Communication method and apparatus

Abstract

A communication method and apparatus. The method comprises: a terminal device receiving a first message, and sending sensing information on a first resource on the basis of first resource information, wherein the first message comprises the first resource information, the first resource information indicates the first resource, the first resource is a resource used for sensing reporting, and the first resource is associated with a preamble. By means of the method, a terminal device can send sensing information along with a preamble. In this way, the sensing information can be transmitted without the need for the terminal device to enter an RRC connected state. Compared with sensing information transmission based on an SDT mechanism, the method can reduce a sensing information transmission delay, thereby improving the reliability of sensing information transmission.

Description

Communication method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 3, 2023, with application number 202311462409.0 and application name “A Communication Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of perception technology, and in particular to a communication method and device. Background Art

[0004] With the development of fifth-generation (5G) networks, new services, such as sensing services, have emerged. Sensing devices can sense targets and determine their attributes, such as their location. To meet the needs of sensing services, integrated communication and sensing technology has been proposed. The core concept of this technology is to add sensing capabilities to mobile communication networks, building the ability to detect, track, and image targets, thereby integrating communication and sensing into a single network.

[0005] In a communication-aware integrated network, terminal devices can send perception information to network devices, allowing the network devices to determine the terminal device's attribute information based on the received perception information. To reduce the transmission latency of perception data for terminal devices in the radio resource control (RRC) inactive state, a small data transmission (SDT) mechanism has been proposed. However, transmitting perception data based on the SDT mechanism makes it difficult to ensure that terminal devices in the RRC inactive state report perception information in a timely manner. It may even be impossible to report perception information, affecting the normal operation of perception services.

[0006] Summary of the Invention

[0007] The present application provides a communication method and a communication device for reducing the transmission delay of perception information and improving the reliability of perception information transmission.

[0008] To achieve the above objectives, the present invention adopts the following technical solutions:

[0009] In a first aspect, embodiments of the present application provide a communication method that can be performed by a first communication device. The first communication device can be a terminal device, or the first communication device can be a component used to implement the functions of the terminal device. For example, the first communication device can be a unit / module, circuit, or chip within the terminal device. The method provided in the first aspect is described below using the first communication device as an example, wherein the first communication device is the terminal device itself.

[0010] The communication method includes: a terminal device receiving a first message and sending a perception reporting result on a first resource according to first resource information. The first message includes the first resource information, the first resource information indicates a first resource, the first resource is a resource for perception reporting, and the first resource is associated with a preamble.

[0011] Optionally, the perception information may include one or more of the following: a perception measurement result obtained by measuring at least one perception signal bandwidth, a perception capability, information indicating a perception measurement bandwidth, or information indicating a preamble. The information indicating the perception measurement bandwidth may indicate a bandwidth associated with the perception measurement result.

[0012] In this solution, the first resource belongs to the resource used for perception information reporting (which may be referred to as perception reporting), and the first resource is associated with the preamble. For example, the first resource is a control channel or a data channel associated with the preamble. The preamble may be a random access preamble, and the terminal device sends the perception information in the first resource. It can be considered that the terminal device sends the perception information in the first resource along with the preamble or the terminal device sends the perception information in the first resource corresponding to the preamble. In this way, the terminal device does not need to perform an RRC connection, and the transmission of the perception information is achieved by using resources specially configured for the perception information reporting. Compared with the transmission of perception information based on the SDT mechanism due to the inability to guarantee the resources for the transmission of positioning information, the transmission delay of the perception information can be reduced and the reliability of the transmission of the perception information can be improved. Since this solution does not require the terminal device to perform an RRC connection, it is particularly suitable for terminal devices in an RRC inactive state and a terminal device in an RRC idle state, and has a wider range of applicability. In addition, this solution can also be applied to some terminal devices in low-power connection state or configured in low-power mode (for example, the power consumption requirement is lower than a certain threshold), without the need for the low-power terminal device to perform resource requests, cache reporting and other interactions.

[0013] In one implementation, the method further includes: the terminal device receiving a sensing capability request, and reporting the sensing capability in response to the sensing capability request. The sensing capability request is used to request the sensing capability of at least one terminal device.

[0014] In this solution, the terminal device may report the perception capability in response to the perception capability request of the network device, so that the first message configured by the network device matches the actual perception capability of the terminal device.

[0015] In one implementation, a sensing capability request is carried in a sensing system message, which is used for sensing. The sensing system message also includes a first condition and second resource information. The first condition indicates a request for obtaining sensing capabilities of at least one terminal device that meets the first condition. The second resource information indicates resources used to report the sensing capabilities.

[0016] This solution can limit the terminal devices that meet certain conditions to report perception capabilities through the first condition, thereby selecting terminal devices that meet certain conditions to participate in perception, so as to meet actual perception needs as much as possible.

[0017] In one implementation, the resource indicated by the first resource information is associated with a preamble.

[0018] In this scheme, the resources used to report the perception capability are associated with the preamble code, so that the terminal device can report the perception capability in a random process or report the perception capability through a random perception reporting process or report the perception capability through a random access process, and the transmission of the perception capability can be achieved without the terminal device entering the RRC connection state.

[0019] In one implementation, the first condition includes one or more of the following: a first signal quality threshold, at least one signal quality interval, at least one bandwidth range, at least one bandwidth value, first area information, a first angular resolution range, a first speed range, a first perception method, or a first beam range.

[0020] Among them, the first signal quality threshold indicates a request to obtain the received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold. The received signal quality of a terminal device can be regarded as a perception capability of the terminal device. If the received signal quality of a terminal device is lower than the first signal quality threshold, then the terminal device does not need to report the perception capability, which can save resource overhead and energy consumption. By setting the first signal quality threshold, the number of terminal devices participating in the perception measurement can be limited, reducing resource conflicts between terminal devices. In addition, only terminal devices with received signal quality higher than or equal to the first signal quality threshold report the perception capability, which can ensure the reliability of the perception capability reporting and a certain perception accuracy.

[0021] At least one signal quality interval indicates a request to obtain the received signal quality of terminal devices whose received signal quality falls within the at least one signal quality interval. If the received signal quality of a terminal device is not within any of the at least one signal quality intervals, the terminal device does not need to report its sensing capability. This prevents terminal devices that do not meet the signal quality requirements from participating in sensing, reduces resource overhead, reduces interference, and saves energy.

[0022] At least one bandwidth range indicates the bandwidth capabilities of terminal devices whose bandwidth capabilities fall within the at least one bandwidth range. If a terminal device's perceived bandwidth falls outside any of the at least one bandwidth range, the terminal device does not need to report its perception results, saving resources and energy. By setting at least one bandwidth range, terminal devices with different bandwidth capabilities that meet the bandwidth requirements can participate in perception, thereby obtaining collaborative perception results from terminal devices that meet the bandwidth requirements as much as possible, resulting in more accurate perception results.

[0023] At least one bandwidth value indicates the bandwidth capability of the terminal device requesting bandwidth capabilities corresponding to the at least one bandwidth value. If a terminal device's perceived bandwidth does not fall within any of the configured bandwidth values, the terminal device does not need to report the perception result, reducing resource overhead, avoiding interference, and saving energy. By setting at least one bandwidth value, terminal devices with different bandwidth capabilities can participate in perception, thereby maximizing the number of collaborative perception results from terminal devices that meet the bandwidth requirements and achieving more accurate perception results.

[0024] The first region information indicates a request to obtain the sensing capabilities of terminal devices located in the first region. By configuring the first region information, the network device can request sensing capabilities only from terminal devices in the region with sensing requirements. This limits the number of terminal devices that can participate in sensing, and terminal devices that do not participate in sensing do not need to report their sensing capabilities, saving resources and energy consumption and reducing interference.

[0025] The first angular resolution range indicates the sensing capabilities of devices requesting angular resolutions within the first angular resolution range. This limits the number of devices that can participate in sensing. If the angular resolution is not within the first angular resolution range, the device does not need to report its sensing capabilities, saving resources, energy consumption, and reducing interference.

[0026] The first speed range indicates a request to obtain the sensing capabilities of terminal devices within the first speed range. By configuring the first speed range, the network device can request sensing capabilities only from terminal devices with a specific moving speed. This reduces the number of sensing capabilities reported by terminal devices outside the first speed range. This limits the number of terminal devices participating in sensing, saving resources, energy consumption, and reducing interference.

[0027] The first beam range indication requests the perception capabilities of terminal devices within the first beam range. By configuring the first beam range, you can request the perception capabilities of terminal devices within a specific angle range. This limits the number of participating terminal devices, conserving resources, saving energy, reducing interference, and enabling perception within a specific angle range.

[0028] The first perception method indicates a request for the perception capabilities of terminal devices that support the first perception method. By configuring the first perception method, you can request the perception capabilities of terminal devices that support a specific perception method. This limits the number of terminal devices that can participate in perception, saving resources, energy consumption, reducing interference, and enabling perception using a specific perception method.

[0029] In one implementation, the first message is also used to configure one or more of the following: a transmission parameter of the perception signal, a perception method, a first resource, or a second condition, where the second condition instructs the terminal device that meets the second condition to perform perception reporting.

