip (system) or other component or assembly that can be provided in a terminal. As shown in FIG14 , the communication device 1400 may include a processor 1401. Optionally, the communication device 1400 may further include a memory 1402 and / or a transceiver 1403. The processor 1401 is coupled to the memory 1402 and the transceiver 1403, such as by a communication bus.

[0564] The following is a detailed introduction to the various components of the communication device 1400 with reference to FIG14 :

[0565] The processor 1401 is the control center of the communication device 1400 and can be a single processor or a collective term for multiple processing elements. For example, the processor 1401 can be one or more central processing units (CPUs), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0566] Optionally, the processor 1401 can execute various functions of the communication device 1400 by running or executing software programs stored in the memory 1402 and calling data stored in the memory 1402, such as executing the communication method shown in Figures 5 to 12 above.

[0567] In a specific implementation, as an embodiment, the processor 1401 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG14 .

[0568] In a specific implementation, as an embodiment, the communication device 1400 may also include multiple processors, such as the processor 1401 and the processor 1404 shown in FIG14 . Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0569] The memory 1402 is used to store the software program for executing the solution of the present application, and the execution is controlled by the processor 1401. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0570] Alternatively, the memory 1402 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1402 may be integrated with the processor 1401 or exist independently and be coupled to the processor 1401 via an interface circuit (not shown in FIG. 14 ) of the communication device 1400, which is not specifically limited in this embodiment of the present application.

[0571] Transceiver 1403 is used for communication with other communication devices. For example, if communication device 1400 is a terminal, transceiver 1403 can be used to communicate with a network device or another terminal device. For another example, if communication device 1400 is a network device, transceiver 1403 can be used to communicate with a terminal or another network device.

[0572] Optionally, the transceiver 1403 may include a receiver and a transmitter (not shown separately in FIG14 ), wherein the receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0573] Optionally, the transceiver 1403 can be integrated with the processor 1401, or can exist independently and be coupled to the processor 1401 through the interface circuit of the communication device 1400 (not shown in Figure 14), which is not specifically limited in this embodiment of the present application.

[0574] It should be noted that the structure of the communication device 1400 shown in FIG14 does not constitute a limitation on the communication device. An actual communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0575] In addition, the technical effects of the communication device 1400 can refer to the technical effects of the communication method described in the above method embodiment, and will not be repeated here.

[0576] An embodiment of the present application provides a communication system, which may include: a first access network device, a second access network device, and a core network device as shown in FIG4 .

[0577] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0578] It should also be 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 random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0579] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (such as infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0580] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0581] In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0582] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0583] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0584] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0585] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0586] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0587] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0588] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0589] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: Applied to a first access network device, the method includes: Sending a first message to a second access network device; wherein the first message includes a perception parameter; Receiving first perception measurement data from the second access network device; wherein the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; Determine third perception measurement data; wherein the third perception measurement data is the perception measurement data obtained after the first access network device fuses the first perception measurement data and the second perception measurement data; and the second perception measurement data is obtained by the first access network device performing a perception operation.

2. The method according to claim 1, characterized in that The second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameter.

3. The method according to claim 1 or 2, characterized in that: The first message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

4. The method according to any one of claims 1 to 3, characterized in that The perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

5. The method according to any one of claims 1 to 4, characterized in that The perception parameters also include a perception time period.

6. The method according to any one of claims 1 to 4, characterized in that After sending the first message to the second access network device, the method further includes: sending a second message to the second access network device; wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

7. The method according to claim 6, characterized in that The second message is used to trigger the second access network device to perform a perception operation.

8. The method according to any one of claims 5 to 7, characterized in that: The first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, the perception feature and the perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, the perception feature and the perception time period.

9. The method according to claim 6 or 7, characterized in that: Before sending the second message to the second access network device, the method further includes: A third message is received from a core network device; wherein the third message includes the perception time period, or the perception time period and the perception session identifier.

10. The method according to claim 9, characterized in that The third message is used to trigger the first access network device to perform a perception operation.

11. The method according to any one of claims 1 to 10, characterized in that Before sending the first message to the second access network device, the method further includes: Receive a fourth message from the core network device; wherein the fourth message includes the perception parameter, or the perception parameter and the perception session identifier; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes the second access network device.

12. The method according to any one of claims 1 to 11, characterized in that After determining the third sensory measurement data, the method further includes: Sending the third perception measurement data to the core network device.

13. A communication method, characterized in that: Applied to a second access network device, the method comprises: Receiving a first message from a first access network device; wherein the first message includes a perception parameter; Perform a perception operation according to the perception parameter to obtain first perception measurement data; Send the first perception measurement data to the first access network device.

