Sensing method, apparatus and system

Abstract

A sensing method, apparatus and device, relating to the technical field of communications. The method comprises: receiving beam-related information, the beam-related information being associated with sensing-related information, and the beam-related information indicating a beam used for signal transmission; and performing sensing on the basis of the sensing-related information. Embodiments of the present application can improve the accuracy and timeliness of environmental sensing by a network.

Description

Perception method, device and system

[0001] This invention claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on September 28, 2023, with application number 202311280302.4 and application name “Perception Method, Device and System”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a perception method, device and system. Background Art

[0003] Synaesthesia integration is considered a technology with broad application prospects in the communications field, especially in the 6G era. Its service scope will go beyond the traditional communication dimension, and the same equipment can be used to provide both perception and communication services. Specifically, based on the relationship between communication and perception, synaesthesia integration services can be divided into communication-assisted perception services and perception-assisted communication services. In perception-assisted communication services, the network uses wireless sensing technology to detect and perceive the wireless communication environment and communication nodes, obtain prior information such as environmental maps, and assist the communication system.

[0004] In the integrated communication and perception system, how to quickly trigger the network and terminals to update the environmental map through wireless perception technology to ensure the accuracy and timeliness of environmental perception is a problem that needs to be solved.

[0005] Summary of the Invention

[0006] The present application provides a perception method, device and system that can improve the accuracy and timeliness of environmental perception of a communication and perception integrated system.

[0007] In a first aspect, an embodiment of the present application provides a perception method, the method comprising:

[0008] receiving beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam for signal transmission;

[0009] Perception is performed according to the perception-related information.

[0010] In this method, beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, perception behavior can be initiated when beam update behavior occurs, without the need to additionally transmit the signaling required for perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, obtaining terminal surrounding environment information in a timely and accurate manner, updating the environmental map on the network side, and improving communication performance.

[0011] Optionally, the perception-related information indicates at least one of the following:

[0012] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, and perception report configuration.

[0013] Optionally, it also includes:

[0014] Receive a perception trigger indication.

[0015] Optionally, the perception-related information indicates at least one of the following:

[0016] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0017] Optionally, the beam-related information is associated with perception-related information, including:

[0018] The beam-related information indicates a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

[0019] Optionally, the TCI state is associated with the perception-related information, including:

[0020] The TCI status includes the perception related information; or,

[0021] The TCI state includes a quasi-co-located source reference signal, and the quasi-co-located source reference signal is associated with the perception-related information.

[0022] Optionally, the beam-related information is associated with perception-related information, including:

[0023] The beam-related information includes a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

[0024] Optionally, it also includes:

[0025] A beam failure recovery request is sent, where the beam failure recovery request is associated with perception request information, and the perception request information is used to request perception.

[0026] Optionally, the receive beam related information includes:

[0027] receiving beam configuration information, where the beam configuration information includes the beam-related information; or

[0028] receiving a beam activation command, where the beam activation command includes the beam-related information; or

[0029] Downlink control information is received, where the downlink control information includes the beam-related information.

[0030] Optionally, it also includes:

[0031] Receive perception configuration information; the perception configuration information includes at least one of the following:

[0032] Candidate sensing mode configuration information, candidate sensing signal configuration information, and candidate sensing report configuration information;

[0033] The performing perception according to the perception-related information includes:

[0034] According to the perception-related information, corresponding configuration is obtained from the perception configuration information, and perception is performed.

[0035] Optionally, the performing perception according to the perception-related information includes:

[0036] After receiving the beam-related information, after a time interval, perception is performed according to the perception-related information.

[0037] Optionally, it also includes:

[0038] Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

[0039] Optionally, the start time of the time interval is one of the following times: the effective time of the beam-related information, the receiving time of the beam-related information, and the sending time of the confirmation message of the beam-related information.

[0040] Optionally, the start time of the time interval is the sending time of the beam failure recovery request, wherein the beam-related information is the beam failure recovery response.

[0041] Optionally, the performing perception according to the perception-related information includes:

[0042] Within the time window, perception is performed according to the perception-related information.

[0043] Optionally, it also includes:

[0044] Time window configuration information is received, where the time window configuration information indicates the time window.

[0045] Optionally, the time window configuration information includes at least one of the following:

[0046] The start position, length, and end position of the time window.

[0047] Optionally, it also includes:

[0048] Determine the start time of sensing according to the effective time of the beam-related information; or

[0049] Determine the start time of sensing according to the reception time of the beam-related information; or

[0050] The sensing start time is determined according to the sending time of the confirmation message of the beam related information.

[0051] In a second aspect, an embodiment of the present application provides a perception method, the method comprising:

[0052] Sending a beam update request, wherein the beam update request is associated with sensing related information;

[0053] Perception is performed according to the perception-related information.

[0054] In this method, the beam update request is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0055] Optionally, the beam update request is associated with the sensing related information, including:

[0056] The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

[0057] Optionally, the performing perception according to the perception-related information includes:

[0058] After sending the beam update request, after a first time interval, perception is performed according to the perception-related information.

[0059] Optionally, it also includes:

[0060] First time interval configuration information is received, where the first time interval configuration information indicates a length of the first time interval.

[0061] Optionally, the start time of the first time interval is the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0062] Optionally, the performing perception according to the perception-related information includes:

[0063] Within the time window, perception is performed according to the perception-related information.

[0064] Optionally, it also includes:

[0065] Time window configuration information is received, where the time window configuration information indicates the time window.

[0066] Optionally, the time window configuration information includes at least one of the following:

[0067] The start position, length, and end position of the time window.

[0068] Optionally, the performing perception according to the perception-related information includes:

[0069] After sending the beam update request, after a second time interval, perception is performed according to the perception-related information.

[0070] Optionally, it also includes:

[0071] Second time interval configuration information is received, where the second time interval configuration information indicates a length of the second time interval.

[0072] Optionally, the start time of the second time interval is one of the following times: the effective time of the beam update response, the reception time of the beam update response, and the sending time of the confirmation message of the beam update response;

[0073] The beam update response is a response to the beam update request.

[0074] Optionally, it also includes:

[0075] Determine the sensing start time according to the sending time of the beam update request; or

[0076] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0077] Optionally, the perception-related information indicates at least one of the following:

[0078] Perception request, perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0079] Optionally, it also includes:

[0080] Receive a perception trigger indication.

[0081] Optionally, it also includes:

[0082] A beam update response is received, where the beam update response is associated with perception-related information, and the beam update response is a response to the beam update request.

[0083] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0084] In a third aspect, an embodiment of the present application provides a perception method, the method comprising:

[0085] After receiving beam-related information, perception is performed.

[0086] In this method, after receiving beam-related information, perception is performed, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be initiated when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is implemented in the synaesthesia integrated system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, obtaining terminal surrounding environment information in a timely and accurate manner, updating the environmental map on the network side, and improving communication performance.

[0087] Optionally, after receiving the beam-related information, the sensing includes:

[0088] After receiving the beam-related information, sensing is performed after a time interval.

[0089] Optionally, it also includes:

[0090] Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

[0091] Optionally, the starting time of the time interval is: the effective time of the beam-related information, the receiving time of the beam-related information, or the sending time of the confirmation message of the beam-related information.

[0092] Optionally, the start time of the time interval is the sending time of the beam failure recovery request, wherein the beam-related information is the beam failure recovery response.

[0093] Optionally, after receiving the beam-related information, the sensing includes:

[0094] After receiving beam-related information, perception is performed within the time window.

[0095] Optionally, it also includes:

[0096] Time window configuration information is received, where the time window configuration information indicates the time window.

[0097] Optionally, the time window configuration information includes at least one of the following:

[0098] The start position, length, and end position of the time window.

[0099] Optionally, it also includes:

[0100] Determine the start time of sensing according to the effective time of the beam-related information; or

[0101] Determine the start time of sensing according to the reception time of the beam-related information; or

[0102] The sensing start time is determined according to the sending time of the confirmation message of the beam related information.

[0103] Optionally, it also includes:

[0104] Receive perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

[0105] Optionally, the received beam-related information includes:

[0106] receiving beam configuration information, where the beam configuration information includes the beam-related information; or

[0107] receiving a beam activation command, where the beam activation command includes the beam-related information; or

[0108] Downlink control information is received, where the downlink control information includes the beam-related information.

[0109] Optionally, the beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

[0110] Optionally, the sensing includes:

[0111] Perception is performed according to perception-related information; the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0112] In a fourth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0113] After sending the beam update request, sensing is performed.

[0114] In this method, after sending a beam update request, perception is performed, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal's surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0115] Optionally, after sending the beam update request, performing sensing includes:

[0116] After sending the beam update request, sensing is performed after a first time interval.

[0117] Optionally, it also includes:

[0118] First time interval configuration information is received, where the first time interval configuration information indicates a length of the first time interval.

[0119] Optionally, the start time of the first time interval is the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0120] Optionally, after sending the beam update request, performing sensing includes:

[0121] After sending the beam update request, sensing is performed within the time window.

[0122] Optionally, it also includes:

[0123] Time window configuration information is received, where the time window configuration information indicates the time window.

[0124] Optionally, the time window configuration information includes at least one of the following:

[0125] The start position, length, and end position of the time window.

[0126] Optionally, after sending the beam update request, performing sensing includes:

[0127] After sending the beam update request, sensing is performed after a second time interval.

[0128] Optionally, it also includes:

[0129] Second time interval configuration information is received, where the second time interval configuration information indicates a length of the second time interval.

[0130] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the reception time of the beam update response, or the sending time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0131] Optionally, it also includes:

[0132] A sensing enable indication information is received, where the sensing enable indication information indicates that the beam update request is used to trigger sensing.

[0133] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0134] Optionally, the sensing includes:

[0135] Perception is performed according to perception-related information; the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0136] Optionally, it also includes:

[0137] Determine the sensing start time according to the sending time of the beam update request; or

[0138] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0139] In a fifth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0140] determining beam-related information, where the beam-related information is associated with sensing-related information, and the beam-related information indicates a beam for signal transmission;

[0141] The beam-related information is sent.

[0142] In this method, beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, perception behavior can be initiated when beam update behavior occurs, without the need to additionally transmit the signaling required for perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, obtaining terminal surrounding environment information in a timely and accurate manner, updating the environmental map on the network side, and improving communication performance.

[0143] Optionally, the perception-related information indicates at least one of the following:

[0144] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, and perception report configuration.

[0145] Optionally, it also includes:

[0146] Send a perception trigger indication.

[0147] Optionally, the perception-related information indicates at least one of the following:

[0148] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0149] Optionally, the beam-related information is associated with perception-related information, including:

[0150] The beam-related information is a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

[0151] Optionally, the TCI state is associated with the perception-related information, including:

[0152] The TCI status includes the perception related information; or,

[0153] The TCI state includes a quasi-co-located source reference signal QCL source RS, and the QCL source RS is associated with the perception-related information.

[0154] Optionally, the beam-related information is associated with perception-related information, including:

[0155] The beam-related information is a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

[0156] Optionally, it also includes:

[0157] A beam failure recovery request is received, where the beam failure recovery request is associated with perception request information, where the perception request information is used to request perception.

[0158] Optionally, the transmit beam related information includes:

[0159] sending beam configuration information, where the beam configuration information includes the beam-related information; or

[0160] sending a beam activation command, where the beam activation command includes the beam-related information; or

[0161] Send downlink control information, where the downlink control information includes the beam-related information.

[0162] Optionally, it also includes:

[0163] Sending awareness configuration information; the awareness configuration information includes at least one of the following:

[0164] Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information.

[0165] Optionally, it also includes:

[0166] Perception is performed according to the perception-related information.

[0167] Optionally, the performing perception according to the perception-related information includes:

[0168] After sending the beam related information, after a time interval, perception is performed according to the perception related information.

[0169] Optionally, it also includes:

[0170] Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

[0171] Optionally, the starting time of the time interval is: the sending time of the beam-related information, the effective time of the beam-related information, or the receiving time of the confirmation message of the beam-related information.

[0172] Optionally, the start time of the time interval is the reception time of the beam failure recovery request, wherein the beam-related information is a beam failure recovery response.

[0173] Optionally, the performing perception according to the perception-related information includes:

[0174] Within the time window, perception is performed according to the perception-related information.

[0175] Optionally, it also includes:

[0176] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0177] Optionally, the time window configuration information includes at least one of the following:

[0178] The start position, length, and end position of the time window.

[0179] Optionally, it also includes:

[0180] Determine the start time of sensing according to the sending time of the beam related information; or,

[0181] Determine the start time of sensing according to the effective time of the beam-related information; or

[0182] The starting time of the perception is determined according to the reception time of the confirmation message of the beam related information.

[0183] In a sixth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0184] receiving a beam update request, the beam update request being associated with sensing related information;

[0185] Perception is performed according to the perception-related information.

[0186] In this method, the beam update request is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0187] Optionally, the perception-related information indicates at least one of the following:

[0188] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, and perception report configuration.

[0189] Optionally, it also includes:

[0190] Send a perception trigger indication.