[0030] In one implementation, the second condition includes one or more of the following: a second signal quality threshold, at least one signal quality interval, at least one bandwidth range, at least one bandwidth value, second area information, a second angular resolution range, a second speed range, a second perception method, or a second beam range.

[0031] The second signal quality threshold instructs terminal devices whose received signal quality is higher than the second signal quality threshold to perform perception reporting. If the received signal quality of a terminal device is lower than the second signal quality threshold, then the terminal device does not need to report the perception result, which can save resource overhead and energy consumption. By configuring the second signal quality threshold, the number of terminal devices participating in the perception measurement can be limited, reducing resource conflicts for reporting perception results between terminal devices. In addition, terminal devices whose received signal quality is higher than or equal to the second signal quality threshold perform perception reporting, which can also ensure the reliability of the perception reporting and a certain degree of perception accuracy.

[0032] At least one signal quality interval indicates that terminal devices whose received signal quality falls within the at least one signal quality interval are required to report the perception result. If the received signal quality of a terminal device is not within any of the at least one signal quality interval, then the terminal device does not need to report the perception result. This can prevent terminal devices that do not meet the signal quality requirements from participating in the perception, reduce resource overhead, reduce interference, and save energy. By configuring at least one signal quality interval, the number of terminal devices participating in the perception report can be further limited to minimize resource conflicts when reporting perception results between terminal devices.

[0033] At least one bandwidth range indicates that terminal devices with bandwidth capabilities within the at least one bandwidth range are required to report their perception. If a terminal device's perceived bandwidth falls outside any of the at least one bandwidth range, the terminal device does not need to report its perception results, saving resources and energy. By configuring at least one bandwidth range, all terminal devices that meet the bandwidth requirements can participate in perception, thereby maximizing the number of collaborative perception results from terminal devices that meet the bandwidth requirements and achieving more accurate perception results.

[0034] At least one bandwidth value indicates that terminal devices with bandwidth capabilities within the at least one bandwidth value are required to perform perception reporting. If a terminal device's perceived bandwidth is not within any of the at least one bandwidth value, the terminal device does not need to report the perception result, saving resource overhead and energy consumption. By configuring at least one bandwidth value, all terminal devices that meet the bandwidth requirements can participate in perception, thereby obtaining collaborative perception results from terminal devices that meet the bandwidth requirements as much as possible, resulting in more accurate perception results.

[0035] The second area information instructs terminal devices located in the second area to perform perception reporting. By configuring the second area information, network devices can only make perception requests to areas with perception requirements. This limits the number of terminal devices participating in perception, saving resources and energy consumption and reducing interference.

[0036] The second angular resolution range instructs terminal devices with angular resolutions within the second angular resolution range to report perception results. This limits the number of terminal devices that can participate in perception. If the angular resolution is not within the second angular resolution range, the terminal device does not need to report the perception results, saving resources, energy consumption, and reducing interference. By configuring the second angular resolution range, the perception results reported by terminal devices can be highly accurate.

[0037] The second speed range instructs terminal devices within the second speed range to perform perception reporting. By configuring the second speed range, network devices can request perception only from terminal devices with a specific moving speed. This limits the number of terminal devices that can participate in perception, saving resources, energy consumption, and reducing interference.

[0038] The second beam range indicates that the beam carrying the sensing signal is within the second beam range, and terminal devices within this range will report the sensing. Configuring the second beam range allows terminal devices within a specific angle range to sense the signal. This limits the number of participating devices, conserving resources, reducing energy consumption, and reducing interference, while enabling sensing within a specific angle range.

[0039] The second perception method indicates a request for the perception capabilities of terminal devices that support the second perception method. By configuring the second perception method, you can request the perception capabilities of terminal devices that support a specific perception method. This limits the number of terminal devices that can participate in perception, saving resources, energy consumption, and interference, while enabling perception using a specific perception method.

[0040] In one implementation, the transmission parameters of the perception signal include at least one bandwidth configuration, which corresponds to at least one resource pool. The preamble associated with a first resource is selected from the at least one resource pool corresponding to the first bandwidth, which is the bandwidth of the perception signal. In this solution, each bandwidth can correspond to multiple resource pools. Thus, a terminal device selects a corresponding resource pool based on the supported perception bandwidth, then selects a preamble from that resource pool. The terminal device then uses the first resource associated with the preamble to report the perception information, minimizing resource conflicts.

[0041] In one implementation, the first message is carried in one or more of downlink control information (DCI), a media access control (MAC) control element (CE), or a radio resource control (RRC) message. The DCI includes primary DCI and secondary DCI, the primary DCI being used to configure transmission parameters of a sensing signal and resources of a channel carrying the secondary DCI, and the secondary DCI being used to configure a sensing method, first resource information, a preamble corresponding to the first resource, a timing advance, a transmit power, a modulation and coding scheme, or one or more of the second condition. The MAC CE includes the first resource information, a preamble corresponding to the first resource, a timing advance, a transmit power, a modulation and coding scheme, or one or more of the second condition.

[0042] In this solution, the payload size of the first-level DCI is relatively fixed, which can reduce the number of blind detections. The resources of the second-level DCI are indicated by the first-level DCI, and there is no need for blind detection, which reduces the complexity of the terminal device. By indicating the resource configuration of the channel carrying the second-level DCI through the first-level DCI, more content that needs to be indicated can be carried on the second-level DCI, thereby supporting more flexible configuration of the content included in the first message. In addition, by indicating the first resource information through MAC CE or second-level DCI, it is possible to configure the corresponding first resources for multiple terminal devices at the same time through one signaling, thereby saving signaling overhead. For example, MAC CE or second-level DCI can carry multiple preambles and information about the first resources corresponding to each of the multiple preambles.

[0043] In one implementation, a physical downlink control channel (PDCCH) carrying the first-level DCI is scrambled using a first radio network temporary indentifier (RNTI), and the first RNTI corresponds to the perception, or the first RNTI is an RNTI that identifies the perception.

[0044] In this solution, the first RNTI may be an RNTI dedicated to sensing. The first RNTI is used to scramble the PDCCH carrying the primary DCI to distinguish it from PDCCHs for other purposes.

[0045] In one implementation, the first message is carried in one or more of DCI, sidelink control information (SCI), MAC CE, or RRC message. The SCI includes a primary SCI and a secondary SCI. The primary SCI is used to configure the transmission parameters of the sensing signal and the resources of the channel carrying the secondary DCI. The secondary SCI is used to configure the sensing method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition. The MAC CE includes the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition.

[0046] In one implementation, the method is applied to a first terminal device, and the first terminal device satisfies one or more of the following: being in an RRC inactive state, in an RRC idle state, or in an RRC connected state, and the power consumption requirement is lower than a first threshold, or being in a low power consumption state, or being configured in a low power consumption mode.

[0047] In one implementation, the sensing method includes one or more of a DL AoA method, a DL AoD method, a TDOA method, or a multi-cell round trip time (Multi RTT) method.

[0048] In one implementation, the sensing method includes one or more of a sidelink (SL) AoA method, a SL AoD method, a TDOA method, or an RTT method.

[0049] In one implementation, when the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the DL AoA method, the DL AoD method, the TDoA method, or Multi RTT to obtain a perception result with a higher time resolution.

[0050] In one implementation, when the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is a DL AoA method and / or a DL AoD method. Because a relatively small bandwidth cannot support high temporal resolution, when the bandwidth capability of the first terminal device is less than the first bandwidth, the DL AoA method and / or the DL AoD method is used to obtain a perception result with higher angular resolution.

[0051] In one implementation, when the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method, or the perception method used by the first terminal device is the TDoA method and / or the RTT method; when the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is the SL AoA method and / or the SL AoD method.

[0052] In one implementation, the first message is a message dedicated to perception, for example, a perception system message used for perception.

[0053] In one implementation, the terminal device receives the first message, including the terminal device receiving a response to the sensing capability, the response including the first message. In this solution, the first message may be the response to the sensing capability, or the first message may be part of the response to the sensing capability.

[0054] In one implementation, the perception signal is transmitted as part of the response.

[0055] In one implementation, before receiving the first message, the method further includes: the terminal device receiving a second message, the second message being used to schedule the first message, the second message including information about a first time window and / or beam information. The first time window is used to indicate detection of the first message within the first time window. The beam information is used to indicate a beam for transmitting the first message.

[0056] In this solution, the second message schedules the first message so that the terminal device knows how to receive the first message.

[0057] In one implementation, the transmission beam of the first message is at least one beam that carries the second message.

[0058] In this solution, the first message is associated with a specific beam. For example, at least one beam that transmits / carries the second message is the same beam that sent the first message. This solution enables sensing in a specific direction / range. Furthermore, sending the first message on a specific beam can reduce potential interference with communications or sensing within the network.

[0059] In a second aspect, embodiments of the present application provide a communication method that can be performed by a second communication device. The second communication device can be a network device, or a component used to implement the functions of the network device. For example, the second communication device can be a unit / module, circuit, or chip within the network device. The method provided in the second aspect is described below using the second communication device as an example, wherein the network device itself is the second communication device.

[0060] The communication method includes: a network device sending a first message and receiving perception information on a first resource, wherein the first message includes first resource information indicating a first resource, the first resource being a resource used for reporting perception information, and the first resource being associated with a preamble.