14. The method according to claim 13, characterized in that The first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

15. The method according to claim 13 or 14, characterized in that The perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

16. The method according to any one of claims 13 to 15, characterized in that The perception parameters also include a perception time period.

17. The method according to any one of claims 13 to 15, characterized in that After receiving the first message from the first access network device, the method further includes: receiving a second message from the first access network device; wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

18. The method according to claim 17, characterized in that The second message is used to trigger the second access network device to perform a perception operation.

19. The method according to any one of claims 16 to 18, characterized in that: The first perception measurement data is obtained by the second access network device performing a perception operation according to the perception area, the perception feature and the perception time period.

20. A communication method, characterized in that: Applied to a first access network device, the method includes: Determine first beam parameter information; wherein the first beam parameter information is determined according to beam parameter information of other access network devices, and the first access network device and the other access network devices need to perform a sensing operation in a sensing area that overlaps; A sensing operation is performed according to the first beam parameter information.

21. The method according to claim 20, characterized in that In the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the beam parameter information of the other access network device is less than a preset value.

22. The method according to claim 20 or 21, characterized in that The other access network device includes a second access network device, and the method further includes: Receive second beam parameter information from the second access network device; wherein the second beam parameter information is used to determine the first beam parameter information.

23. The method according to claim 22, characterized in that The determining the first beam parameter information includes: The first beam parameter information is determined according to the second beam parameter information.

24. The method according to any one of claims 20 to 23, characterized in that The first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: A first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam; wherein the first perception signal is a perception signal used when the first access network device performs a perception operation.

25. The method according to claim 22 or 23, characterized in that The second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: A second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

26. The method according to claim 25, characterized in that In the same time period, interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value.

27. The method according to claim 20 or 21, characterized in that The determining the first beam parameter information includes: Receive first beam parameter information from the core network function entity.

28. The method according to claim 27, characterized in that Before receiving the first beam parameter information from the core network device, the method further includes: Send third beam parameter information to the core network device; wherein the first beam parameter information is determined by the core network device according to the third beam parameter information and the beam parameter information of the other access network devices.

29. A communication method, characterized in that: Applied to a second access network device, the method comprises: Acquire second beam parameter information; wherein the second beam parameter information is used by the second access network device to perform a sensing operation; The second beam parameter information is sent.

30. The method according to claim 29, characterized in that The sending the second beam parameter information includes: Send the second beam parameter information to the first access network device.

31. The method according to claim 30, characterized in that The method further comprises: A sensing operation is performed according to the second beam parameter information.

32. The method according to claim 30 or 31, characterized in that The second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: A second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

33. The method according to claim 29, characterized in that The sending the second beam parameter information includes: sending the second beam parameter information to a core network device.

34. The method according to claim 33, characterized in that The method further comprises: Receiving fourth beam parameter information from the core network device; wherein the fourth beam parameter information is determined by the core network device according to the second beam parameter information and beam parameter information of other access network devices, and the second access network device and the other access network devices need to perform a sensing operation in a sensing area that overlaps; A sensing operation is performed according to the fourth beam parameter information.

35. The method according to claim 34, characterized in that In the same time period, interference between the beam indicated by the fourth beam parameter information and the beam indicated by the beam parameter information of the other access network device is less than a preset value.

36. The method according to claim 34 or 35, characterized in that The fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

37. A communication method, characterized in that: Applied to a core network device, the method comprises: Receiving beam parameter information from other access network devices; wherein the beam parameter information of the other access network devices includes second beam parameter information and third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device; Acquire first beam parameter information and fourth beam parameter information according to the second beam parameter information and the third beam parameter information; Sending the first beam parameter information to the first access network device; Send the fourth beam parameter information to the second access network device.

38. The method according to claim 37, characterized in that In the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

39. The method according to claim 37 or 38, characterized in that The first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: A first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam; wherein the first perception signal is a perception signal used when the first access network device performs a perception operation.

40. The method according to any one of claims 37 to 39, characterized in that The fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

41. The method according to claim 40, characterized in that In the same time period, interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

42. A communication device, characterized in that: The apparatus comprises: a module for performing the method as claimed in any one of claims 1-41.

43. A communication device, characterized in that: The communication device comprises: a processor; when the processor executes computer instructions, the communication device executes the method according to any one of claims 1-41.

44. A communication chip, characterized in that: Instructions are stored therein, and when the chip runs on a communication device, the method according to any one of claims 1 to 41 is implemented.

45. A computer-readable storage medium, characterized in that The computer-readable storage medium comprises a computer program or instructions, and when the computer program or instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 41.

46. ​​A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method according to any one of claims 1 to 41 is executed.

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