[0191] Optionally, the beam update request is associated with the sensing related information, including:

[0192] The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

[0193] Optionally, the performing perception according to the perception-related information includes:

[0194] After receiving the beam update request, after a first time interval, perception is performed according to the perception-related information.

[0195] Optionally, it also includes:

[0196] First time interval configuration information is sent, where the first time interval configuration information indicates a length of the first time interval.

[0197] Optionally, the start time of the first time interval is the reception time of the beam update request, or the sending time of the confirmation message of the beam update request.

[0198] Optionally, the performing perception according to the perception-related information includes:

[0199] Within the time window, perception is performed according to the perception-related information.

[0200] Optionally, it also includes:

[0201] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0202] Optionally, the time window configuration information includes at least one of the following:

[0203] The start position, length, and end position of the time window.

[0204] Optionally, the performing perception according to the perception-related information includes:

[0205] After receiving the beam update request, after a second time interval, perception is performed according to the perception-related information.

[0206] Optionally, it also includes:

[0207] Second time interval configuration information is sent, where the second time interval configuration information indicates a length of the second time interval.

[0208] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the sending time of the beam update response, or the receiving time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0209] Optionally, it also includes:

[0210] Determining a sensing start time according to a reception time of the beam update request; or

[0211] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0212] Optionally, it also includes:

[0213] A beam update response is sent, where the beam update response is associated with the perception-related information, and the beam update response is a response to the beam update request.

[0214] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0215] In a seventh aspect, an embodiment of the present application provides a perception method, the method comprising:

[0216] After sending the beam-related information, sensing is performed.

[0217] In this method, after sending beam-related information, perception is performed, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the integrated synaesthesia system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal's surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0218] Optionally, after sending the beam-related information, performing sensing includes:

[0219] After the beam-related information is sent, sensing is performed after a time interval.

[0220] Optionally, it also includes:

[0221] Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

[0222] Optionally, the starting time of the time interval is: the effective time of the beam-related information, the sending time of the beam-related information, or the receiving time of the confirmation message of the beam-related information.

[0223] Optionally, the start time of the time interval is the reception time of the beam failure recovery request, wherein the beam-related information is a beam failure recovery response.

[0224] Optionally, after sending the beam-related information, performing sensing includes:

[0225] After sending the beam-related information, sensing is performed within the time window.

[0226] Optionally, it also includes:

[0227] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0228] Optionally, the time window configuration information includes at least one of the following:

[0229] The start position, length, and end position of the time window.

[0230] Optionally, it also includes:

[0231] Determine the start time of sensing according to the effective time of the beam-related information; or

[0232] Determine the start time of sensing according to the sending time of the beam related information; or,

[0233] The starting time of the perception is determined according to the reception time of the confirmation message of the beam related information.

[0234] Optionally, it also includes:

[0235] Sending sensing enable indication information, where the sensing enable indication information indicates that the beam-related information is used to trigger sensing.

[0236] Optionally, the transmit beam related information includes:

[0237] sending beam configuration information, where the beam configuration information includes the beam-related information; or

[0238] sending a beam activation command, where the beam activation command includes the beam-related information; or

[0239] Send downlink control information, where the downlink control information includes the beam-related information.

[0240] Optionally, the beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

[0241] Optionally, the sensing includes:

[0242] Perception is performed according to perception-related information; the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0243] In an eighth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0244] After receiving the beam update request, sensing is performed.

[0245] In this method, after receiving a beam update request, perception is performed, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be initiated when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is implemented in the synaesthesia integrated system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, obtaining terminal surrounding environment information in a timely and accurate manner, updating the environmental map on the network side, and improving communication performance.

[0246] Optionally, after receiving the beam update request, performing sensing includes:

[0247] After receiving the beam update request, sensing is performed after a first time interval.

[0248] Optionally, it also includes:

[0249] First time interval configuration information is sent, where the first time interval configuration information indicates a length of the first time interval.

[0250] Optionally, the start time of the first time interval is the reception time of the beam update request, or the sending time of the confirmation message of the beam update request.

[0251] Optionally, after receiving the beam update request, performing sensing includes:

[0252] After receiving the beam update request, sensing is performed within a time window.

[0253] Optionally, it also includes:

[0254] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0255] Optionally, the time window configuration information includes at least one of the following:

[0256] The start position, length, and end position of the time window.

[0257] Optionally, after receiving the beam update request, performing sensing includes:

[0258] After receiving the beam update request, sensing is performed after a second time interval.

[0259] Optionally, it also includes:

[0260] Second time interval configuration information is sent, where the second time interval configuration information indicates a length of the second time interval.

[0261] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the sending time of the beam update response, or the receiving time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0262] Optionally, it also includes:

[0263] Determining a sensing start time according to a reception time of the beam update request; or

[0264] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0265] Optionally, it also includes:

[0266] Sending sensing enable indication information, where the sensing enable indication information indicates that the beam update request is used to trigger sensing.

[0267] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0268] Optionally, the sensing includes:

[0269] Perception is performed according to perception-related information; the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0270] In a ninth aspect, an embodiment of the present application provides a device, comprising:

[0271] a communication unit, configured to receive beam-related information, where the beam-related information is associated with sensing-related information, and the beam-related information indicates a beam used for signal transmission;

[0272] A processing unit is used to perform perception based on the perception-related information.

[0273] In a tenth aspect, an embodiment of the present application provides a device, comprising:

[0274] A communication unit, configured to send a beam update request, wherein the beam update request is associated with perception-related information;

[0275] A processing unit is used to perform perception based on the perception-related information.

[0276] In an eleventh aspect, an embodiment of the present application provides a device, comprising: a communication unit and a processing unit; wherein,

[0277] The processing unit is configured to perform perception after the communication unit receives beam-related information.

[0278] In a twelfth aspect, an embodiment of the present application provides a device, comprising: a communication unit and a processing unit; wherein,

[0279] The processing unit is configured to perform perception after the communication unit sends a beam update request.

[0280] In a thirteenth aspect, an embodiment of the present application provides a device, comprising:

[0281] a processing unit, configured to determine beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam for signal transmission;

[0282] A communication unit is used to send the beam related information.

[0283] In a fourteenth aspect, an embodiment of the present application provides a device, comprising:

[0284] A communication unit, configured to receive a beam update request, wherein the beam update request is associated with perception-related information;

[0285] A processing unit is used to perform perception based on the perception-related information.

[0286] In a fifteenth aspect, an embodiment of the present application provides a device, comprising: a communication unit and a processing unit; wherein,

[0287] A processing unit is used to sense after the communication unit sends beam-related information.

[0288] In a sixteenth aspect, an embodiment of the present application provides a device, comprising: a communication unit and a processing unit; wherein,

[0289] The processing unit is configured to perform perception after the communication unit receives the beam update request.

[0290] In a seventeenth aspect, an embodiment of the present application provides a communication device, including:

[0291] One or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, cause the communication device to execute the method described in any one of the first to fourth aspects.

[0292] In an eighteenth aspect, an embodiment of the present application provides a communication device, including:

[0293] One or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the network side device to execute the method described in any one of aspects 5 to 8.

[0294] In the nineteenth aspect, an embodiment of the present application provides a communication system, comprising the communication device described in the seventeenth aspect and the communication device described in the eighteenth aspect.

[0295] In the twentieth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer executes the method described in any one of the first to eighth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0296] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0297] FIG1A to FIG1E are example diagrams of synaesthesia integration business scenarios provided by embodiments of the present application;

[0298] FIG2 is a schematic diagram of a reference model of a perception service provided by a synaesthesia integration system according to an embodiment of the present application;

[0299] 3A to 3F are schematic diagrams of sensing modes provided in an embodiment of the present application;

[0300] FIG4A is a schematic diagram of a scenario in which the sensing method provided in an embodiment of the present application is applicable;

[0301] FIG4B is a schematic diagram of a system architecture applicable to the sensing method according to an embodiment of the present application;

[0302] FIG5A is a schematic diagram of a flow chart of a sensing method provided in an embodiment of the present application;

[0303] FIG5B is a schematic diagram of a method for determining the perceived time according to an embodiment of the present application;

[0304] FIG6 is another flowchart of a sensing method according to an embodiment of the present application;

[0305] FIG7A is a schematic diagram of a third flow chart of the sensing method provided in an embodiment of the present application;

[0306] FIG7B is a schematic diagram of a fourth flow chart of the sensing method provided in an embodiment of the present application;

[0307] FIG7C is a schematic diagram of a fifth flow chart of the sensing method provided in an embodiment of the present application;

[0308] FIG8 is a sixth flow chart of the sensing method provided in an embodiment of the present application;

[0309] FIG9 is a seventh flow chart of the sensing method provided in an embodiment of the present application;

[0310] FIG10 is a schematic diagram of an eighth flow chart of the sensing method provided in an embodiment of the present application;

[0311] FIG11 is a ninth flow chart of the sensing method according to an embodiment of the present application;

[0312] FIG12A is a schematic diagram of a tenth flow chart of a sensing method provided in an embodiment of the present application;

[0313] FIG12B is a schematic diagram of an eleventh flow chart of the sensing method provided in an embodiment of the present application;

[0314] FIG12C is a schematic diagram of a twelfth flow chart of the sensing method provided in an embodiment of the present application;

[0315] FIG13 is a schematic diagram of the thirteenth flow chart of the sensing method provided in an embodiment of the present application;

[0316] FIG14 is a schematic diagram of a fourteenth flow chart of a sensing method provided in an embodiment of the present application;

[0317] FIG15 is a schematic diagram of a fifteenth flow chart of the sensing method provided in an embodiment of the present application;

[0318] FIG16A is a schematic diagram of a sixteenth flow chart of a sensing method provided in an embodiment of the present application;

[0319] FIG16B is a schematic diagram of a seventeenth flow chart of the sensing method provided in an embodiment of the present application;

[0320] FIG16C is a schematic diagram of the eighteenth flow chart of the sensing method provided in an embodiment of the present application;

[0321] FIG17A is a schematic diagram of a nineteenth flow chart of a sensing method provided in an embodiment of the present application;

[0322] FIG17B is a schematic diagram of the twentieth flow chart of the sensing method provided in an embodiment of the present application;

[0323] FIG17C is a schematic diagram of the twenty-first flow chart of the sensing method provided in an embodiment of the present application;

[0324] FIG18 is a schematic diagram of a structure of a sensing device provided in an embodiment of the present application;

[0325] FIG19 is another schematic diagram of the structure of a sensing device provided in an embodiment of the present application;

[0326] FIG20 is a schematic diagram of a third structural embodiment of a sensing device provided in an embodiment of the present application;

[0327] FIG21 is a schematic diagram of a fourth structure of a sensing device provided in an embodiment of the present application;

[0328] FIG22 is a schematic diagram of a fifth structure of a sensing device provided in an embodiment of the present application;

[0329] FIG23 is a schematic diagram of a sixth structural embodiment of a sensing device provided in an embodiment of the present application;

[0330] FIG24 is a schematic diagram of a seventh structure of a sensing device provided in an embodiment of the present application;

[0331] FIG25 is a schematic diagram of an eighth structural embodiment of a sensing device provided in an embodiment of the present application;

[0332] FIG26 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0333] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.

[0334] Synaesthesia integration is considered a technology with broad application prospects. Its service scope will go beyond traditional communication dimensions, enabling the simultaneous provision of both perception and communication services using the same equipment. Simply put, perception services are wireless sensing capabilities that use radio waves to explore the physical world, enabling high-resolution perception, positioning, imaging, environmental reconstruction, posture and gesture recognition, health monitoring, and material monitoring.

[0335] The following examples illustrate the applicable scenarios of synaesthesia integration technology.

[0336] Figure 1A shows a smart traffic scenario. In this scenario, vehicles and road units can not only communicate but also transmit perception signals to monitor traffic conditions in real time, thereby realizing the perception of road condition information and optimizing traffic.

[0337] Figure 1B shows a drone monitoring scenario, where the synaesthesia integration technology can be used to achieve flight path planning for authorized drones and intrusion detection for unauthorized drones.

[0338] Figure 1C shows a smart factory scenario, in which smart base stations, smart terminals, and robots can use synesthesia technology to complete functions such as product detection, counting, location perception, unmanned area monitoring, gesture recognition, and environmental recognition.

[0339] FIG1D shows a respiratory monitoring scenario, in which the respiratory monitoring device can monitor the heartbeat and respiration of the human body through the synaesthesia integration technology.

[0340] FIG1E shows a gesture recognition scenario, in which the smart terminal can use synaesthesia integration technology to recognize user gestures.

[0341] It can be seen that synaesthesia integration technology will bring great changes to people's production and life in scenarios represented by smart transportation shown in Figure 1A, drone monitoring shown in Figure 1B, smart factories shown in Figure 1C, respiratory monitoring shown in Figure 1D, and gesture recognition shown in Figure 1E.