[0061] The perception information includes one or more of the following: a perception measurement result obtained by measuring at least one perception signal bandwidth, a perception capability, information indicating the perception measurement bandwidth, or information indicating the preamble. The information indicating the perception measurement bandwidth may indicate a bandwidth associated with the perception measurement result.

[0062] In one implementation, the method further includes: the network device sending a sensing capability request, and receiving the sensing capability of the first terminal device in response to the sensing capability request. The sensing capability request is used to request the sensing capability of at least one terminal device.

[0063] In one implementation, the sensing capability request is carried in a sensing system message, which is used for sensing. The sensing system message also includes a first condition and second resource configuration information. The first condition indicates the sensing capability of at least one terminal device that meets the first condition. The second resource information indicates the resources used to report the sensing capability.

[0064] In one implementation, the resource indicated by the second resource information is associated with a preamble.

[0065] In one implementation, the first condition includes one or more of the following:

[0066] A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold;

[0067] At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval;

[0068] At least one bandwidth range, indicating that the bandwidth capability of a terminal device whose bandwidth capability is within the at least one bandwidth range is requested to be acquired;

[0069] at least one bandwidth value, indicating the bandwidth capability of the terminal device for which the bandwidth capability is requested to be within the at least one bandwidth value;

[0070] First area information, indicating a request to obtain the sensing capability of a terminal device located in a first area, the first area information indicating the first area;

[0071] A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range;

[0072] A first speed range indicates a request to obtain the sensing capability of a terminal device within a first speed range; or

[0073] A first beam range indicates a request to obtain the perception capability of a terminal device whose beam carrying the perception signal is within the first beam range;

[0074] The first perception method indicates a request to obtain the perception capability of the terminal device that supports the first perception method.

[0075] In one implementation, the first message is also used to configure one or more of the following: a transmission parameter of the perception signal, a perception method, a perception result reporting method, or a second condition, where the second condition instructs the terminal device that meets the second condition to perform perception reporting.

[0076] In one implementation, the second condition includes one or more of the following:

[0077] A second signal quality threshold is used to instruct a terminal device whose received signal quality is higher than the second signal quality threshold to perform perception reporting;

[0078] At least one signal quality interval, indicating that a terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting;

[0079] At least one bandwidth range, indicating that terminal devices with bandwidth capabilities within the at least one bandwidth range perform perception reporting;

[0080] At least one bandwidth value, indicating that a terminal device with a bandwidth capability within the at least one bandwidth value performs perception reporting;

[0081] Second area information, instructing a terminal device located in the second area to perform perception reporting, the second area information indicating the second area;

[0082] A second angular resolution range, instructing terminal devices with an angular resolution within the second angular resolution range to perceive and report;

[0083] The second speed range instructs the terminal devices within the second speed range to perform perception reporting; or

[0084] The second beam range indicates that the beam carrying the perception signal is located in the second beam range and the terminal device performs perception reporting.

[0085] The second perception method instructs the terminal device that supports the second perception method to perform perception reporting.

[0086] In one implementation, the perception parameter includes at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the preamble code associated with the first resource belongs to at least one resource pool corresponding to the first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

[0087] In one implementation, the first message is carried in one or more of a DCI, a MAC CE, or an RRC message. The DCI includes a primary DCI and a secondary DCI. The primary DCI is used to configure the transmission parameters of the sensing signal and the resources of the channel carrying the secondary DCI. The secondary DCI is used to configure the sensing method, the first resource information, and one or more of the following: a preamble corresponding to the first resource, a timing advance, a transmit power, a modulation and coding scheme, or a second condition. The MAC CE includes one or more of the following: the first resource information, the preamble corresponding to the first resource, a timing advance, a transmit power, a modulation and coding scheme, or the second condition.

[0088] In one implementation, the PDCCH carrying the first-level DCI is scrambled using a first RNTI, and the first RNTI corresponds to the perception.

[0089] In one implementation, the sensing method includes one or more of a DL AoA method, a DL AoD method, a TDoA method, or Multi RTT.

[0090] In one implementation, the first message is carried in one or more of DCI, sidelink control information (SCI), MAC CE, or RRC message. The SCI includes a primary SCI and a secondary SCI. The primary SCI is used to configure the transmission parameters of the sensing signal and the resources of the channel carrying the secondary DCI. The secondary SCI is used to configure the sensing method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition. The MAC CE includes the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition.

[0091] In one implementation, the sensing method includes one or more of a DL AoA method, a DL AoD method, a TDOA method, or a Multi RTT method.

[0092] In one implementation, the sensing method includes one or more of a sidelink (SL) AoA method, a SL AoD method, a TDOA method, or an RTT method.

[0093] In one implementation, the bandwidth capability of the terminal device is greater than or equal to the first bandwidth, and the perception method used by the terminal device is one or more of the DL AoA method, the DL AoD method, the TDoA method, or Multi RTT; when the bandwidth capability of the terminal device is less than the first bandwidth, the perception method used by the terminal device is the DL AoA method and / or the DL AoD method.

[0094] In one implementation, when the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method, or the perception method used by the first terminal device is the TDoA method and / or the RTT method; when the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is the SL AoA method and / or the SL AoD method.

[0095] In one implementation, the first message is a perception system message, and the perception system message is used for perception.

[0096] In one implementation, sending the first message includes sending a response of the sensing capability, the response including the first message.

[0097] As an optional implementation, sending the first message includes sending a perception capability response, the response including multiple preambles and a perception information reporting resource corresponding to each preamble. The terminal device reports the perception information on the perception information reporting resource corresponding to the preamble, and the network device may determine the bandwidth corresponding to the perception information based on the preamble corresponding to the perception information reporting resource. The perception information reporting resource is a resource for reporting the perception information.

[0098] In one implementation, the perception signal is transmitted as part of the response.

[0099] In one implementation, before receiving a first message, the method includes: a network device sending a second message, the second message being used to schedule the first message, the second message including first time window information and / or beam information. The first time window is used to indicate detection of the first message within the first time window. The beam information is used to indicate a beam for transmitting the first message.

[0100] In one implementation, the transmission beam of the first message is at least one beam that carries the second message.

[0101] Regarding the beneficial effects of the second aspect and each implementation method, reference can be made to the beneficial effects of the aforementioned first aspect and each implementation method, which will not be repeated here.

[0102] On the third aspect, an embodiment of the present application provides a communication device, which has the function of implementing the behavior in the method example of the first aspect or the second aspect above. The beneficial effects can be found in the relevant description of the first aspect or the second aspect and will not be repeated here. For example, the communication device may be the terminal device in the first aspect, or the communication device may be the network device in the second aspect. For another example, the communication device may be a device that can support the terminal device to implement the functions required by the method provided in the first aspect, for example, the communication device may be a chip or chip system in the terminal device. Or, for another example, the communication device may be a device that can support the network device to implement the functions required by the method provided in the second aspect, for example, the communication device may be a chip or chip system in the network device.

[0103] In one possible design, the communication device includes a baseband device and a radio frequency device.

[0104] In one possible design, the communication device includes corresponding means (means) or modules for executing the method of the first aspect or the second aspect. For example, the communication device: includes a processing unit (sometimes also referred to as a processing module or processor) and / or a transceiver unit (sometimes also referred to as a transceiver module or transceiver). The transceiver unit can realize the sending function and the receiving function. When the transceiver unit realizes the sending function, it can be called a sending unit (sometimes also referred to as a sending module). When the transceiver unit realizes the receiving function, it can be called a receiving unit (sometimes also referred to as a receiving module). The sending unit and the receiving unit can be the same functional unit, which is called a transceiver unit, and the functional unit can realize the sending function and the receiving function; or, the sending unit and the receiving unit can be different functional units, and the transceiver unit is a general term for these functional units. These units (modules) can perform the corresponding functions in the method examples of the first aspect or the second aspect above. Please refer to the detailed description in the method examples for details, which will not be repeated here.

[0105] In a fourth aspect, an embodiment of the present application provides a communication device, which may be the communication device in the third aspect of the above embodiment, or a chip or chip system provided in the communication device in the third aspect. The communication device includes a communication interface and a processor, and optionally, also includes a memory. The memory is used to store computer programs or instructions or data, and the processor is coupled to the memory and the communication interface. When the processor reads the computer program or instructions or data, the communication device executes the method executed by the terminal device in the above method embodiment. For example, the communication device may be a terminal device or a functional module in the terminal device, such as a baseband chip and a radio frequency chip. Alternatively, when the processor reads the computer program or instructions or data, the communication device executes the method executed by the network device in the above method embodiment. For example, the communication device may be a network device or a functional module in the network device, such as a baseband chip and a radio frequency chip.

[0106] In a fifth aspect, an embodiment of the present application provides a chip system, which includes a processor and may also include a communication interface for implementing the method described in the first aspect or the second aspect. Optionally, the chip system also includes a memory. The memory is used to store computer programs (also referred to as codes, or instructions). The processor is used to call and run the computer program from the memory so that the device equipped with the chip system executes the method in the first aspect and any possible implementation thereof, or causes the device equipped with the chip system to execute the method in the second aspect and any possible implementation thereof. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0107] In a sixth aspect, embodiments of the present application provide a communication device comprising an input / output interface and a logic circuit. The input / output interface is used to input and / or output information. The input / output interface can be an interface circuit, an output circuit, an input circuit, a pin, or related circuits. The logic circuit is used to execute the method described in the first or second aspect.