[0342] In integrated synaesthesia services, communication and perception capabilities are not isolated; they empower each other to achieve a better user experience. Specifically, based on the relationship between communication and perception capabilities, integrated synaesthesia services can be divided into communication-assisted perception services and perception-assisted communication services. In communication-assisted perception services, reference signals from wireless communications can be used as perception signals to implement services such as target positioning, speed measurement, and gesture recognition. High-speed and reliable communication capabilities also ensure the aggregation of perception data, further improving perception accuracy and resolution. In perception-assisted communication services, wireless sensing technology is used to detect and perceive the wireless communication environment and communication nodes, obtaining a variety of prior information such as environmental maps, communication node locations, and movement speeds. Using this perception information and results, the communication system assists in algorithm selection, parameter setting, and optimization for modules such as channel estimation, equalization, and beam management.

[0343] The integrated telepathy service is a service that integrates communication and perception. From the perspective of system architecture, the integration of communication and perception can be divided into the following three levels of integration: business layer integration, service layer integration, and air interface integration.

[0344] For service-layer convergence, the wireless mobile communication system only serves as a data transmission channel for third-party perception services and does not provide perception services itself. Third-party perception services refer to perception services provided by systems other than the wireless mobile communication system, including those based on radar, cameras, etc.

[0345] Regarding service-layer convergence, wireless mobile communication systems will develop application-oriented, endogenous perception services based on the perception and communication data acquired by third-party perception units, communication units, and future integrated interawareness units. Third-party perception units include radars, cameras, and other such units. Service-layer convergence involves modifications to the service and functional layers of wireless mobile communication systems, such as the 6G system architecture.

[0346] For air interface convergence, wireless mobile communication systems will develop endogenous sensing services based on the sensing data acquired by the integrated communication and sensing unit at the air interface level. The integrated communication and sensing unit acquires sensing data by transmitting and receiving sensing signals and integrated synaesthesia signals. Synaesthesia signals are wireless signals used for both sensing and communication. Air interface convergence involves modifications to the functional and resource layers of wireless mobile communication system architectures, such as those in 6G systems.

[0347] The reference model of the perception service provided by the synaesthesia integration system is shown in Figure 2. In this model, the perception service client can request the perception information of the perception object from the perception server. The perception server responds to the perception request, performs the perception function, obtains the perception information of the perception object, and provides it to the perception service client.

[0348] The perception service client may be an entity outside the synaesthesia integration system or an entity inside the synaesthesia integration system (eg, a terminal, a network function in a core network).

[0349] The perceived objects and perceived information vary depending on the synaesthesia integration service. For example, the perceived objects can be the environment, objects, people, etc., and the perceived information can be environmental maps, object images, people's speed and position, etc.

[0350] The perception server is implemented within the synaesthesia integration system, based on the architecture of a wireless mobile communication system, which includes a core network, a wireless access network, and terminals. The perception server determines the perception information of the perceived object based on the perception data obtained by the synaesthesia integration unit and third-party perception units. The synaesthesia integration unit obtains perception data by measuring perception signals configured within the system. These perception signals include signals dedicated to perception as well as signals used for both perception and communication. The technologies used by third-party perception units to obtain perception data are beyond the scope of the synaesthesia integration system.

[0351] The process of sensing services may include:

[0352] S1: The perception service client sends a perception request to the perception server.

[0353] S2: The security and privacy protection functional entity in the perception server performs security and privacy checks.

[0354] S3: If the security and privacy checks pass, the perception task management functional entity in the perception server determines the perception method, perception nodes, etc. If the perception data is obtained through the synaesthesia integration unit, perception resource scheduling is required, and the synaesthesia integration unit performs perception signal transmission, reception, and measurement.

[0355] S4: The perception data processing functional entity in the perception server determines the final perception information based on the perception data obtained by the synaesthesia integration unit and the third-party perception unit.

[0356] S5: The perception response returned by the perception server to the perception service client contains the final perception information.

[0357] Based on the wireless mobile communication system architecture, there are currently the following considerations for the allocation of various functions to network elements.

[0358] First, resource layer functions are allocated by sharing equipment and components with network elements in the resource layer of wireless mobile communication systems, thereby saving costs. Resource layer sensing signal transmission, sensing signal reception and measurement, as well as third-party sensing technologies, can be distributed to radio access network nodes and terminals that traditionally transmit and receive wireless signals.

[0359] Secondly, the allocation of functional layer functions should be considered distributed across multiple network elements in the interawareness integrated system. For example, centralized allocation of perception data processing functions requires network elements to have high computing power and transmission bandwidth support, while layered allocation of perception data processing functions to the core network, access network, and terminals can effectively alleviate the requirements for computing power and transmission bandwidth for each network element. For another example, perception task management functions can be allocated to the core network to support perception services with a larger perception range, or to the access network to more efficiently support perception services that assist access network communications.

[0360] Third, whether to independently allocate each function to different network elements or to the same network element requires a comprehensive consideration of factors such as interface interaction latency and flexible and elastic organization. For example, control functions such as perception task management and perception data processing functions are allocated to different network elements to achieve control and data separation, which can support more flexible deployment. For example, the perception task management entity is deployed in the core layer, and the perception data processing entity is deployed in the edge layer, which is suitable for perception services with high bandwidth and high privacy and security requirements. The allocation of control functions such as perception task management and perception data processing functions to the same network element can avoid interface interaction between the two functions, reduce interfaces with other functions, and reduce overall process complexity.

[0361] In an integrated synaesthesia system, different sensing modes are formed depending on the different nodes that transmit and receive the sensing signals. These modes also influence the design of key synaesthesia air interface technologies. Specific sensing modes include: base station self-transmission and self-reception, base station A transmits and base station B receives, base station transmits and terminal receives, terminal transmits and base station receives, terminal self-transmission and self-reception, and terminal A transmits and terminal B receives.

[0362] For example, the base station's self-transmitting and self-receiving sensing mode is shown in FIG3A , where the base station sends a sensing signal and receives the sensing signal sent by itself to perform sensing.

[0363] For example, the sensing pattern of base station A sending and base station B receiving is shown in FIG3B , where base station A sends a sensing signal and base station B receives the sensing signal sent by base station A for sensing.

[0364] For example, the sensing mode of the base station and the terminal is shown in FIG3C , where the base station sends a sensing signal, and the terminal receives the sensing signal sent by the base station for sensing.

[0365] For example, the sensing mode of the terminal sending and the base station receiving is shown in FIG3D , where the terminal sends a sensing signal and the base station receives the sensing signal sent by the terminal for sensing.

[0366] For example, the terminal's self-transmitting and self-receiving sensing mode is shown in FIG3E , where the terminal sends a sensing signal and receives the sensing signal sent by itself to perform sensing.

[0367] For example, the perception mode of terminal A sending and terminal B receiving is shown in FIG3F , where terminal A sends a perception signal and terminal B receives the perception signal from terminal A for perception.

[0368] The characteristics of the perception modes shown in FIG. 3A to FIG. 3F are described in detail below.

[0369] Specifically, the base station self-transmission and self-reception shown in Figure 3A and the terminal self-transmission and self-reception shown in Figure 3E are monostatic sensing methods, where sensing is performed by a single node, similar to traditional monostatic radar. Because the transmitter and receiver are co-located, the sensing signal in the monostatic sensing method does not need to be a dedicated pilot signal; data-carrying communication signals can also be used for monostatic sensing. Furthermore, because the transmitter and receiver share the same hardware platform, clock synchronization between the transmitter and receiver can be easily achieved. Furthermore, the sensing results can be directly interpreted by the node, without the need for additional data transmission or assistance from external devices. However, the monostatic mode requires full-duplex capability in the base station or terminal. The "base station A transmits" and "base station B receives" configuration shown in Figure 3B corresponds to a scenario where one base station transmits the sensing signal and the other receives it for sensing. This mode is similar to the operating mode of traditional bistatic radar. Due to the spatial separation of the transmitter and receiver, this mode does not require full-duplex capability in the transceiver, and clock synchronization between the transmitter and receiver is also relatively easy to achieve. However, this mode requires dedicated sensing signals, and positional and synchronization errors between the transmitter and receiver can also affect the sensing results. The base station transmission and terminal reception shown in Figure 3C and the terminal transmission and base station reception shown in Figure 3D represent another form of dual-base operating mode, where one of the transmitter and receiver is the base station and the other is the terminal. The base station transmission and terminal reception shown in Figure 3C and the terminal transmission and base station reception shown in Figure 3D can also use communication signals carrying data for perception, but the communication data must be decoded before perception processing. If a decoding error occurs in the communication data (for example, in an operating environment with a very low signal-to-noise ratio), perception performance will deteriorate. In addition, transceiver clock synchronization of the base station transmission and terminal reception shown in Figure 3C and the terminal transmission and base station reception shown in Figure 3D is also a challenge. The terminal A transmission and terminal B reception shown in Figure 3F also have the characteristics of the base station transmission and terminal reception shown in Figure 3C and the terminal transmission and base station reception shown in Figure 3D. The perception function in the terminal self-transmission and self-reception shown in Figure 3E and the terminal A transmission and terminal B reception shown in Figure 3F is relatively independent of the wireless communication network and can even be perceived outside the coverage of the wireless communication network. However, due to the limitation of terminal transmission power, the sensing range of the terminal self-transmitting and self-receiving shown in FIG3E and the terminal A transmitting and terminal B receiving shown in FIG3F is smaller than that of other methods. In addition, the position error caused by the mobility of the terminal will affect the sensing result.

[0370] Furthermore, control functions such as perception task management and perception data processing can be flexibly distributed among core network devices, access network devices, and / or terminals. For example, in typical scenarios such as environmental map maintenance and navigation and obstacle avoidance, the core network devices can control access network devices (such as base stations) and terminals to execute perception services and report perception results, or the access network devices can control the execution of perception services.

[0371] When network-side devices, such as core network devices and access network devices, perform perception, the environmental information they obtain from their surroundings is limited by their geographic location and their sensing range. Consequently, the resulting environmental information may be incomplete. For example, the presence of obstacles may prevent the network-side device from reconstructing complete environmental information.

[0372] When combined with terminal-assisted perception, the network device can determine the terminal's approximate location based on its own perception and, combined with the terminal's reported capabilities, determine whether to trigger terminal perception reporting and instruct the terminal to report parameters (perception azimuth range, number of obstacles, reflective surface size, reflection coefficient, etc.). The terminal performs perception based on the network device's instructions and reports the perception results to the network device. Based on the network device's perception results and the terminal's perception results, the network device reconstructs the surrounding environment (e.g., creates a 3D map) and determines the optimal transmit and receive beams.

[0373] However, as shown in Figure 4A, when the terminal is moving or rotating, the beam link between the network-side device and the terminal changes. At this time, if the network-side device needs to obtain or update the new beam link surrounding environment information, the network-side device can instruct the terminal to perform perception services, but the signaling process of the network-side device triggering the perception behavior has a large delay (such as the network-side device sending the configuration of the perception parameters, the network-side device triggering perception, the terminal detecting the perception signal sent by the network-side device, or the terminal sending the perception signal to the network-side device), and cannot timely monitor the spatial environment around the new beam link, and cannot timely implement tracking and early warning (such as intrusion tracking, navigation obstacle avoidance, etc.), and the network-side device cannot timely update the environmental map of the terminal's new location.

[0374] In view of this, the embodiments of the present application also provide another perception method, device and equipment, which can improve the accuracy and timeliness of the communication and perception integrated system's environmental perception.

[0375] The system architecture applicable to the sensing method according to the embodiment of the present application is shown in FIG4B , for example, and includes a core network, an access network, and a terminal. The core network may include a core network server, and the access network may include access network equipment, wherein the access network equipment may include a base station, a transmission and reception point (TRP), etc. The core network server and the access network equipment may be collectively referred to as network-side equipment.

[0376] The terminal in the embodiments of the present application can be, for example, user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0377] In a perception method provided in an embodiment of the present application, by associating perception-related information with beam-related information, a terminal can obtain the perception-related information upon receiving beam-related information and perform perception in a timely manner. This is exemplified below with reference to Figures 5A to 11.

[0378] In the embodiment of the present application shown in FIG5A , the perception-related information is associated with the beam-related information, and the perception-related information is indicated to the terminal.

[0379] FIG5A is a schematic diagram of a first flow chart of a sensing method provided in an embodiment of the present application, which can be executed by a terminal. As shown in FIG5A , the method may include:

[0380] Step 501: Receive beam-related information, where the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission.

[0381] Optionally, beam-related information may be transmitted via explicit signaling.

[0382] Optionally, the perception-related information is used to indicate information associated with perception, or parameter information, configuration information, etc. required for perception. In some embodiments, the perception-related information may also be referred to as perception information.

[0383] Optionally, the signal in the beam used for signal transmission may include an uplink signal, a downlink signal, or a sidelink signal, etc.

[0384] In one example, the association of beam-related information with perception-related information is achieved by:

[0385] The beam-related information may be a transmission configuration indication state (TCI state), where the TCI state is associated with the above-mentioned perception-related information.

[0386] In another example, the association between the TCI state and the above-mentioned perception-related information is achieved in the following manner: the TCI state includes a quasi-co-located source reference signal (QCL source RS), and the quasi-co-located source reference signal is associated with the above-mentioned perception-related information.

[0387] Optionally, the beam-related information is received in this step by:

[0388] receiving beam configuration information, where the beam configuration information includes beam-related information; or

[0389] receiving a beam activation command, where the beam activation command includes beam-related information; or

[0390] Receive downlink control information, where the downlink control information includes beam-related information.

[0391] For example, in the beam update behavior, a network-side device such as a base station can configure a TCI state pool (pool) through radio resource control (RRC) signaling, and then activate one or more TCI states through medium access control (MAC) control element (CE) signaling. When multiple TCI states are activated, downlink control information (DCI) can be used to indicate at least one activated TCI state. The above-mentioned beam configuration information can be, for example, the RRC signaling for configuring the TCI state pool, and the beam-related information can be at least one TCI state in the TCI state pool configured by the RRC signaling, or the beam-related information can be a quasi-co-located source reference signal included in at least one TCI state in the TCI state pool configured by the RRC signaling. The above-mentioned beam activation command can be, for example, the MAC CE signaling for activating the TCI state, and the beam-related information can be at least one TCI state in the TCI state activated by the MAC CE signaling, or the beam-related information can be a quasi-co-located source reference signal included in at least one TCI state in the TCI state activated by the MAC CE signaling. The above-mentioned downlink control information may be, for example, the DCI indicating the TCI state, and the beam-related information may be at least one TCI state among the TCI states indicated by the DCI, or the beam-related information may be a quasi-co-site source reference signal included in at least one TCI state among the TCI states indicated by the DCI.

[0392] In another embodiment, the beam-related information may include a beam failure recovery response (BFRR). In other words, the beam-related information may be implemented through BFRR, or may also include information other than BFRR. A beam failure recovery response (BFRR) is response information sent by an access network device or a core network server to a terminal after receiving a beam failure recovery request (BFRQ) from the terminal. BFRR is typically carried using a physical downlink control channel (PDCCH). The new beam information takes effect after a preset time period following the BFRR.

[0393] Optionally, when the beam-related information includes BFRR, step 501 may further include: sending BFRQ.

[0394] Optionally, BFRQ may be associated with perception request information, where the perception request information is used to request perception.

[0395] BFRQ is information sent by the terminal to the network side device when the terminal finds a beam failure event through measurement. BFRQ is usually carried on the MAC CE or the physical random access channel (PRACH).

[0396] Optionally, the above-mentioned association of the beam-related information with the perception-related information may specifically include: the beam-related information includes the perception-related information, or there is a corresponding relationship between the beam-related information and the perception-related information.

[0397] The above-mentioned beam-related information includes perception-related information. For example, a field is added to the existing beam-related information to indicate the perception-related information, or a field in the existing beam-related information can be used to indicate the perception-related information.

[0398] For example, the correspondence between beam-related information and perception-related information can be pre-configured to the terminal by the network side device. Accordingly, the terminal can determine the perception-related information corresponding to the received beam-related information based on the correspondence, thereby determining the perception-related information associated with the received beam-related information.

[0399] Taking the implementation of beam-related information through TCI state or QCL source RS as an example, the correspondence between the above beam-related information and perception-related information is shown in Table 1 below.

[0400] Table 1

[0401] It should be noted that the network-side device can associate some TCI states or some QCL source RSs with perception-related information, or can associate all TCI states or all QCL source RSs with perception-related information. As shown in Table 1, multiple TCI states or multiple QCL source RSs can be associated with the same perception signal, and multiple TCI states or multiple QCL source RSs can be associated with the same perception report.

[0402] In one example, the perception-related information indicates at least one of the following:

[0403] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0404] The perception association status indicates a situation in which beam-related information is associated with perception-related information. For example, there may be 1 bit of information in the beam-related information to indicate the perception association status. When the 1-bit information is 0, it indicates that the beam-related information is not associated with perception-related information; when the 1-bit information is 1, it indicates that the beam-related information is associated with perception-related information. Alternatively, when the 1-bit information is a specific value (such as 1), it indicates that the beam-related information is associated with perception-related information; when the 1-bit information is empty, or the 1-bit information is absent in the beam-related information, it indicates that the beam-related information is not associated with perception-related information.

[0405] The perception trigger indication is used to trigger the terminal to perform perception.

[0406] The perception mode may include: the network side device sends a perception signal, the terminal measures and sends the perception result; the terminal sends a perception signal, the network side device measures and obtains the perception result; the network side device 1 sends a perception signal, the network side device 2 measures and sends the perception result; the terminal 1 sends a perception signal, the terminal 2 measures and sends the perception result.

[0407] Perception signals are used to detect and acquire environmental information. They are received, detected, and analyzed at the receiving end. Perception signals can be dedicated to perception services and can be multiplexed with communication signals in multiple dimensions (e.g., time, frequency, spatial, and code domains) with corresponding resource configurations. Perception signals can also be reference signals within communication signals, such as SSBs, CSI-RSs, SRSs, and reference signals used for positioning.

[0408] Optionally, the perception-related information may carry indication information of the perception mode, such as a perception mode identifier, to indicate a specific perception mode.

[0409] Optionally, the perception-related information may carry perception signal indication information to indicate a perception signal set, a perception signal resource, and / or a perception signal configuration. For example, the perception signal indication information may specifically include a perception signal identifier, a perception signal set identifier, a perception signal configuration identifier, and / or a perception signal resource identifier, etc.

[0410] Optionally, the perception-related information may carry configuration information of the perception report, or may carry an identifier of the perception report, and the identifier of the perception report is associated with the configuration information of the perception report.

[0411] For example:

[0412] The perception association status can be used to indicate to the terminal that the beam-related information subsequently sent by the network side device is associated with the perception-related information. At this time, the perception-related information associated with the beam-related information in this step can only indicate the perception association status, so that the terminal can know that the subsequent beam-related information is associated with the perception-related information based on the perception association status. At this time, the perception information associated with the beam-related information subsequently sent by the network side device to the terminal can indicate at least one of the perception trigger indication, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration.

[0413] Alternatively, the perception association status is used to indicate whether the beam-related information is associated with perception-related information. When the perception association status indicates that the beam-related information is associated with perception-related information, the terminal can further obtain the perception-related information associated with the beam-related information. The associated perception information can be pre-configured by the network-side device or indicated by the network-side device in the beam-related information. In this case, the perception-related information can also indicate at least one of a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, a perception report configuration, and a perception trigger indication.

[0414] Alternatively, if the terminal has already learned in advance through network-side device configuration or protocol regulations that there is only one set of perception configurations (including: one perception mode, one perception signal set, and one perception report configuration), the perception-related information may only indicate the perception association state, without indicating at least one of the perception mode, perception signal set, perception signal resource, perception signal configuration, perception report configuration, and perception trigger indication.

[0415] When the perception-related information associated with the beam-related information indicates at least one of the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and the configuration of the perception report, if the beam-related information also includes a perception trigger indication, the terminal can perform perception according to the perception trigger indication using information such as the perception mode, the perception signal, or the perception report, or the network side device sends a perception trigger indication to the terminal before or after indicating the beam-related information, and the terminal can perform perception according to the perception trigger indication using information such as the perception mode, the perception signal, or the perception report indicated by the perception-related information associated with the beam-related information.

[0416] If the terminal has already learned about the sensing mode, sensing signal set, sensing signal resources, sensing signal configuration, sensing report configuration and other information in advance through network-side device configuration or protocol provisions, and the network-side device hopes that the terminal will perform sensing after receiving beam-related information, then the sensing-related information may only indicate the sensing trigger indication. If the terminal has already learned about the sensing mode in advance through network-side device configuration or protocol provisions, and the network-side device hopes that the terminal will perform sensing after receiving beam-related information, then the sensing-related information may indicate at least one of the sensing trigger indication, sensing signal set, sensing signal resources, sensing signal configuration and sensing report configuration. Similarly, if the terminal has already learned about the sensing mode and sensing signal set in advance through network-side device configuration or protocol provisions, and the network-side device hopes that the terminal will perform sensing after receiving beam-related information, then the sensing-related information may indicate at least one of the sensing trigger indication and sensing report configuration. Other similar implementations are not listed one by one.

[0417] If, through network-side device configuration or protocol provisions, the terminal receives beam-related information associated with perception-related information and performs perception based on the perception-related information, the perception-related information associated with the beam-related information may not indicate a perception trigger indication, but only indicate at least one of the perception association status, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration.

[0418] It should be noted that, in some instances, beam-related information may also be referred to as beam information, and the beam-related information may include: beam identification information, spatial relation information, spatial domain transmission filter information, spatial domain reception filter information, spatial domain filter information, transmission configuration indication state (TCI state) information, quasi-co-location (QCL) information, QCL parameters, etc. One or more of the following. Among them, the relevant information of the downlink beam can usually be represented by TCI state information or QCL information. The relevant information of the uplink beam can usually be represented by TCI state information or spatial relation information.

[0419] Step 502: Perform perception based on the perception-related information.

[0420] In one example, after receiving the beam-related information, after a time interval t1 has passed, sensing is performed based on the sensing-related information.

[0421] Optionally, the time interval t1 may be configured for the terminal by a network-side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or policy.

[0422] Optionally, when the time interval t1 is configured for the terminal by the network side device, the following steps may be further included before step 502: receiving configuration information of the time interval t1, where the configuration information of the time interval t1 is used to indicate the length of the time interval t1.

[0423] Optionally, the start time of the time interval t1 may be: the effective time of the beam-related information, the receiving time of the beam-related information, or the sending time of a confirmation message of the beam-related information.

[0424] Referring to Figure 5B , the process of beam update and perception may include, for example: the terminal receives beam-related information sent by the network-side device to indicate a new beam, the terminal feeds back an acknowledgement (ACK) message to the network-side device after receiving the beam-related information, the new beam indicated by the beam-related information takes effect, and the terminal performs perception, such as measuring a perception signal or sending a perception signal. The effective time of the above-mentioned beam-related information may, for example, be the starting time when the new beam takes effect in Figure 5B , the receiving time of the above-mentioned beam-related information may, for example, be the starting time or end time when the terminal receives the beam-related information in Figure 5B , and the sending time of the confirmation message of the above-mentioned beam-related information may, for example, be the starting time or end time when the terminal sends the ACK message in Figure 5B .

[0425] For example 1, see Figure 5B. Assume that the starting time of the time interval t1 is the effective time of the beam-related information, that is, the starting time of the new beam in Figure 5B. The starting time of the new beam taking effect is T1 away from the end time of the ACK message, and the length of the time interval t1 is T2. Therefore, based on the end time and duration T1 of the ACK message, the starting time of the new beam taking effect can be calculated. Based on the starting time of the new beam taking effect and the length T2 of the time interval t1, the starting time of perception can be calculated.

[0426] For example 2, see Figure 5B. Assume that the start time of the time interval is the sending time of the confirmation message of the beam-related information, such as the end time of the ACK message, and the length of the time interval t1 is T3. Therefore, the start time of perception can be calculated based on the end time of the ACK message and the length T3 of the time interval t1.

[0427] Optionally, if the beam-related information is BFRR, the start time of the above time interval may be the sending time of the BFRQ corresponding to the BFRR, such as the start time or end time when the terminal sends the BFRQ.

[0428] In another example, this step can be specifically implemented by the following steps:

[0429] Within the time window a1, perception is performed based on the perception-related information.

[0430] Optionally, the time window a1 may be configured for the terminal by a network-side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or policy.

[0431] Optionally, time window a1 may be determined by at least two of the following: a starting position of time window a1, a length of time window a1, and an ending position of time window a1. In this case, the at least two pieces of information used to determine time window a1 may be partially configured by the network device for the terminal, and partially determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0432] Optionally, the network side device may configure the information of the time window a1 for the terminal so that the terminal can determine the time window a1. The following steps may be further included before step 502:

[0433] Configuration information of the time window a1 is received, where the configuration information of the time window a1 is used to indicate the time window a1.

[0434] Optionally, the configuration information of the time window a1 includes at least one of the following: the starting position of the time window a1, the length of the time window a1, and the ending position of the time window a1. When the configuration information of the time window a1 includes one of the starting position of the time window a1, the length of the time window a1, and the ending position of the time window a1, the other information used to determine the time window a1 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy. For example, if the configuration information of the time window a1 includes the starting position of the time window a1, the length and / or ending position of the time window a1 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0435] It should be noted that the above time window may not be periodic, but a one-time (one shop) time window.

[0436] In another example, the above two examples may be combined. In this case, this step may specifically include:

[0437] After receiving the beam-related information, after a time interval t1, perception is performed according to the perception-related information within the time window a1.

[0438] The method for determining the time interval t1 and the method for determining the time window a1 in this example can refer to the above examples and will not be described in detail here.