[0108] In a specific implementation, the communication device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the logic circuit may be a transistor, a gate circuit, a trigger, or various logic circuits. The input signal received by the input circuit may be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter. The input circuit and the output circuit may be the same circuit, which functions as an input circuit and an output circuit, respectively, at different times. This application does not limit the specific implementation of the input and output interfaces and logic circuits.

[0109] In one implementation, when the communication device is a wireless communication device, the wireless communication device may be a terminal device such as a mobile phone, the interface circuit may be a radio frequency processing chip in the wireless communication device, and the processing circuit may be a baseband processing chip in the wireless communication device.

[0110] In a seventh aspect, an embodiment of the present application provides a communication system, comprising a terminal device and a network device, wherein the terminal device is used to implement the functions of the method described in the first aspect, and the network device is used to implement the functions of the method described in the second aspect.

[0111] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store computer programs or instructions. When the computer-readable storage medium is executed, the method described in the above-mentioned first aspect and any possible implementation thereof is implemented, or the method described in the above-mentioned second aspect and any possible implementation thereof is implemented.

[0112] In the ninth aspect, an embodiment of the present application also provides a computer program product comprising instructions, which, when run on a computer, enables the method described in the above-mentioned first aspect and any possible implementation thereof to be implemented, or enables the method described in the above-mentioned second aspect and any possible implementation thereof to be implemented.

[0113] The beneficial effects of the third to ninth aspects and their implementations can refer to the description of the beneficial effects of the first to second aspects and any possible implementations thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] FIG1 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0115] FIG2 is a flow chart of a communication method 200 provided in an embodiment of the present application;

[0116] FIG3 is a flow chart of a communication method 300 provided in an embodiment of the present application;

[0117] FIG4 is a flow chart of a communication method 400 provided in an embodiment of the present application;

[0118] FIG5 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0119] FIG6 is another schematic diagram of the structure of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0120] In an embodiment of the present application, the perception device reports perception information (for example, perception results or perception capabilities) during the random access process or the random perception reporting process. Through the method provided in the embodiment of the present application, the transmission of perception information can be achieved without the terminal device being in an RRC connection state. Compared with the transmission of perception information based on the SDT mechanism supported in the random access process, the transmission delay of the perception information can be reduced and the reliability of the transmission of the perception information can be improved. It can be understood that the SDT mechanism refers to a typical small packet data that can be transmitted as a payload by a data channel (for example, a physical uplink shared channel (PUSCH)). There is no restriction on the specific name of SDT. The solution provided in the embodiment of the present application is further introduced below in conjunction with the accompanying drawings.

[0121] The solution provided in the embodiments of the present application can be applied to a communication system including a sensing device. The sensing device is a device with a sensing function, for example, the sensing device is a terminal device with a sensing function. The sensing device is also called a sensing device or a detector, etc. The sensing device can determine the attribute information of the sensed target by sending a signal (the signal is also called a sensing signal) and receiving a signal (also called an echo signal) reflected by the sensed target after the sent signal is sent. Alternatively, the sensing device can send the measurement result of the echo signal received from other devices to other devices, and the other devices determine the attribute information of the sensed target. The attribute information of the sensed target includes information such as the speed, distance, posture, shape, size, and position of the sensed target. The sensing signal, that is, the signal used to sense the sensed target, is also called a detection signal, a radar signal, a radar sensing signal, a radar detection signal, an environmental sensing signal, a reference signal, etc. The sensing signal can be a pulse signal or a possible signal in a wireless communication system, such as a sounding reference signal (SRS), a demodulation reference signal (DMRS), a channel state information reference signal (CSI-RS), a synchronization signal, and a physical broadcast channel (PBCH) block (synchronization signal / PBCH block, SSB) or a synchronization signal.

[0122] The embodiments of the present application can be applied to the perception of the surrounding environment. For example, the embodiments of the present application can be applied to ground traffic detection, such as vehicle speed, whether the vehicle occupies the emergency lane, or whether the vehicle changes lanes illegally. In this case, the sensing device can be installed on a mobile device, such as a motor vehicle (such as an unmanned vehicle, a smart car, an electric car, a digital car, etc.), a drone, a rail car, a bicycle, a speed measuring device, a terminal device, etc. The sensing device can also be installed on a fixed device, such as a road test device or a signal light. For another example, the embodiments of the present application can be applied to air traffic detection, meteorological detection, safety detection, electromagnetic imaging, etc. The embodiments of the present application do not limit the perception application scenarios.

[0123] With the development of technology, communication and perception integration technology has been proposed. The core idea of ​​this technology is to add perception capabilities to mobile communication networks, build the ability to detect, track and image targets, and thus integrate communication and perception into one network.

[0124] Please refer to Figure 1, which is a schematic diagram of the architecture of the communication system provided in an embodiment of the present application. The communication system shown in Figure 1 can be a communication system related to the 3rd Generation Partnership Project (3GPP) that integrates perception capabilities. Among them, the 3GPP-related communication system can be a long term evolution (LTE) communication system, a 5th generation (5G) mobile communication system, or can also be applied to other next-generation mobile communication systems, such as a 6th generation (6G) communication system, or other similar communication systems. Other similar communication systems may include wireless fidelity (WIFI), vehicle to everything (V2X), internet of things (IoT) system, narrowband internet of things (NB-IoT) system, and the like.

[0125] For example, the communication system includes a radio access network 100 and a core network. Optionally, the communication system may also include the Internet. The radio access network 100 may include at least one network device and at least one terminal device. For example, the radio access network 100 includes two network devices, 110a and 110b, and terminal devices 120a through 120j. Terminal devices 120a through 120j may function as sensing devices, or some of the terminal devices 120a through 120j may function as sensing devices, while others may be ordinary terminal devices. Ordinary terminal devices are relative to sensing devices; ordinary terminal devices do not possess sensing capabilities. In embodiments of the present application, a sensing device may refer to a device for implementing sensing functions, or may be a device that supports a device in implementing sensing functions, such as a chip system. A sensing device may be a network device, such as a relay device or a base station. A sensing device may also be a terminal device, or may be installed in a terminal device. For example, a sensing device may be a vehicle detector or a sensor at a gas station, installed in a terminal device. In embodiments of the present application, a terminal device includes a device with sensing functions, which may be interchangeable with a sensing device. Unless otherwise specified, the term “sensing device” and “terminal device” have the same meaning below.

[0126] It should be noted that the network architecture shown in Figure 1 is only a schematic, and the number of terminal devices and / or network devices may be less or more. The communication system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the communication system to which the embodiment of the present application is applicable. For example, the communication system may also include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1. It is known to those skilled in the art that with the evolution of network architecture, the technical solutions provided in the embodiment of the present application are also applicable to similar technical problems. When the technical solutions in the embodiment of the present application are applied to other communication systems, the devices, components, modules, etc. in the embodiment can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0127] The network devices involved in the embodiments of the present application are mainly access network devices. Therefore, in the following text, unless otherwise specified, the "network devices" referred to are radio access network (RAN) devices, which can be referred to as access network devices for short. RAN can be a 3GPP-related cellular system, for example, a 5G mobile communication system, or a future-oriented evolution system (such as a 6G mobile communication system). RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), or a virtualized radio access network (virtualized RAN, vRAN), etc. RAN can also be a communication system that is a fusion of two or more of the above systems. RAN devices can also be referred to as RAN nodes, RAN entities, or access nodes, etc.

[0128] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, or a base station in a future mobile communication system. A RAN node can be a macro base station, a micro base station, an indoor station, a relay node, a donor node / host node, or a wireless controller. A RAN node can also be a server, a wearable device, a vehicle, or an onboard device. For example, a RAN node in V2X technology can be a roadside unit (RSU).

[0129] In another possible scenario, the RAN node may be a module or unit that performs part of the functions of the base station; or multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, and different RAN nodes respectively perform part of the functions of the base station. For example, the RAN node may be a centralized unit (CU), a distributed unit (DU), or a radio unit (RU). The functions of the CU may be implemented by one entity, or by different entities. For example, the functions of the CU may be further divided, that is, the control plane and the user plane may be separated and implemented by different entities, namely the control plane CU entity (i.e., CU-control plane (CP) entity) and the user plane CU entity (i.e., CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity may be coupled with the DU to jointly perform the functions of the RAN node. The CU and DU may be set separately, or may be included in the same network element, such as the baseband unit (BBU).

[0130] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0131] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above it (such as the radio resource control (RRC) layer and / or the service data adaptation protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as the radio link control (RLC), the media access control (MAC) layer, and / or the physical (PHY) layer, etc.). For another example, the CU is configured to implement the functions of the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the PDCP layer and the protocol layers below it (such as the RLC layer, the MAC layer, and / or the PHY layer, etc.). For a detailed description of the above-mentioned protocol layers, please refer to the relevant technical specifications of 3GPP or the technical specifications of other applicable communication protocols. The above division of the processing functions of the CU and DU according to the protocol layer is only an example, and can also be divided in other ways, which is not limited by this application. For example, in one design, the CU or DU can also be divided into parts with partial processing functions of the protocol layer. In one design, part of the RLC layer functions and the functions of the protocol layers above the RLC layer are set in the CU, and the remaining functions of the RLC layer and the functions of the protocol layers below the RLC layer are set in the DU.

[0132] In the embodiments of the present application, the device for implementing the functions of the network device can be the network device itself, or a device that can support the network device to implement the functions, such as a chip system or a combination of devices or components that can implement the functions of the network device, and the device can be installed in the network device. The embodiments of the present application do not limit the specific technology and specific device form used by the network device.

[0133] In the embodiments of the present application, any device capable of performing data communication with a base station can be considered a terminal device. A terminal device is also referred to as a terminal, user equipment (UE), mobile station, or mobile terminal. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D) communication, V2X communication, machine-type communication (MTC), IoT, virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, or smart city. For example, a terminal device can be: a mobile phone, a computer, a mobile internet device (MID), a wearable device, a VR device, an AR device, a robotic arm, a camera, a robot, a robotic arm, a vehicle, a drone, a helicopter, an airplane, a ship, or a smart home device (such as a TV, an air conditioner, a vacuum cleaner, a speaker, a set-top box), a relay, a customer premise equipment (CPE), etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0134] The various terminal devices introduced above, if located on a vehicle (for example, placed / installed in a vehicle), can be considered as vehicle-mounted terminal devices. The vehicle-mounted terminal device can be an on-board module, on-board module, on-board component, on-board chip or on-board unit built into the vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in on-board module, on-board module, on-board component, on-board chip or on-board unit. The on-board terminal device can be a complete vehicle device, an on-board module, a vehicle, an on-board unit (OBU), a roadside unit (RSU), a vehicle-mounted system (or a vehicle-mounted sending unit) (telematics box, T-box), a chip or a system on chip (SOC), etc. The above chip or SOC can be installed in a vehicle, OBU, RSU or T-box.

[0135] In the embodiments of the present application, the device for implementing the functions of the terminal device can be the terminal device itself, or a device capable of supporting the terminal device in implementing the functions, such as a chip system or a combination of devices or components capable of implementing the functions of the terminal device, which can be installed in the terminal device. The embodiments of the present application do not limit the specific technology and specific device form used by the terminal device.

[0136] Terminal devices may also be referred to as terminals, terminal devices, user equipment (UE), mobile stations, mobile terminals, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart cities, etc. In the embodiments of the present application, the roles of network devices and terminal devices may be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile network device. For terminal devices 120j that access the wireless access network 100 through 120i, the terminal device 120i is a network device; but for the network device 110a, 120i is a terminal device, and communication between 110a and 120i is carried out through a wireless air interface protocol. Of course, 110a and 120i can also communicate via an interface protocol between a network device and a terminal device. In this case, relative to 110a, 120i is also a network device. Therefore, in the embodiments of the present application, network devices and terminal devices can be collectively referred to as communication devices. 110a and 110b in FIG1 can be referred to as communication devices with network device functions, and 120a-120j in FIG1 can also be referred to as communication devices with terminal functions.

[0137] As mentioned above, the periodic environment can be sensed by the sensing device to determine the attribute information of the sensed target, such as location information. Taking the location of the sensing terminal device as an example, the terminal device in the RRC connected state can send the sensing data (or the sensed positioning related information) to the network device, so that the network device can determine the location of the terminal device based on the received sensing data. The RRC connected state can be simply referred to as the connected state. The terminal device has established an RRC connection with the network and can transmit data. In the embodiments of the present application, "connected state" and "RRC connected state" are the same concept and the two terms can be interchanged. For a terminal device in the RRC inactive state, the sensing data can be sent to the network device after switching to the RRC connected state, but this will bring additional delays and the location of the terminal device cannot be obtained. Among them, the RRC inactive state is also called the inactive state or the inactive state. In the embodiments of the present application, "deactivated state", "inactive state", "deactivated state", "deactivated state", "inactive state", "RRC inactive state" or "RRC deactivated state" are the same concept and these terms can be interchanged.

[0138] In order to minimize the delay in obtaining the location of a terminal device in an RRC inactive state, it is proposed that the SDT mechanism can be used to transmit positioning-related information. For example, the random access process supports SDT, and typical small packet data can be transmitted as a payload by a data channel (such as a physical uplink shared channel (PUSCH)). However, SDT is controlled by the RAN access stratum (AS), and the positioning of the terminal device may be triggered by the core network according to positioning requirements. It is inevitable that the core network triggers the positioning, but the RAN AS has not triggered the SDT. It cannot be guaranteed that the terminal device in the RRC inactive state will report the positioning-related information in a timely manner, or even fail to report the positioning-related information. Even if the RAN AS triggers the SDT, considering the priority between the SDT data and other data, it may cause the terminal device in the RRC inactive state to report the positioning-related information in a timely manner, or even fail to report the positioning-related information.

[0139] In view of this, a solution of an embodiment of the present application is provided. In an embodiment of the present application, a terminal device with perception capabilities can report perception information (e.g., perception results or perception capabilities) during a random access process or a random perception reporting process. In this way, the perception information can be transmitted without the terminal device being in an RRC connected state. Compared to transmitting perception information based on the SDT mechanism, the transmission delay of the perception information can be reduced and the reliability of the perception information transmission can be improved.

[0140] The solution provided in the embodiment of the present application can be applied to terminal devices in the RRC inactive state, terminal devices in the RRC idle state, and can also be applied to some terminal devices in low-power mode, and has a wider scope of application. The embodiment of the present application does not limit the specific type of low-power terminal devices. For example, the low-power terminal device may be a UE in the RRC connected state, but the power consumption requirement is low, for example, the power consumption requirement of the UE is lower than the first threshold. For example, the low-power terminal device may be an Internet of Things terminal, such as an electronic tag. It should be noted that in the embodiment of the present application, the terminal device refers to a device with perception capabilities. Unless otherwise specified, the terminal device can be replaced by a perception device.

[0141] The solution provided in the embodiments of the present application is further described below with reference to the accompanying drawings.

[0142] For ease of understanding, before introducing the solutions provided by the embodiments of the present application, some terms involved in the embodiments of the present application are first introduced.

[0143] 1) Perception capability, which is the capability required by the terminal device to perform specific perception tasks. Perception capability may include one or more of the following: perception bandwidth capability, perception area capability, perception method capability, perception speed range, perception angle resolution, perception signal strength / quality, or perception direction, etc. Among them, the perception bandwidth capability may characterize the maximum bandwidth supported by the terminal device for sending and / or receiving perception signals. The perception area capability may characterize the maximum perception area supported by the terminal device. The perception speed range may characterize the perception speed supported by the terminal device. The perception angle resolution may characterize the angular resolution supported by the terminal device. The perception method capability may characterize the perception method supported by the terminal device (to be introduced below). The perception direction may characterize the perception angle range supported by the terminal device, for example, the terminal device supports receiving perception signals from which beams. The perception signal strength / quality may characterize the signal strength / quality received by the terminal device.

[0144] The above-mentioned sensing capabilities are merely examples, and in actual application scenarios, the sensing capabilities may be more or less. For example, the sensing capabilities may also include supported sensing services.

[0145] 2) Perception methods, including: downlink angle of arrival (DAOA / DL-AOA) method, downlink angle of departure (DAOD / DL-AOD) method, time difference of arrival (TDOA) method, sidelink angle of arrival (SL-AOA) method, sidelink angle of departure (SL-AOD) method, round trip time (RTT) method, and multi-cell round trip time (Multi RTT) method. DL-AOD is the departure direction of electromagnetic waves observed from the network device during downlink electromagnetic wave transmission between the network device and the terminal device, which can be used to locate the terminal device. In the DL-AOA method, DL-AOA is the arrival direction of electromagnetic waves observed from the terminal device during downlink electromagnetic wave transmission between the network device and the terminal device, which can be used to locate the terminal device. TDOA is the transmission time difference of signals sent by the terminal device to two network devices, which can be used to locate the terminal device. The terminal device to be located measures the signals from at least two network devices, obtains the time difference from the at least two network devices to the terminal device to be located, and uses the time difference to determine the location of the terminal device. It can be understood that at least two network devices participate in the positioning of the terminal device. According to the different measurement objects, there are (downlink time difference of arrival, DL-TDOA) and (uplink time difference of arrival, UL-TDOA). In some embodiments, DL-TDOA can also be called UTDOA, and UL-TDOA can also be called observed time difference of arrival (OTDOA). In the Multi RTT method, the transmission time from the terminal device to at least three network devices can be measured, and the location of the terminal device can be determined based on the time difference between the signals from the terminal device to any two network devices.

[0146] Different sensing methods require different measurements, and the corresponding sensing / measurement results are also different. The following describes each sensing method separately.

[0147] Under the DL AoA method or the SL-AOA method, the sensing result includes one or more of the following: the ID of the resource where the sensing reference signal / sensing reference signal (SERS) is located, the signal quality of the SERS (for example, the reference signal receiving power (RSRP) or the RSRP of the SERS on a single path (i.e., reference signal received path power, RSRPP)), the measurement time, the receiving beam index, the conversion coefficient of the local coordinate system to the global coordinate system, line of sight propagation (LOS) measurement information, or non-line of sight propagation (NLOS) measurement information, etc.