[0439] In another example, the time interval, time window, etc. in the above example may also be carried by a perception trigger indication. In the above example, the time interval, time window, etc. may be determined based on the time information included in the perception trigger indication, and perception may be performed. The perception trigger indication may be carried by the perception-related information associated with the beam-related information, or may not be carried in the perception-related information. Instead, the network-side device may send the perception trigger indication to the terminal before or after sending the beam-related information.

[0440] In another example, the perception trigger indication may also carry other time information to indicate the time for perception to the terminal. Accordingly, in this step, perception may also be performed according to the time information carried by the perception trigger indication and the perception-related information.

[0441] In the method shown in FIG5A , beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, when beam update behavior occurs, perception behavior can be initiated without the need for additional transmission of signaling required for perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal's surrounding environment information is obtained in a timely manner, the environmental map on the network side is updated, and the communication performance is improved.

[0442] It should be noted that, in the method shown in FIG5A , the execution subject is taken as an example, and in other embodiments provided in this application, for example, in a scenario where two network-side devices cooperate for perception, the above-mentioned execution subject may also be a network-side device.

[0443] In the embodiment of the present application shown in FIG6 , the perception-related information is associated with the beam-related information, and the network-side device indicates the perception-related information.

[0444] FIG6 is a schematic diagram of a second flow chart of a sensing method provided in an embodiment of the present application, which can be executed by a network-side device. As shown in FIG6 , the method may include:

[0445] Step 601: Determine beam-related information, where the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission.

[0446] The implementation of this step can refer to the corresponding description in step 501 and will not be repeated here.

[0447] Step 602: Send beam-related information.

[0448] Optionally, beam-related information may be transmitted via explicit signaling.

[0449] Optionally, when the beam-related information is BFRR, the process may further include receiving BFRQ before step 601.

[0450] Optionally, BFRQ may be associated with perception request information, where the perception request information is used to request perception.

[0451] Optionally, the perception request information indicates at least one of the following: perception association status, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration.

[0452] It should be noted that the information indicated by the perception request information and the perception-related information associated with the beam-related information in step 601 may be the same or different, and this is not limited in the embodiments of the present application. Taking the example of a terminal sending a BFRQ to a network-side device and the BFRQ associated with the perception request information, the role of the above-mentioned perception request information is to request the network-side device to perform perception in accordance with the perception request information. However, the perception-related information actually indicated by the network-side device to the terminal is not necessarily the information requested by the terminal, that is, it is not necessarily the information indicated by the perception request information.

[0453] Here are some examples:

[0454] Example 1: The beam-related information and the perception-related information may indicate information of different items among the above-mentioned perception association state, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration. For example, the perception-related information associated with the beam-related information in step 601 indicates the perception signal set, and the perception request information indicates the perception mode.

[0455] Example 2: Beam-related information and perception-related information may indicate information of the same items in the above-mentioned perception association status, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration. For example, the perception-related information associated with the beam-related information in step 601 indicates the perception mode, and the perception request information also indicates the perception mode. At this time, the perception mode indicated by the perception-related information may be the same as or different from the perception mode indicated in the perception request information. However, when perception is performed according to the perception-related information in the subsequent step 603, perception is performed based on the perception mode indicated in the perception-related information.

[0456] Optionally, the beam-related information may include:

[0457] Sending beam configuration information, where the beam configuration information includes beam-related information; or

[0458] Send a beam activation command, which includes beam-related information; or

[0459] Send downlink control information, which includes beam-related information.

[0460] The implementation of the above-mentioned beam configuration information, beam activation command, and downlink control information can refer to the corresponding description in the embodiment shown in Figure 5A, which will not be repeated here.

[0461] Step 603: Perform perception based on the perception-related information.

[0462] Step 603 is an optional step.

[0463] In one example, this step may include:

[0464] After the beam related information is sent, after a time interval t2, sensing is performed based on the sensing related information.

[0465] Optionally, the starting time of the above time interval t2 may be: the effective time of the beam-related information, the sending time of the beam-related information, or the receiving time of the confirmation message of the beam-related information.

[0466] For example, referring to Figure 5B, the sending time of the above-mentioned beam-related information can be, for example, the starting time or ending time when the network side device sends the beam-related information in Figure 5B, the receiving time of the confirmation information of the above-mentioned beam-related information can be, for example, the starting time or ending time when the network side device receives the ACK message in Figure 5B, and the effective time of the above-mentioned beam-related information can be, for example, the starting time or ending time when the new beam takes effect.

[0467] Optionally, when the beam-related information is BFRR, the start time of the above time interval t2 may be the reception time of BFRQ.

[0468] Optionally, the time interval t2 may be pre-agreed upon by a protocol, or may be configured by a core network server for the access network device and the terminal, or may be configured by the access network device to the terminal. When the time interval t2 is configured by the core network server for the access network device and the terminal, the following steps may be further included before step 603:

[0469] The access network device receives the configuration information sent by the core network server at time interval t2.

[0470] In another example, this step may include:

[0471] Within time window a2, perception is performed based on the perception-related information.

[0472] Optionally, the time window a2 may be pre-agreed upon by a protocol, or may be configured by a core network server for the access network device and the terminal, or may be configured by the access network device to the terminal. When the time window a2 is configured by the core network server for the access network device and the terminal, the following steps may be further included before step 603:

[0473] Receive configuration information of time window a2.

[0474] Optionally, the configuration information of the time window a2 includes at least one of the following: a starting position of the time window a2, a length of the time window a2, and an ending position of the time window a2.

[0475] In another example, the above two examples may be combined. In this case, this step may include:

[0476] After the beam related information is sent, after a time interval t2, sensing is performed within the time window a2 based on the sensing related information.

[0477] The implementation of this example can refer to the above two examples and will not be repeated here.

[0478] In another example, the network-side device may carry time information in the perception trigger indication to indicate to the terminal the time to perform perception. Accordingly, in this step, perception may also be performed based on the perception-related information at the time indicated by the time information carried in the perception trigger indication. The perception trigger indication may be carried by the perception-related information associated with the beam-related information, or may not be carried in the perception-related information. Instead, the network-side device may send the perception trigger indication to the terminal before or after sending the beam-related information.

[0479] In the method shown in FIG6 , the beam-related information sent by the network-side device is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs without the need for additional transmission of perception-related signaling. Communication-assisted perception is realized in the interawareness integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely manner, the environmental map on the network side is updated, and the communication performance is improved.

[0480] In the embodiment of the present application shown in FIG7A , the perception-related information is associated with the beam-related information, and the network-side device indicates the perception-related information to the terminal.

[0481] FIG7A is a schematic diagram of a third flow chart of the sensing method provided in an embodiment of the present application, as shown in FIG7 , including:

[0482] Step 702: The network-side device determines beam-related information, and the beam-related information is associated with perception-related information.

[0483] Optionally, the perception-related information in the embodiment of the present application may be used to indicate at least one of the following:

[0484] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0485] The specific implementation of the beam-related information and the perception-related information in this step can refer to the corresponding descriptions in the embodiments shown in Figures 5 and 6, and will not be repeated here.

[0486] Step 704: The network-side device sends beam-related information, and the terminal receives the beam-related information.

[0487] Optionally, beam-related information may be transmitted via explicit signaling.

[0488] Optionally, the beam-related information may specifically be: TCI status, quasi-co-site source reference signal, or BFRR. For specific implementation, reference may be made to the corresponding descriptions in the embodiments shown in FIG. 5 and FIG. 6 , which will not be repeated here.

[0489] Step 706: The network-side device and the terminal perform perception based on the perception-related information respectively.

[0490] In this step, after the network side device sends the beam-related information, it can determine the time for perception and perform perception. After the terminal receives the beam-related information, it can determine the time for perception and perform perception. The specific implementation of this step can refer to the corresponding instructions in step 502 and step 603, which will not be repeated here.

[0491] Below, FIG7B and FIG7C are used to exemplify the implementation of perception between the network side device and the terminal in different perception modes.

[0492] In FIG7B , the network-side device sends a perception signal, and the terminal measures the perception signal.

[0493] As shown in FIG. 7B , step 706 may include:

[0494] S11: The network-side device sends a perception signal.

[0495] In an embodiment of the present application, the time when the network side device performs perception in step 603 can be used as the time when the network side device sends the perception signal in this step. The specific determination method can refer to step 603 and will not be repeated here.

[0496] In one example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of the perception signal resource, then in this step, the network-side device may send a perception signal based on the perception-related information.

[0497] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as the perception signal set, perception signal resources, and the configuration of perception signal resources, but the core network server has pre-configured the perception signal set, perception signal resources, and / or the configuration of perception signal resources for the access network device and terminal, or the access network device has pre-configured information such as the perception signal set, perception signal resources, and / or the configuration of perception signal resources, then in this step, the network side device can send the perception signal based on the pre-configured information.

[0498] S12: The terminal measures the sensing signal and obtains a sensing result.

[0499] In the embodiment of the present application, the time when the terminal performs perception in step 502 may be used as the time when the terminal measures the perception signal in this step. The specific determination method may refer to step 502 and will not be repeated here.

[0500] In one example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of a perception signal resource, the terminal may measure the perception signal based on the perception-related information in this step.

[0501] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as the perception signal set, perception signal resources, and the configuration of the perception signal resources, but the core network server has pre-configured the access network device and the terminal, or the access network device has pre-configured information such as the perception signal set, perception signal resources, and / or the configuration of the perception signal resources, then in this step, the terminal can measure the perception signal based on the above-mentioned pre-configured information.

[0502] S13: The terminal generates a perception report based on the perception result and sends the perception report to the network side device.

[0503] In an example, if the above-mentioned perception-related information includes perception report indication information, then in this step, the terminal may generate a perception report according to the perception report indication information and the perception result.

[0504] In another instance, if the above-mentioned perception-related information does not include perception report indication information, but the core network server or access network device has pre-configured only one format of perception report or one perception report configuration for this perception mode (the network side device sends perception information, and the terminal perceives, measures and reports), then in this step, the terminal can generate a perception report based on the perception results and the pre-configured perception report information.

[0505] It should be noted that when the terminal generates a perception report based on the perception result, all or some of the better results in the perception result may be included in the perception report. In other words, when the terminal measures the perception signal in step S12, it may measure only the parameters required in the perception report to obtain the perception result, or it may measure the parameters required in the perception report and other parameters other than the parameters required in the perception report to obtain the perception result, which is not limited in the embodiments of the present application.

[0506] S14: The network-side device updates the environment map based on the perception report.

[0507] The terminal can send a perception report to an access network device, such as a base station. After receiving the perception report, the access network device can update the environment map maintained by the access network device based on the perception report. Alternatively, the access network device can report the updated environment map to the core network server. Alternatively, the access network device can send the perception report to the core network server, which can then update its own environment map based on the perception report. The environment map maintained by the core network server may include the environment map maintained by the access network device. In other words, the environment map maintained by the access network device may be part of the environment map maintained by the core network server.

[0508] In FIG7C , the terminal sends a perception signal, and the network-side device measures the perception signal.

[0509] As shown in FIG. 7C , step 706 may include:

[0510] S21: The terminal sends a perception signal.

[0511] In the embodiment of the present application, the time when the terminal performs perception in step 502 may be used as the time when the terminal sends the perception signal in this step. The specific determination method may refer to step 502 and will not be repeated here.

[0512] In one example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of the perception signal resource, then in this step, the terminal may send a perception signal based on the perception-related information.

[0513] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as the perception signal set, perception signal resources, and the configuration of the perception signal resources, but the core network server has pre-configured the perception signal set, perception signal resources, and / or the configuration of the perception signal resources for the access network device and the terminal, or the access network device has pre-configured information such as the perception signal set, perception signal resources, and / or the configuration of the perception signal resources, then in this step the terminal can send the perception signal based on the above-mentioned pre-configured information.

[0514] S22: The network-side device measures the sensing signal and obtains a sensing result.

[0515] In an embodiment of the present application, the time for the network side device to perceive in step 602 can be used as the time for the network side device to measure the perception signal in this step. The specific determination method can refer to step 602 and will not be repeated here.

[0516] In one example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of a perception signal resource, then in this step, the network-side device may measure the perception signal based on the perception-related information.

[0517] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as the perception signal set, perception signal resources, and the configuration of perception signal resources, but the core network server has pre-configured the access network device and terminal, or the access network device has pre-configured information such as the perception signal set, perception signal resources, and / or the configuration of perception signal resources, then in this step, the network side device can measure the perception signal based on the pre-configured information.

[0518] S23: The network-side device updates the environment map based on the perception results.

[0519] Optionally, the access network device can update the environmental map it maintains based on the perception results, or the access network device can report the updated environmental map to the core network server, or the access network device can also send the perception results to the core network server, and the core network server can update the environmental map it maintains based on the perception results.

[0520] The implementation of the above steps can refer to the corresponding descriptions in the embodiments shown in Figures 5 and 6, and will not be repeated here.

[0521] In another perception method provided in an embodiment of the present application, the network side device configures perception configuration information for the terminal. In this case, the following step 700 may be included before step 702 of the above embodiment. Referring to FIG8 , the method shown in FIG7 includes step 700 before step 702 as an example.