[0148] In the DL AoD or SL-AoD method, the sensing result includes one or more of the following: SERS resource ID, SERS RSRP / RSRPP, measurement time, receiving beam index, LOS measurement information, or NLOS measurement information.

[0149] In the DL TDOA or SL-TDOA method, the sensing result includes one or more of the following: SERS resource ID, reference signal time difference (RSTD), SERS RSRP / RSRPP, measurement time, LOS measurement information, or NLOS measurement information.

[0150] Under the RTT method, the perception result includes one or more of the following: the ID of the SERS resource, the RSRP / RSRPP of the side link, the measurement time, the time difference between the sensing device sending and receiving SERS, LOS measurement information / NLOS measurement information, the sending timing difference, and the receiving timing difference.

[0151] In the Multi RTT method, the sensing result includes one or more of the following: SERS resource ID, downlink RSRP / RSRPP, measurement time, time difference between the sensing device sending SRS and receiving SERS, LOS measurement information / NLOS measurement information, sending timing difference, and receiving timing difference.

[0152] 3) The random access process includes two-step random access and four-step random access. Four-step random access is introduced first. Four-step random access involves four random access messages: Random Access Message 1 to Random Access Message 4. Random Access Message 1 is a random access preamble and can be referred to as Message 1 (MSG1). Random Access Message 2 is a response message to Random Access Message 1, also known as a random response message, and can be referred to as Message 2 (MSG2). Random Access Messages 3 and 4 are targeted at the contention access mechanism and are used to resolve contention conflicts. Any terminal device can send MSG1 and MSG3 to the network device. Accordingly, the network device responds to MSG1 with MSG2 and to MSG3 with MSG4.

[0153] The two-step random access procedure involves two random access messages: Random Access Message 1 (also called Random Access Message A, abbreviated as MSGA) and Random Access Message 2 (also called Random Access Message B, abbreviated as MSGB). It can be understood that Random Access Message 1 / Random Access Message A in the two-step random access procedure is equivalent to Random Access Message 1 and Random Access Message 3 in the four-step random access procedure; Random Access Message 2 / Random Access Message B in the two-step random access procedure is equivalent to Random Access Message 2 and Random Access Message 4 in the four-step random access procedure. Any terminal device can send an MSGA to a network device, and the network device responds to the MSGA with an MSGB.

[0154] 4) Random perception reporting process (or perception random reporting process), including 4-step random perception reporting process and 2-step random perception reporting process. 4-step random perception reporting process and 2-step random perception reporting process are relative. 4-step random perception reporting process refers to the process of reporting perception information using 4 messages, while 2-step random perception reporting process refers to the process of reporting perception information using 2 messages.

[0155] For example, the four messages involved in the four-step random perception reporting process include: MSGA corresponding to step 1, MSG B corresponding to step 2, MSGC corresponding to step 3, and a confirmation message corresponding to step 4. The MSGA can be used to report perception capabilities; MSG B is used to respond to the MSGA and may also contain perception signals; MSGC can be used to report perception results; and the confirmation message corresponding to step 4 is used to respond to the MSGC. If the random perception reporting process does not include the confirmation message corresponding to step 4, then the random perception reporting process can be referred to as a three-step random perception reporting process. The MSGA in the four-step random perception reporting process can be MSG1 in the four-step random access process, and correspondingly, MSGB can be MSG2 in the four-step random access process. From this perspective, the four-step random perception reporting process can also refer to reporting perception information using the messages involved in the four-step random access process, for example, using resources associated with MSG1 to report perception information. Alternatively, the four-step random perception reporting process reuses the messages exchanged in the four-step random access process to report perception information.

[0156] The four messages involved in the two-step random perception reporting process include: the MSGA corresponding to the first step and the MSGB corresponding to the second step. The MSGA is used to report the perception results, and the MSGB is the response message to the MSGA. If the MSGB corresponding to the second step of the random perception reporting process is not included, then the random perception reporting process can be called a one-step random perception reporting process. The MSGA in the two-step random perception reporting process can be the MSGA in the two-step random access process, and accordingly, the MSGB can be the MSGB in the two-step random access process. From this perspective, the two-step random perception reporting process can also refer to reporting perception information using messages involved in two random access processes, for example, using the MSGA to report perception information. Similarly, the two-step random perception reporting process reuses the messages exchanged in the two-step random access process to report perception information.

[0157] It should be noted that multiplexing a message to report perception information includes the content of the multiplexed message remaining unchanged, as well as the content of the multiplexed message being subject to change; or the content of the channel carrying the multiplexed message remaining unchanged or changing. For example, the 4-step random perception reporting process reuses MSG1 from 4 random access processes. In all 4 random access processes, MSG1 serves as the preamble. In the 4-step random perception reporting process, the terminal device can send MSG1 along with perception capabilities, etc.

[0158] Even though the random perception reporting process uses the messages exchanged during the random access process to report perception information, it does not restrict whether the terminal device is connected to the network. That is to say, the random perception reporting of the terminal device and the random access of the terminal device to the network can be independent, and whether the terminal device is connected to the network is decided by the network device or negotiated by the network and the terminal device, or decided by the terminal device. For example, the terminal device may report perception information during the random perception reporting process, but not access the network. At this time, the network and the terminal device have no communication data to transmit. For another example, in addition to reporting perception information during the random perception reporting process, the terminal device also accesses the network. At this time, the network and the terminal device have communication data to transmit.

[0159] 5) In the embodiment of the present application, "perception reporting" refers to perception information reporting. Perception reporting and perception information reporting are interchangeable. Perception information includes perception data (also called perception measurement results), bandwidth associated with the measurement results, perception capabilities, etc. Perception measurement results and perception results are interchangeable. "Association" can also be called "mapping", "correlation" or "correspondence". For example, the first resource is associated with the preamble, which can also be replaced by: the first resource corresponds to the preamble (or maps, or correlates). In the embodiment of the present application, the first resource can be a data channel or a control channel associated with the preamble; or, the first resource can also be a preamble resource, or, the first resource can also be a preamble resource and a data channel or a control channel associated with the preamble. For another example, the bandwidth is associated with the measurement result, which can also be understood as: indicating the corresponding bandwidth at the same time when reporting the measurement result. "Resource pool" can also be replaced by "resource set" or "resource group".

[0160] "When," "if," and "if" all imply that the device will take appropriate action under certain objective circumstances. They do not limit the timeframe, do not require the device to make a judgment, and do not imply any other limitations. Unless otherwise specified, "if" and "if" are interchangeable. "When" and "under the circumstances" are interchangeable. "When" and "if" are interchangeable.

[0161] In the embodiments of the present application, the number of nouns, unless otherwise specified, means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. For example, A / B means: A or B. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c means: 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.

[0162] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish between multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects. For example, the first condition and the second condition refer to two conditions, and do not indicate the difference in the content, priority or importance of the two conditions. For a technical feature, the technical features in the technical feature are distinguished by "A", "B", "C" and "D", and there is no order of precedence or order of size between the technical features described by "A", "B", "C" and "D". For example, the method A and method B in this article are only to distinguish different conjugate processing methods, and do not limit the order of precedence or order of size, priority or importance, etc. between method A and method B.

[0163] The communication method provided in the embodiments of the present application can be applied to a communication-aware integrated system. In the following description, the communication method provided in the embodiments of the present application is applied to the network architecture shown in FIG1 as an example. The terminal devices 120a to 120j in FIG1 can include both awareness devices and ordinary terminal devices, or all of 120a to 120j can be awareness devices. As shown in FIG1 .

[0164] The communication method provided in the embodiments of the present application can be performed by a first communication device and a second communication device, wherein the first communication device can implement the function of a network device, and the second communication device can implement the function of a terminal device. For example, the first communication device can be the network device in Figure 1, and the second communication device can be the terminal device in Figure 1. Alternatively, the first communication device can implement the function of a terminal device, and the second communication device can also implement the function of a terminal device. For example, the first communication device can be the terminal device in Figure 1, and the second communication device can also be the terminal device in Figure 1.

[0165] For ease of description, the following uses the embodiment of the present application as an example of execution via a network device and a terminal device, but is not limited to network devices and terminal devices. For example, the embodiment of the present application can also be executed via multiple terminal devices. It should be understood that when multiple terminal devices are involved, each of the multiple terminal devices executes the same process.

[0166] In the communication method provided in the embodiment of the present application (for example, communication method 200), the steps performed by the network device may be implemented by the RAN device itself, or by a component in the RAN device (such as a baseband chip, or other processing units or processor modules). For example, the network device may be the network device in 1, or it may be a chip (system) in the network device in Figure 1. The steps performed by the terminal device may be implemented by the terminal device itself, or by a component in the terminal device (such as a chip, a processing unit, or a processor module). The terminal device may be the terminal device shown in Figure 1, or it may be a chip (system) in the terminal device in Figure 1.

[0167] Please refer to Figure 2, which is a schematic flow diagram of a communication method 200 provided in an embodiment of the present application. Figure 2 describes the method from the perspective of interaction between a network device and a terminal device. It should be understood that communication method 200 can also be implemented by other devices, such as a chip or communication device with communication capabilities. As shown in Figure 2, the process of communication method 200 includes the following steps.

[0168] S201: A network device sends a first message, the first message including first resource information, the first resource information indicating a first resource, the first resource being a resource for reporting perception information, and the first resource being associated with a preamble. Accordingly, a terminal device receives the first message.

[0169] S202: The terminal device sends perception information on the first resource. Correspondingly, the network device receives the perception information on the first resource.

[0170] The perception information includes one or more of the following: perception measurement results, perception capabilities, bandwidth associated with the perception measurement results, and preambles. Other perception-related information may also be included. The perception measurement results include the measurement results of at least one perception signal bandwidth, also known as perception reporting results. Perception signals are sent by network devices. For example, the network device may broadcast the perception signals or send them to one or more terminal devices. The perception signals may be SSB, SRS, or DMRS, among others.

[0171] The network device can configure resources for the terminal device to report perception information. For example, the network device may send a first message, the first message including first resource information, the first resource information indicating a first resource, and the first resource belonging to the resource for reporting perception information. In an embodiment of the present application, the resource for reporting perception information may be associated with a preamble. For example, the first resource is associated with the first preamble. The preamble may be a random access preamble or other possible preambles, as long as the terminal device can report the perception result during the random access process or the perception random reporting process. For example, the preamble may be a preamble dedicated to perception. Taking the preamble as an example where the preamble is a random access preamble, the perception information may be transmitted together with the random access preamble as part of the control information, or the perception information may be transmitted together with the random access preamble as part of the data information. Accordingly, the resource for reporting perception information may be a data channel or a control channel, such as the resource used by PUSCH, which is a data channel transmitted with the preamble.

[0172] The first resource information indicates that the first resource includes: the first resource information indicates an association relationship between multiple resources and multiple preambles, and the multiple resources include the first resource. Among them, one preamble can correspond to one resource or multiple resources. For example, the first resource is a data channel or a control channel associated with the preamble, and the first resource information can indicate an association relationship between multiple data channels (or control channels) and multiple preambles, wherein one preamble corresponds to one or more data channels (or control channels). For the terminal device, a preamble (such as a first preamble) can also be selected from the configured preamble resource pool, and the resource associated with the first preamble (such as the first resource) can be determined based on the association relationship, so as to send perception information on the first resource. Since the perception information is sent together with the preamble, even if the terminal device does not enter the RRC connection state, the perception information can be reported, which is more suitable for terminal devices in the RRC inactive state, or terminal devices in the RRC idle state, or low-power terminal devices.

[0173] In one implementation, different preambles can be associated with different resources. For example, a first preamble is associated with a first resource, and a second preamble is associated with a second resource. This allows different terminal devices to use different resources to report perception information, even though each terminal device randomly selects a preamble from a preamble resource pool. This reduces resource conflicts and ensures reliable transmission of perception information.

[0174] Feedback resources, reducing conflicts caused by UE's autonomous selection of feedback resources

[0175] The network device may be configured with at least one feedback resource pool, or pre-configured with at least one feedback resource pool. A feedback resource pool includes at least one preamble and / or at least one data channel (or control channel) resource. Alternatively, at least one group of feedback resources may be (pre-)configured, and a group of feedback resources includes at least one preamble and at least one data channel (or control channel) resource. The data channel may be a PUSCH. Considering that the network may support multiple perception signal bandwidths and the perception bandwidth capabilities of different terminal devices may be different, one or more feedback resource pools may be configured for each bandwidth. The terminal device may select a corresponding feedback resource pool based on the supported perception bandwidth, and then select feedback resources in the feedback resource pool, and use the resources associated with the feedback resources as resources for reporting perception information. Each terminal device selects feedback resources from the feedback resource pool corresponding to the perception bandwidth it supports, which can minimize resource conflicts.

[0176] For example, let's assume the perception signal bandwidth is the first bandwidth, and the first bandwidth corresponds to the first feedback resource pool and the second feedback resource pool. Assuming the terminal device actually uses the first resource to report the perception information, the first resource is a resource randomly selected from one of the first and second feedback resource pools. Compared to a case where the first resource is randomly selected from only one feedback resource pool, this can reduce resource conflicts between terminal devices.

[0177] Optionally, for each bandwidth, the corresponding feedback resource pool may include multiple resources for reporting perception information, thereby reducing resource conflicts between terminal devices with the same bandwidth. For example, take the bandwidth of the perception signal as the first bandwidth, and the first bandwidth corresponding to the first feedback resource pool as an example. Assuming that the resource actually used by the terminal device to report perception information is the first resource, the first resource is a resource randomly selected from the first feedback resource pool. Compared to the case where the first bandwidth corresponds to only one first resource, this can reduce resource conflicts between terminal devices with the same bandwidth.

[0178] Optionally, a correspondence between bandwidth and feedback resource pools can be (pre-)configured, with the first resource information indicating the first resource. This correspondence between bandwidth and feedback resource pools also helps the network device determine the perception signal bandwidth corresponding to the perception information based on the reporting resource selected by the terminal device. This eliminates the need for the terminal device to indicate the perception signal bandwidth corresponding to the perception information through additional instructions.

[0179] As example 1, the feedback resource pool is a preamble resource pool. At least one bandwidth may correspond to a preamble resource pool, and the first resource information may indicate the correspondence between the preamble and the data channel transmitted with the preamble. The terminal device may randomly select a preamble from the preamble resource pool that matches the bandwidth capability of the terminal device, and use the data channel transmitted with the preamble as the first resource to transmit perception information. It can be understood that different terminal devices can be identified / distinguished by the preamble. Similarly, the perception information carried by the data channel transmitted with the preamble can also be identified / distinguished by the preamble. When a conflict occurs in the current preamble, the terminal device may reselect the preamble at the configured backoff time and retransmit the perception information carried by the data channel. Among them, the multiplexing method of the resources used by the preamble and the data channel transmitted with the preamble includes one or more of time division multiplexing, frequency division multiplexing, or code division multiplexing.

[0180] It should be noted that the data channel here can be replaced by a control channel. For example, the first resource information indicates the correspondence between the preamble code and the control channel transmitted with the preamble code. In this case, the terminal device randomly selects a preamble code from a preamble code resource pool that matches the bandwidth capability of the terminal device, and uses the control channel transmitted with the preamble code as the first resource to transmit perception information. When a conflict occurs in the current preamble code, the terminal device can reselect the preamble code within the configured backoff time and retransmit the perception information carried by the control channel. Among them, the multiplexing method of the resources used by the preamble code and the control channel transmitted with the preamble code includes one or more of time division multiplexing, frequency division multiplexing, or code division multiplexing.

[0181] As Example 2, the feedback resource pool includes a data channel resource pool or a control channel resource pool. For ease of description, the feedback resource pool includes a data channel resource pool as an example. It should be understood that the following data channel can be replaced with a control channel. In other words, the following example also applies to the control channel.

[0182] At least one bandwidth corresponds to a data channel resource pool, and the first resource information may indicate the data channel resource. The terminal device randomly selects a data channel from the data channel pool that matches the terminal device's bandwidth capability as the first resource to transmit the perception information. Transmitting the perception information directly along with the data channel can reduce the overhead of sending the preamble.

[0183] As Example 3, there are at least two bandwidth configurations, each bandwidth corresponding to one preamble resource pool, or each bandwidth corresponding to at least two preamble resource pools. The first resource information indicates the correspondence between the bandwidth and the preamble resource pool. The first resource information may indicate the correspondence between the preamble and the data channel (or control channel) transmitted with the preamble. The terminal device randomly selects a preamble from the preamble resource pool that matches the bandwidth capability of the terminal device, and uses the data channel (or control channel) transmitted with the preamble as the first resource to transmit the perception information. It can be understood that different terminal devices can be identified or distinguished by the preamble. Similarly, the perception information carried by the data channel (or control channel) transmitted with the preamble can also be identified or distinguished by the preamble. When a collision occurs between the preambles, the terminal device can reselect the preamble at the configured backoff time and retransmit the perception result carried by the data channel (or control channel). The multiplexing method of the resources used by the preamble and the data channel (or control channel) transmitted with it includes one or more of time division multiplexing, frequency division multiplexing, or code division multiplexing.

[0184] In one implementation, a network device sends a first message to a terminal device in response to a sensing capability sent by a terminal device. Receipt of the first message by the terminal device is a response to the sensing capability received by the terminal device, and the first message is part of the sensing capability response. In this case, the resources on the network device that carry the sensing capability of the terminal device are resources configured by the terminal device for reporting sensing measurement results.

[0185] As Example 4, the response of the perception capability sent by the network device indicates the association relationship between at least one preamble code and at least one resource, wherein one preamble code corresponds to one resource. The preamble code is the preamble code used by the terminal device to report the perception capability. The network device receives the perception capability sent by the terminal device, and can determine the preamble code corresponding to the resource based on the resource that carries the perception capability, and then determine the bandwidth corresponding to the perception measurement of the terminal device based on the preamble code. The resources indicated by the response are suitable for multiple terminal devices to report perception measurement results, which can reduce resource overhead compared to indicating the resources for reporting perception measurement results for each terminal device separately. In addition, the preamble code is related to the bandwidth capability. By indicating the association relationship between the preamble code and the reported resource through the response, the terminal device does not need to separately indicate the bandwidth corresponding to the perception result, which can reduce signaling overhead.