[0522] Step 700: The network-side device sends perception configuration information, and the terminal receives the perception configuration information.

[0523] Optionally, the above-mentioned perception configuration information can be sent by the core network server to the access network device, and then sent by the access network device to the terminal, that is, before this step, it can also include: the core network server sends the perception configuration information to the access network device.

[0524] Optionally, the perception configuration information may include at least one of the following: candidate perception mode configuration information, candidate perception signal configuration information, and candidate perception report configuration information.

[0525] Optionally, the candidate sensing mode configuration information may be used to configure at least one sensing mode. The candidate sensing mode configuration information may include a sensing mode identifier. Different sensing modes have different sensing mode identifiers.

[0526] Optionally, the candidate perceptual signal configuration information may be used to configure a perceptual signal resource, a perceptual signal resource set, or a perceptual signal resource configuration. Optionally, the candidate perceptual signal configuration information may configure at least one perceptual signal, at least one perceptual signal resource, at least one perceptual signal resource set, or at least one perceptual signal resource configuration. Optionally, the perceptual signal configuration information may include: a perceptual signal resource identifier, a resource set identifier, or a resource configuration identifier. Different perceptual signals have different resource identifiers.

[0527] Optionally, the candidate perception report configuration information may be used to configure a perception report. Optionally, the candidate perception report configuration information may be used to configure at least one perception report format or at least one perception report type. Optionally, the candidate perception report configuration information may include: a perception report configuration identifier. Perception reports of different formats may have different perception report identifiers or identifiers of different perception report configurations. Different perception reports may have different perception report identifiers or identifiers of different perception report configurations.

[0528] At this time, the perception-related information in the embodiment of the present application may include:

[0529] a sensing mode flag indicating the sensing mode; and / or,

[0530] a resource identifier, a resource set identifier, or a resource configuration identifier of a perception signal, indicating the perception signal; and / or,

[0531] The flag of the perception report configuration, indicating perception report.

[0532] Accordingly, in step 706:

[0533] The terminal may obtain perception configuration information corresponding to the perception related information from the perception configuration information based on the perception related information, and perform perception based on the perception configuration information corresponding to the above perception related information.

[0534] Since the above-mentioned perception-related information is indicated to the terminal by the network-side device, the network-side device may use the same or different method as the terminal to determine the perception configuration information and perform perception, which is not limited in the embodiments of the present application.

[0535] Optionally, the perception configuration information may further include: an association between perception signals and perception reports. Optionally, multiple perception signal resources, multiple perception signal resource sets, or multiple perception signal resource configurations may correspond to a perception report of one format or one configuration identifier, and perception reports of different formats or different configuration identifiers may correspond to one perception signal resource, one perception signal resource set, or one perception signal resource configuration. Optionally, the aforementioned association may be specifically recorded as a correspondence between a perception signal resource identifier, a resource set identifier, or a resource configuration identifier and a perception report configuration identifier.

[0536] In one example, if the candidate perception signal configuration information in the perception configuration information configures only one perception signal resource or one perception signal resource set or one perception signal resource configuration, and the candidate perception report configuration information includes only one perception report configuration, or if the candidate perception signal configuration information in the perception configuration information configures only one perception signal resource or one perception signal resource set or one perception signal resource configuration, and the perception configuration information includes an association relationship between the perception signal and the perception report, or if the candidate perception signal configuration information in the perception configuration information includes only one perception report configuration and the perception configuration information includes an association relationship between the perception signal and the perception report, then the indication information of the perception signal and the indication information of the perception report in the perception-related information can be omitted.

[0537] In another example, if the perception-related information includes: an association relationship between a perception signal and a perception report, then the perception-related information may include: perception signal indication information or perception report indication information, so that the terminal can determine the perception signal that the terminal needs to measure and the relevant information of the reported perception report based on the above-mentioned association relationship.

[0538] In another example, if the perception-related information includes: perception report indication information, the default perception mode can be that the network-side device sends a perception signal, and the terminal measures and reports the perception result, and the perception mode indication information in the perception-related information can be omitted.

[0539] In the above embodiment, when the beam-related information is associated with the perception-related information, specifically when the beam-related information and the perception-related information have a corresponding relationship, the network-side device may send corresponding relationship indication information to the terminal to indicate the corresponding relationship between the beam-related information and the perception-related information. In this case, in another perception method provided in an embodiment of the present application, the following step 701 may be further included between step 702. Referring to Figure 9, the method shown in Figure 8 further includes step 701 as an example.

[0540] Step 701: The network-side device sends correspondence indication information to the terminal, where the correspondence indication information is used to indicate the correspondence between beam-related information and perception-related information.

[0541] Correspondingly, after the terminal receives the beam-related information in step 704, it can determine the perception-related information corresponding to the beam-related information based on the above correspondence, and then in step 706, the terminal can perform perception based on the perception-related information corresponding to the beam-related information.

[0542] The above embodiment uses the example of triggering the network-side device and terminal to perform perception through perception-related information associated with beam-related information. In another perception method provided in an embodiment of the present application, the network-side device and terminal can be triggered to perform perception through a perception trigger indication sent independently of the above beam-related information. In this case, the following step 705 can be added between step 704 and step 706 in the above embodiment. Referring to Figure 10, the following step 705 is added between step 704 and step 706 of the method shown in Figure 7A as an example.

[0543] Step 705: The network-side device sends a perception trigger indication, and the terminal receives the perception trigger indication.

[0544] At this time, the specific implementation of the network side device performing perception based on the perception-related information in step 706 can refer to step 603. The main difference is that the specific instance of the network side device performing perception based on the perception-related information in step 603 is replaced by sending beam-related information and then perceiving based on the perception-related information, and then perceiving based on the perception-related information is replaced by sending perception trigger information and then perceiving based on the perception-related information.

[0545] At this time, the specific implementation of the terminal performing perception based on the perception-related information in step 706 can refer to step 502. The main difference is that the received beam-related information in the specific instance of the terminal performing perception based on the perception-related information in step 502 is replaced by the received perception trigger information.

[0546] In an embodiment of the present application, the perception-related information required for perception, such as the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and / or the configuration of the perception report, is indicated by the perception-related information associated with the beam-related information, and then the network-side device and the terminal are triggered to perform perception according to the perception-related information respectively through a perception trigger indication sent independently of the above-mentioned beam-related information, thereby making the perception triggering method more diverse and flexible.

[0547] It should be noted that the above-mentioned step 705 only needs to be located before step 706, and the execution order of step 702 and step 704 is not limited. For example, in other embodiments provided in this application, the above-mentioned step 705 can also be located before step 702, or between step 702 and step 704.

[0548] In another embodiment provided herein, the network device and the terminal may further include a step of determining a sensing start time. In this case, specifically, the following steps 1101A and 1101B may be added between steps 704 and 706 of the above embodiment. Referring to FIG11 , the method shown in FIG7A includes steps 1101A and 1101B added between steps 704 and 706 as an example.

[0549] Step 1101A: The network-side device determines the start time of perception.

[0550] Step 1101B: The terminal determines the start time of perception.

[0551] If step 706 is implemented through S11 to S14 shown in Figure 7B, the perception start time determined by the network side device in step 1101A can specifically be the start time of the network side device sending the perception signal, and the perception start time determined by the terminal in step 1101B can specifically be the start time of measuring the perception signal.

[0552] If step 706 is implemented through S21 to S23 shown in Figure 7C, the start time of perception determined by the network side device in step 1101A can specifically be the start time of the network side device measuring the perception signal, and the start time of perception determined by the terminal in step 1101B can specifically be the start time of sending the perception signal.

[0553] Optionally, the network-side device determining the sensing start time in step 1101A may be implemented in the following manner:

[0554] Determine the start time of sensing based on the effective time of the beam-related information; or

[0555] Determine the start time of sensing based on the sending time of beam-related information; or

[0556] The sensing start time is determined according to the reception time of the confirmation message of the beam-related information.

[0557] The implementation of the above-mentioned beam-related information effective time, beam-related information sending time, and beam-related information confirmation message receiving time can refer to the corresponding instructions in step 603, which will not be repeated here.

[0558] Optionally, if the perception trigger indication carries time information, the network-side device in this step may also determine the start time of perception based on the time information carried in the perception trigger indication. The perception trigger indication may be included in the perception-related information associated with the beam-related information, or the network-side device may send the perception trigger indication before or after sending the beam-related information.

[0559] Optionally, the terminal determining the start time of perception in step 1101B may be implemented in the following manner:

[0560] Determine the start time of sensing based on the effective time of the beam-related information; or

[0561] Determine the start time of sensing based on the reception time of beam-related information; or

[0562] The sensing start time is determined according to the sending time of the confirmation message of the beam-related information.

[0563] The implementation of the above-mentioned beam-related information effective time, beam-related information receiving time and beam-related information confirmation message sending time can refer to the corresponding description in step 502, which will not be repeated here.

[0564] Optionally, if the perception trigger indication carries time information, the terminal may also determine the start time of perception in this step based on the time information carried in the perception trigger indication. The perception trigger indication may be included in the perception-related information associated with the beam-related information, or the network-side device may send the perception trigger indication before or after sending the beam-related information.

[0565] In an embodiment of the present application, the network-side device and the terminal respectively determine the start time of perception, so that perception can be started simultaneously based on the start time of perception.

[0566] It should be noted that the method by which the network side device determines the start time of perception and the method by which the terminal determines the start time of perception can be the same or different, as long as the two are synchronized so that the network side device and the terminal can cooperate to complete the perception.

[0567] In a sensing method provided in an embodiment of the present application, by associating a beam update request with beam-related information, a terminal can indicate sensing-related information to a network device, such as a base station, when sending a beam update request. This allows the network device and the terminal to perform sensing based on the sensing-related information. This is illustrated below with reference to Figures 12A to 15 .

[0568] In the embodiment of the present application shown in FIG12A , a beam update request is associated with perception-related information, and the terminal indicates the perception-related information to the network-side device.

[0569] FIG12A is another flow chart of a sensing method according to an embodiment of the present application. Referring to FIG12A , the method may include:

[0570] Step 1202: The terminal sends a beam update request, and the network-side device receives the beam update request; the above beam update request is associated with perception-related information.

[0571] Alternatively, the beam update request may be transmitted via explicit signaling.

[0572] Optionally, the perception-related information in the embodiment of the present application may be used to indicate at least one of the following:

[0573] Perception request, perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0574] The above perception request can be used to request perception from the network side device.

[0575] Optionally, the above-mentioned association of the beam update request with the perception-related information may specifically include: the beam update request includes the perception-related information, or there is a corresponding relationship between the beam update request and the perception-related information.

[0576] Optionally, the above-mentioned beam update request can be BFRQ, or other information or signaling used when the terminal requests the network side device to update the beam.

[0577] Step 1204: The network-side device and the terminal perform perception based on the perception-related information respectively.

[0578] The specific implementation of the terminal performing perception according to the perception-related information in this step is exemplified as follows.

[0579] In one example, the terminal performs perception based on the perception-related information, which may include:

[0580] After the terminal sends the beam update request, it performs perception based on the perception-related information after a time interval t3.

[0581] The starting time of the above time interval t3 may be: the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0582] Optionally, the time interval t3 may be pre-agreed by a protocol, or may be configured for the terminal by a network-side device. When the time interval t3 is pre-configured for the terminal by a network-side device, the following steps may be included before step 1204:

[0583] The terminal receives the configuration information at time interval t3 sent by the network side device.

[0584] The configuration information of the time interval t3 is used to indicate the length of the time interval t3.

[0585] In another example, the terminal performs perception based on the perception-related information, which may include:

[0586] Within time window a3, perception is performed based on the perception-related information.

[0587] Optionally, the time window a3 may be configured for the terminal by a network-side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or policy.

[0588] Optionally, time window a3 may be determined by at least two of the starting position of time window a3, the length of time window a3, and the ending position of time window a3. In this case, the at least two pieces of information used to determine time window a3 may be partially configured by the network device for the terminal, and partially determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0589] Optionally, the network side device may configure the information of the time window a3 for the terminal so that the terminal can determine the time window a3. Before step 1204, the following steps may be included:

[0590] The terminal receives the configuration information of the time window a3 sent by the network side device, where the configuration information of the time window a3 is used to indicate the time window a3.

[0591] Optionally, the configuration information of the time window a3 includes at least one of the following: a starting position of the time window a3, a length of the time window a3, and an ending position of the time window a3. When the configuration information of the time window a3 includes one of the starting position of the time window a3, the length of the time window a3, and the ending position of the time window a3, the other information used to determine the time window a3 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy. For example, if the configuration information of the time window a3 includes the starting position of the time window a3, the length and / or ending position of the time window a3 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0592] The specific implementation of the network side device performing perception based on the perception-related information in this step is exemplified as follows.

[0593] In one example, the network-side device performs perception based on the perception-related information, which may include:

[0594] After the network side device receives the beam update request, it performs perception based on the perception-related information after a time interval t4.

[0595] Optionally, the start time of the time interval t4 may be: the time of receiving the beam update request, or the time of sending a confirmation message of the beam update request.

[0596] The confirmation message of the beam update request may be, for example, an ACK message or a response message of the beam update request.

[0597] In another example, the network-side device performs perception based on the perception-related information, which may include:

[0598] Within time window a4, perception is performed based on the perception-related information.

[0599] The method for determining the time window a4 is not limited in this embodiment of the application.

[0600] It should be noted that the method for the network side device to determine the perception time and the method for the terminal to determine the perception time in the embodiment of the present application can be decoupled. For example, the network side device can perceive according to the time window, and the terminal can perceive according to the above time interval. As long as the time for the perception of the two is synchronized, they can cooperate to complete the perception.

[0601] Optionally, the specific implementation of the perception performed by the network-side device and the terminal may refer to the above-mentioned steps S11 to S14 or steps S21 to S23, which will not be repeated here.

[0602] In the method shown in FIG12A , the beam update request is associated with the perception-related information, so that when the terminal sends the beam update request to the network-side device, the network-side device and the terminal can be triggered to perform perception.

[0603] In the embodiment of the present application shown in FIG12B , based on the method shown in FIG12A , the network side device pre-configures the perception configuration information to the terminal.

[0604] Referring to FIG. 12B , in another perception method provided in an embodiment of the present application, step 1200 may be included before step 1202 of the method shown in FIG. 12A .

[0605] Step 1200: The network-side device sends perception configuration information, and the terminal receives the perception configuration information.

[0606] Correspondingly, when the network side device and the terminal perform perception in step 1204, they can respectively obtain the perception configuration information corresponding to the perception related information from the perception configuration information based on the perception related information, and perform perception based on the perception configuration information corresponding to the above perception related information.

[0607] The implementation of the above-mentioned perception configuration information can refer to the corresponding description in step 700, which will not be repeated here.

[0608] In the above embodiment, when the beam update request is associated with the perception-related information and specifically indicates that the beam update request has a corresponding relationship with the perception-related information, the network-side device may send corresponding relationship indication information to the terminal to indicate the corresponding relationship between the beam update request and the perception-related information to the terminal. In this case, in another perception method provided in an embodiment of the present application, the following step 1201 may be further included before step 1202. Referring to Figure 12C, the method shown in Figure 12B further includes step 1201 as an example.

[0609] Step 1201: The network-side device sends correspondence indication information to the terminal, where the correspondence indication information is used to indicate the correspondence between the beam update request and the perception-related information.

[0610] Correspondingly, when the terminal sends a beam update request in step 1202, the perception-related information associated with the beam update request can be determined based on the above-mentioned correspondence. After the network side device receives the beam update request, in step 1204, it can determine the perception-related information corresponding to the beam update request based on the above-mentioned correspondence, and perform perception based on the perception-related information corresponding to the beam update request.

[0611] In another embodiment provided herein, if the beam update request sent by the terminal in step 1202 is a BFRQ, the network-side device may send a BFRR to the terminal after receiving the BFRQ. In this case, the following step 1203 may be included between steps 1202 and 1204. Referring to FIG13 , the method shown in FIG12A includes step 1203 between steps 1202 and 1204 as an example.

[0612] Step 1203: The network-side device sends a BFRR, and the terminal receives the BFRR.

[0613] Optionally, the BFRR may be associated with perception-related information.

[0614] At this time, in step 1204, the terminal can perform perception according to the perception-related information in the following manner:

[0615] After receiving the BFRR, after a time interval t5, sensing is performed based on the sensing-related information.

[0616] Optionally, the start time of the time interval t5 may be: the effective time of the BFRR, the receiving time of the BFRR, or the sending time of the confirmation message of the BFRR.

[0617] Optionally, the information of the time interval t5 can be pre-agreed by the protocol, or can also be configured for the terminal by the network side device. When the time interval t5 is configured for the terminal by the network side device, the following steps can be included before step 1204:

[0618] The terminal receives configuration information of the time interval t5 sent by the network-side device, where the configuration information of the time interval t5 is used to indicate the length of the time interval t5.

[0619] In step 1204, the network-side device may sense the network-side device based on the relevant sensing information in the following manner:

[0620] After the network-side device sends the BFRR, it performs perception based on the perception-related information after a time interval t6.

[0621] Optionally, the start time of the time interval t6 may be: the effective time of the BFRR, the sending time of the BFRR, or the receiving time of the confirmation message of the BFRR.

[0622] The BFRR confirmation message may be, for example, a BFRR ACK message or a response message.

[0623] In another embodiment provided herein, the network device and the terminal may further include a step of determining a sensing start time. In this case, the following steps 1401A and 1401B may be included between steps 1202 and 1204 shown in Figures 12 and 13. Referring to Figure 14, the method shown in Figure 12A includes steps 1401A and 1401B between steps 1202 and 1204 as an example.

[0624] Step 1401A: The network-side device determines the start time for sensing.

[0625] Optionally, the network-side device may determine the start time of sensing in the following manner:

[0626] Determining a sensing start time according to a reception time of the beam update request; or

[0627] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0628] Step 1401B: The terminal determines the start time for sensing.

[0629] Optionally, the terminal may determine the starting time for sensing in the following manner:

[0630] Determine the sensing start time based on the sending time of the beam update request; or

[0631] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0632] The above embodiment uses the example of triggering the network-side device and the terminal to perform perception through the perception-related information associated with the beam update request. In another perception method provided in an embodiment of the present application, the network-side device and the terminal can be triggered to perform perception through a perception trigger indication sent independently of the above beam update request. In this case, the following step 1501 can be included between step 1202 and step 1204 in the above embodiment. Referring to Figure 15, the method shown in Figure 12A includes step 1501 as an example.

[0633] Step 1501: The network-side device sends a perception trigger indication, and the terminal receives the perception trigger indication.

[0634] In an embodiment of the present application, the perception-related information required for perception, such as the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and / or the configuration of the perception report, is indicated by the perception-related information associated with the beam update request, and then the network side device and the terminal are triggered to perform perception according to the perception-related information respectively through a perception trigger indication sent independently of the above-mentioned beam-related information.

[0635] In a sensing method provided in an embodiment of the present application, a network-side device may send beam-related information to a terminal, and the terminal may sense the beam after receiving the beam-related information. Thus, the network-side device may implicitly instruct the terminal to sense the beam through the beam-related information. This is exemplified below with reference to Figures 16A to 16C.

[0636] In the embodiment of the present application shown in FIG16A , the network side device sends beam-related information to the terminal, and implicitly instructs the terminal to perceive through the beam-related information.

[0637] FIG16A is a flow chart of a sensing method provided in an embodiment of the present application. As shown in FIG16A , the method may include:

[0638] Step 1602: The network side device sends beam-related information, and the terminal receives the beam-related information.

[0639] Optionally, beam-related information can be used to trigger perception.

[0640] Optionally, the implementation of the terminal receiving beam-related information and the implementation of beam-related information can refer to the corresponding instructions in step 501, and the implementation of the network side device sending beam-related information can refer to the corresponding instructions in step 602. The main difference is that the beam-related information in the embodiment of the present application is not associated with perception-related information.

[0641] Step 1604: The network side device and the terminal perform perception respectively.

[0642] The perception-related information based on which the network-side devices and terminals perform perception in this step may be pre-agreed upon by the protocol, or pre-configured by the core network server for the access network devices and terminals, or configured by the access network devices for the terminals, and this embodiment of the present application does not limit this.

[0643] For the specific implementation of the terminal's perception in this step, please refer to the corresponding instructions in step 502. For the specific implementation of the network-side device's perception in this step, please refer to the corresponding instructions in step 603. The main difference is that the beam-related information in the embodiment of the present application is not associated with the perception-related information.

[0644] In an embodiment of the present application, the network side device can perceive after sending beam-related information, and the terminal can perceive after receiving beam-related information, thereby realizing that when the beam update behavior occurs, the perception behavior can be initiated without the need for additional transmission of perception trigger signaling, and communication-assisted perception is realized in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining the terminal's surrounding environment information, updating the network side's environmental map, and improving communication performance.

[0645] In another embodiment provided by the present application, the network side device may send sensing enable indication information to the terminal in advance to indicate beam related information to the terminal for triggering sensing. Referring to FIG16B , step 1600 may be further included before step 1602 of the method shown in FIG16A above.

[0646] Step 1600: The network-side device sends perception enabling indication information, and the terminal receives the perception enabling indication information, where the perception enabling indication information indicates beam-related information for triggering perception.

[0647] In an embodiment of the present application, the network side device can determine whether beam-related information is used to trigger perception according to actual needs, and send the above-mentioned perception enable indication information to the terminal when beam-related information is needed to trigger perception, so that the perception triggering method is more flexible.

[0648] In another embodiment provided in the present application, the step of the network side device and the terminal determining the perception start time may be further included. At this time, steps 1603A and 1603B may also be included between step 1602 and step 1604. See Figure 16C, taking the method shown in Figure 16B as an example in which steps 1603A and 1603B are included between step 1602 and step 1604.

[0649] Step 1603A: The network-side device determines the start time of perception.

[0650] The implementation of this step can refer to the corresponding instructions in step 1101A and will not be repeated here.

[0651] Step 1603B: The terminal determines the start time of perception.

[0652] The implementation of this step can refer to the corresponding instructions in step 1101B and will not be repeated here.

[0653] In a sensing method provided in an embodiment of the present application, a terminal may send a beam update request to a network device. The network device then senses the beam after receiving the beam-related information. Thus, the terminal may implicitly instruct the network device to sense the beam through the beam update request. This is exemplified below with reference to Figures 17A to 17C.

[0654] In the embodiment of the present application shown in FIG17A , the terminal sends a beam update request to the network side device, and implicitly instructs the network side device to perform perception through the beam update request.

[0655] FIG17A is a flow chart of a sensing method provided in an embodiment of the present application. As shown in FIG17A , the method may include:

[0656] Step 1702: The terminal sends a beam update request, and the network side device receives the beam update request.

[0657] The implementation of this step can refer to step 1202, the main difference is that the beam update request in the embodiment of the present application is not associated with perception-related information.

[0658] Step 1704: The network side device and the terminal perform perception respectively.

[0659] The perception-related information based on which the network-side devices and terminals perform perception in this step may be pre-agreed upon by the protocol, or pre-configured by the core network server for the access network devices and terminals, or configured by the access network devices for the terminals, and is not limited in the embodiments of this application.

[0660] The implementation of this step can refer to step 1204, the main difference is that the beam update request in the embodiment of the present application is not associated with perception-related information.

[0661] In an embodiment of the present application, the network side device can perform perception after receiving a beam update request, and the terminal can perform perception after sending a beam update request, thereby realizing that when a beam update behavior occurs, the network side device and the terminal initiate the perception behavior without the need for additional transmission of perception trigger signaling, thereby realizing communication-assisted perception in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining the terminal's surrounding environment information, updating the network side's environmental map, and improving communication performance.

[0662] In another embodiment provided by the present application, the network side device may send sensing enable indication information to the terminal in advance to indicate beam related information to the terminal for triggering sensing. Referring to FIG17B , step 1700 may be further included before step 1702 of the method shown in FIG17A above.

[0663] Step 1700: The network-side device sends perception enable indication information, and the terminal receives the perception enable indication information, where the perception enable indication information indicates a beam update request for triggering perception.

[0664] In an embodiment of the present application, the network side device can determine whether the beam update request is used to trigger perception according to actual needs, and send the above-mentioned perception enable indication information to the terminal when the beam update request is required to trigger perception.

[0665] In another embodiment provided in the present application, the step of determining the perception start time by the network side device and the terminal may be further included. At this time, step 1703A and step 1703B may also be included between step 1702 and step 1704. See Figure 17C, taking the method shown in Figure 17B as an example in which step 1703A and step 1703B are included between step 1702 and step 1704.

[0666] Step 1703A: The network-side device determines the start time of perception.

[0667] The implementation of this step can refer to the corresponding instructions in step 1401A and will not be repeated here.

[0668] Step 1703B: The terminal determines the start time of perception.

[0669] The implementation of this step can refer to the corresponding instructions in step 1401B and will not be repeated here.

[0670] FIG18 is a sensing device provided in an embodiment of the present application. The device 1800 may include:

[0671] A communication unit 1801 is configured to receive beam-related information, where the beam-related information is associated with sensing-related information, and the beam-related information indicates a beam used for signal transmission;

[0672] The processing unit 1802 is configured to perform perception based on the perception-related information.

[0673] FIG19 is a sensing device provided in an embodiment of the present application. The device 1900 may include:

[0674] The communication unit 1901 is configured to send a beam update request, where the beam update request is associated with sensing related information;

[0675] The processing unit 1902 is configured to perform perception based on the perception-related information.

[0676] FIG20 is a sensing device provided by an embodiment of the present application. The device 2000 may include: a communication unit 2001 and a processing unit 2002, wherein:

[0677] The processing unit 2002 is used to perform perception after the communication unit 2001 receives beam-related information.

[0678] FIG21 is a sensing device provided by an embodiment of the present application. The device 2100 may include: a communication unit 2101 and a processing unit 2102, wherein:

[0679] The processing unit 2102 is used to sense after the communication unit 2101 sends a beam update request.

[0680] FIG22 is a sensing device provided in an embodiment of the present application. The device 2200 may include:

[0681] A processing unit 2201 is configured to determine beam-related information, where the beam-related information is associated with sensing-related information, and the beam-related information indicates a beam used for signal transmission;

[0682] The communication unit 2202 is configured to send the beam-related information.

[0683] FIG23 is a sensing device provided in an embodiment of the present application. The device 2300 may include:

[0684] The communication unit 2301 is configured to receive a beam update request, where the beam update request is associated with sensing related information;

[0685] The processing unit 2302 is configured to perform perception based on the perception-related information.

[0686] FIG24 is a sensing device provided by an embodiment of the present application. The device 2400 may include: a communication unit 2401 and a processing unit 2402, wherein:

[0687] The processing unit 2402 is used to perform perception after the communication unit 2401 sends beam-related information.

[0688] FIG25 is a sensing device provided by an embodiment of the present application. The device 2500 may include: a communication unit 2501 and a processing unit 2502, wherein:

[0689] The processing unit 2502 is used to perform perception after the communication unit 2501 receives the beam update request.

[0690] The devices provided in the embodiments shown in Figures 18 to 25 can be used to implement the technical solutions of the method embodiments shown in this application. The implementation principles and technical effects thereof can be further referred to the relevant descriptions in the method embodiments.

[0691] It should be understood that the division of the various modules of the devices shown in Figures 18 to 25 above is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called through processing elements; they can also all be implemented in the form of hardware; some modules can also be implemented in the form of software called through processing elements, and some modules can be implemented in the form of hardware. For example, the sending unit can be a separately established processing element, or it can be integrated into a chip of the terminal device. The implementation of other units is similar. In addition, these units can be fully or partially integrated together, or they can be implemented independently. For example, the above-mentioned uplink synchronization device can be a chip or chip module, or the above-mentioned uplink synchronization device can be a part of a chip or chip module. During the implementation process, each step of the above-mentioned method or each of the above units can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0692] As shown in Figure 26, the present application provides an electronic device, which includes: a processor 121, a memory 122, and a transceiver 123; the processor and the transceiver cooperate to implement the method provided in the above embodiment of the present application. The above electronic device can be a terminal or a network side device.

[0693] The present application also provides a terminal, the device including a storage medium and a central processing unit, the storage medium may be a non-volatile storage medium, the storage medium stores a computer executable program, the central processing unit is connected to the non-volatile storage medium, and executes the computer executable program to implement the method provided in the embodiment of the present application.

[0694] The present application also provides a network-side device, which includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium, in which a computer executable program is stored. The central processing unit is connected to the non-volatile storage medium and executes the computer executable program to implement the method provided in the embodiment of the present application.

[0695] The present application also provides a communication device, which may be, for example, a network-side device, a terminal, a chip, or a chip module, and the communication device includes: one or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the processor, the communication device executes the method provided in an embodiment of the present application.

[0696] The present application also provides a perception system, comprising the above-mentioned terminal and the above-mentioned network side device.

[0697] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the method provided by the embodiment of the present application.

[0698] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program product is run on a computer, it enables the computer to execute the method provided by the embodiment of the present application.

[0699] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can represent: a, b, c, a and b, a and c, b and c or a and b and c, where a, b, c can be single or multiple.

[0700] Those skilled in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented using a combination of electronic hardware, 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. Professionals and technicians 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.

[0701] 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.

[0702] In the several embodiments provided in this application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this 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, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), magnetic disk or optical disk, and other media that can store program code.

[0703] The above description is merely a specific embodiment of the present application. Any person skilled in the art may easily conceive of variations or substitutions within the technical scope disclosed in this application, and such variations or substitutions shall be within the scope of protection of this application. The scope of protection of this application shall be subject to the scope of protection of the claims.

Claims

1. A sensing method, characterized in that: The method comprises: receiving beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam used for signal transmission; Perception is performed according to the perception-related information.

2. The method according to claim 1, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

3. The method according to claim 2, characterized in that Also includes: Receive a perception trigger indication.

4. The method according to claim 1, characterized in that: The perception-related information indicates at least one of the following: Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

5. The method according to any one of claims 1 to 4, characterized in that: The beam-related information is associated with the sensing-related information, including: The beam-related information indicates a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

6. The method according to claim 5, characterized in that The TCI state is associated with the perception-related information, including: The TCI state includes the perception related information; or, The TCI state includes a quasi co-located source reference signal, and the quasi co-located source reference signal is associated with the perception-related information.

7. The method according to any one of claims 1 to 4, characterized in that: The beam-related information is associated with the sensing-related information, including: The beam-related information includes a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

8. The method according to claim 7, characterized in that Also includes: A beam failure recovery request is sent, wherein the beam failure recovery request is associated with perception request information, and the perception request information is used to request perception.

9. The method according to any one of claims 1 to 4, characterized in that: The receiving beam related information includes: receiving beam configuration information, where the beam configuration information includes the beam-related information; or, receiving a beam activation command, where the beam activation command includes the beam-related information; or, Downlink control information is received, where the downlink control information includes the beam-related information.

10. The method according to any one of claims 1 to 4, characterized in that: Also includes: Receive perception configuration information; the perception configuration information includes at least one of the following: Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information; The performing perception according to the perception-related information includes: According to the perception-related information, corresponding configuration is obtained from the perception configuration information, and perception is performed.

11. The method according to any one of claims 1 to 4, characterized in that: The performing perception according to the perception-related information includes: After receiving the beam related information, after a time interval, perception is performed according to the perception related information.

12. The method according to claim 11, characterized in that Also includes: Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

13. The method according to claim 11, characterized in that The starting time of the time interval is one of the following times: the effective time of the beam-related information, the receiving time of the beam-related information, and the sending time of the confirmation message of the beam-related information.

14. The method according to claim 11, characterized in that The starting time of the time interval is the sending time of the beam failure recovery request, wherein the beam related information is the beam failure recovery response.

15. The method according to any one of claims 1 to 4, characterized in that: The performing perception according to the perception-related information includes: Within the time window, perception is performed according to the perception-related information.

16. The method according to claim 15, characterized in that Also includes: Time window configuration information is received, where the time window configuration information indicates the time window.

17. The method according to claim 16, characterized in that The time window configuration information includes at least one of the following: The start position of the time window, the length of the time window, and the end position of the time window.

18. The method according to any one of claims 1 to 4, characterized in that: Also includes: Determining a sensing start time according to an effective time of the beam-related information; or, Determining a sensing start time according to a reception time of the beam-related information; or, The starting time of perception is determined according to the sending time of the confirmation message of the beam related information.

19. A sensing method, characterized in that: The method comprises: Sending a beam update request, wherein the beam update request is associated with sensing related information; Perception is performed according to the perception-related information.

20. The method according to claim 19, characterized in that The beam update request is associated with the sensing related information, including: The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

21. The method according to claim 19 or 20, characterized in that The performing perception according to the perception-related information includes: After sending the beam update request, after a first time interval, perception is performed according to the perception-related information.

22. A sensing method, characterized in that: The method comprises: After receiving beam-related information, perception is performed.

23. The method according to claim 22, characterized in that After receiving the beam-related information, sensing includes: After receiving the beam-related information, sensing is performed after a time interval.

24. The method according to claim 22 or 23, characterized in that Also includes: Receive perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

25. The method according to claim 22 or 23, characterized in that The received beam-related information includes: receiving beam configuration information, where the beam configuration information includes the beam-related information; or, receiving a beam activation command, where the beam activation command includes the beam-related information; or, Downlink control information is received, where the downlink control information includes the beam-related information.

26. The method according to claim 22 or 23, characterized in that The beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

27. The method according to claim 22 or 23, characterized in that The sensing includes: Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

28. A sensing method, characterized in that: The method comprises: After sending the beam update request, sensing is performed.

29. The method according to claim 28, characterized in that After sending the beam update request, sensing is performed, including: After sending the beam update request, sensing is performed after a first time interval.

30. The method according to claim 28 or 29, characterized in that Also includes: A sensing enable indication information is received, where the sensing enable indication information indicates that the beam update request is used to trigger sensing.

31. A sensing method, characterized in that: The method comprises: Determine beam-related information, the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission; The beam related information is sent.

32. The method according to claim 31, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

33. The method according to claim 32, characterized in that Also includes: Send a sense trigger indication.

34. The method according to claim 31, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

35. The method according to any one of claims 31 to 34, characterized in that The beam-related information is associated with the sensing-related information, including: The beam-related information is a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

36. The method according to claim 35, characterized in that The TCI state is associated with the perception-related information, including: The TCI state includes the perception related information; or, The TCI state includes a quasi co-located source reference signal QCL source RS, and the QCL source RS is associated with the perception-related information.

37. The method according to any one of claims 31 to 34, characterized in that The beam-related information is associated with the sensing-related information, including: The beam-related information is a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

38. The method according to claim 37, characterized in that Also includes: A beam failure recovery request is received, where the beam failure recovery request is associated with perception request information, where the perception request information is used to request perception.

39. The method according to any one of claims 31 to 34, characterized in that The transmit beam related information includes: sending beam configuration information, where the beam configuration information includes the beam related information; or, sending a beam activation command, where the beam activation command includes the beam related information; or, Send downlink control information, where the downlink control information includes the beam-related information.

40. The method according to any one of claims 31 to 34, characterized in that Also includes: Sending awareness configuration information; the awareness configuration information includes at least one of the following: Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information.

41. The method according to any one of claims 31 to 34, characterized in that Also includes: Perception is performed according to the perception-related information.

42. The method according to claim 41, characterized in that The performing perception according to the perception-related information includes: After sending the beam related information, after a time interval, perception is performed according to the perception related information.

43. The method according to claim 42, characterized in that Also includes: Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

44. The method according to claim 42, characterized in that The starting time of the time interval is one of the following times: the sending time of the beam-related information, the effective time of the beam-related information, and the receiving time of the confirmation message of the beam-related information.

45. The method according to claim 42, characterized in that The starting time of the time interval is the reception time of the beam failure recovery request, wherein the beam related information is the beam failure recovery response.

46. ​​The method according to claim 41, characterized in that The performing perception according to the perception-related information includes: Within the time window, perception is performed according to the perception-related information.

47. The method according to claim 46, characterized in that Also includes: Time window configuration information is sent, where the time window configuration information indicates the time window.

48. The method according to claim 47, characterized in that The time window configuration information includes at least one of the following: The start position of the time window, the length of the time window, and the end position of the time window.

49. The method according to claim 41, characterized in that Also includes: Determining a sensing start time according to a sending time of the beam-related information; or, Determining a sensing start time according to an effective time of the beam-related information; or, The starting time of perception is determined according to the reception time of the confirmation message of the beam related information.

50. A sensing method, characterized in that: The method comprises: receiving a beam update request, the beam update request being associated with sensing related information; Perception is performed according to the perception-related information.

51. The method according to claim 50, characterized in that The beam update request is associated with the sensing related information, including: The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

52. The method according to claim 50 or 51, characterized in that The performing perception according to the perception-related information includes: After receiving the beam update request, after a first time interval, perception is performed according to the perception-related information.

53. A sensing method, characterized in that: The method comprises: After sending the beam related information, sensing is performed.

54. The method according to claim 53, characterized in that After sending the beam related information, sensing is performed, including: After the beam-related information is sent, sensing is performed after a time interval.

55. The method according to claim 53 or 54, characterized in that Also includes: Sending perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

56. The method according to claim 53 or 54, characterized in that The transmit beam related information includes: sending beam configuration information, where the beam configuration information includes the beam related information; or, sending a beam activation command, where the beam activation command includes the beam related information; or, Send downlink control information, where the downlink control information includes the beam-related information.

57. The method according to claim 53 or 54, characterized in that The beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

58. The method according to claim 53 or 54, characterized in that The sensing includes: Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

59. A sensing method, characterized in that: The method comprises: After receiving the beam update request, sensing is performed.

60. The method according to claim 59, characterized in that After receiving the beam update request, sensing includes: After receiving the beam update request, sensing is performed after a first time interval.

61. The method according to claim 59 or 60, characterized in that Also includes: Sending sensing enable indication information, wherein the sensing enable indication information indicates that the beam update request is used to trigger sensing.

62. A communication device, characterized in that: include: one or more processors; Memory; One or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the communication device to perform the method according to any one of claims 1 to 30.

63. A communication device, characterized in that: include: one or more processors; Memory; One or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the communication device to perform the method according to any one of claims 31 to 61.

64. A communication system, characterized in that: Includes the communication device described in claim 62 and the communication device described in claim 63.

65. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the method according to any one of claims 1 to 61.

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