[0186] Optionally, the perception information includes the perception measurement result and a preamble used when reporting the perception capability. Upon receiving the perception information, the network device can determine the perception signal bandwidth for which the perception measurement result refers. This facilitates the network device to combine and process perception measurement results of the same bandwidth from different terminal devices, thereby improving the accuracy of the perception result.

[0187] Optionally, the perception information includes the perception measurement result and the bandwidth value of the perception signal corresponding to the perception measurement, or an index corresponding to the bandwidth. Upon receiving the perception information, the network device can determine the perception signal bandwidth for which the perception measurement result relates. This facilitates the network device to combine and process perception measurement results of the same bandwidth from different terminal devices, thereby improving the accuracy of the perception result.

[0188] In this embodiment of the present application, the first message may also be configured with other information to meet sensing requirements. For example, the first message may be used to configure one or more of the following: the sensing method, the sensing result reporting method, the transmission parameters of the sensing signal, or a specific condition that instructs terminal devices that meet the specific condition to perform sensing reporting. For ease of description, in this embodiment of the application, this specific condition is referred to as the second condition. The following describes the configuration contents of the first message in order.

[0189] 1) Perception method, including the aforementioned positioning method, for example, including the DL-AOA method, DL-AOD method, TDOA method, RTT method and Multi RTT method. The first message can be configured with one or more perception methods, that is, the perception method configured by the first message includes one or more of the DL-AOA method, DL-AOD method, TDOA method and Multi RTT method. For another example, the perception method includes the DL-AOA method, DL-AOD method, TDOA method, SL-AOD method, SL-AOA method, RTT method and Multi RTT method. The first message can be configured with one or more perception methods, that is, the perception method configured by the first message includes one or more of the DL-AOA method, DL-AOD method, TDOA method, SL-AOD method, SL-AOA method, RTT method and Multi RTT method.

[0190] The perception method can also be used as a perception capability of the terminal device. For example, if the terminal device supports a large bandwidth, the terminal device supports a time-based perception method (such as a multi-RTT method). In other words, if the terminal device supports a time-based perception method, the terminal device has a larger bandwidth capability. For another example, if the terminal device supports a relatively large-aperture antenna, the terminal device supports an angle-based perception method (such as a DL AoA method or a SL-AOA method). In other words, if the terminal device supports an angle-based perception method, the terminal device supports a relatively large-aperture antenna.

[0191] In one implementation, the terminal device can choose to use any one of the perception methods configured in the first message, which is easy to implement.

[0192] In another implementation, the terminal device may choose to use a certain perception method configured in the first message based on its own bandwidth capability. For example, the first message configures the DL-AOA method, DL-AOD method, TDOA method, and Multi RTT method. When the bandwidth capability of the terminal device is greater than or equal to the first bandwidth, the terminal device may choose to use one or more of the DL AoA method, DL AoD method, TDoA method, or Multi RTT method; on the contrary, if the bandwidth capability of the terminal device is less than the first bandwidth, the terminal device may choose to use the DL AoA method and / or DL ​​AoD method. Alternatively, when the bandwidth capability of the terminal device is greater than the first bandwidth, the terminal device may choose to use one or more of the DL AoA method, DL AoD method, TDoA method, or Multi RTT method. On the contrary, if the bandwidth capability of the terminal device is less than or equal to the first bandwidth, the terminal device may choose to use the DL AoA method and / or DL ​​AoD method. The first bandwidth may be (pre)configured. For another example, the first message is configured with the SL-AOA method, the SL-AOD method, the TDOA method, and the RTT method. When the bandwidth capability of the terminal device is greater than or equal to the first bandwidth, the terminal device may choose to use one or more of the SL-AoA method, the SL-AoD method, the TDoA method, or the RTT method. On the contrary, if the bandwidth capability of the terminal device is less than the first bandwidth and the antenna aperture is greater than a certain size, the terminal device may choose to use the SL-AoA method and / or the SL-AoD method. Alternatively, when the bandwidth capability of the terminal device is greater than the first bandwidth, the terminal device may choose to use the TDoA method, or one or more of the RTT methods. On the contrary, if the bandwidth capability of the terminal device is less than or equal to the first bandwidth and the antenna aperture is greater than a certain size, the terminal device may choose to use the SL-AoA method and / or the SL-AoD method.

[0193] When the bandwidth capability of a terminal device is greater than or equal to the first bandwidth, the terminal device has strong bandwidth capability. In this case, the perception results obtained based on one or more of the DL AoA method, DL AoD method, TDoA method, or Multi RTT method have high temporal resolution. When the bandwidth capability of the terminal device is less than the first bandwidth, the terminal device has weak bandwidth capability. In this case, the perception results obtained based on the DL AoA method and / or DL ​​AoD method can be considered to avoid the low temporal resolution caused by insufficient bandwidth capability by utilizing angular resolution. Furthermore, when the antenna aperture is below a certain threshold and the bandwidth capability of the terminal device is greater than the first bandwidth, the perception results obtained based on one or more of the TDoA method, RTT method, or Multi RTT method have high temporal resolution. Alternatively, the perception results obtained based on one or more of the DL AoA method, DL AoD method, TDoA method, SL-AoA method, SL-AoD method, or RTT method have high temporal resolution and angular resolution. When the bandwidth capability of the terminal device is less than the first bandwidth, the terminal device has weak bandwidth capability. In this case, the perception results obtained based on the DL AoA method and / or the DL AoD method or the perception results obtained based on the SL-AoA method and / or the SL-AoD method can be considered to avoid the low temporal resolution caused by insufficient bandwidth capability by utilizing the angular resolution.

[0194] 2) Perceive and report resource configuration, including the aforementioned first resource information. For details, please refer to the aforementioned introduction to the first resource information, which will not be repeated here.

[0195] In addition, a set of perception reporting resource configurations can configure the feedback resource pool / preamble resource pool or preamble, or can configure the association between the preamble and the data channel (or control channel), etc. For details, please refer to the above-mentioned related descriptions and will not be repeated here.

[0196] 3) Transmission parameters of the perception signal, which can be referred to as perception parameters for short, and the two are interchangeable.

[0197] The perception parameters may include the subcarrier spacing (SCS) used to perceive the signal, the cyclic prefix (CP) length, the transmission time, bandwidth, frequency, sequence, and transmission beam. The network device can be configured with one set of perception parameters or multiple sets of perception parameters. Each set of perception parameters can be configured with at least one bandwidth configuration. For the terminal device, which set of perception parameters to use can be selected based on the bandwidth of the terminal device. In this way, terminal devices with different perception bandwidth capabilities can collaborate in perception to better meet perception needs. For example, a narrower bandwidth configuration can be used to support perception measurements of auxiliary angles of terminal devices with narrower bandwidths. For another example, a wider bandwidth configuration can be used for terminal devices to report perception results to provide perception results with higher resolution and accuracy (such as perception delay).

[0198] The same perceptual parameters can be the same or different for each bandwidth configuration. For example, the SCS can be the same for different bandwidth configurations, or the same SCS can be used for different bandwidth configurations.

[0199] It should be noted that the perception parameters in 3) are only examples, and the network device can be configured with more or fewer parameters than the perception parameters mentioned in 3). For example, the perception parameters also include modulation and coding scheme (MCS), transmit power, etc.

[0200] 4) The second condition can be understood as a condition that a terminal device must meet to perform perception reporting. That is, when a terminal device meets the second condition, the terminal device reports the perception result; if the terminal device does not meet the second condition, the terminal device does not perform perception measurements or, even if the terminal device obtains a perception result, does not need to report it. Compared to perception at the granularity of a single target terminal device, such as positioning a single target terminal device, the embodiments of the present application can meet a wider range of perception needs by configuring the second condition. For example, by configuring the second condition, perception of a specific geographical area can be achieved, and perception within a specific angle range can also be achieved, thereby potentially allowing multiple target terminal devices to participate in collaborative perception. This can meet "surface"-based perception rather than just "point"-based perception acquisition. In addition, by defining the second condition, terminal devices that do not meet the conditions can be prevented from participating in collaborative perception, which can reduce potential interference with perception and communication services within the network, and can also reduce unnecessary perception measurements, thereby saving resource overhead and energy consumption. The embodiments of the present application do not limit the specific implementation of the second condition. For example, the second condition can include one or more of the following A1-A9. The terminal device meeting the second condition means that the terminal device meets one or more items of A1-A9 or a combination of one or more items of A1-A9. The terminal device performs perception reporting only when it meets one or more combinations of A1-A9.

[0201] A1. Second signal quality threshold. When the second condition includes the second signal quality threshold, the terminal device indicating that the received signal quality is higher than or equal to the second signal quality threshold performs perception reporting. When the received signal quality of a terminal device is higher than or equal to the second signal quality threshold, the terminal device can report the perception result. On the contrary, if the received signal quality of a terminal device is lower than the second signal quality threshold, the terminal device does not need to report the perception result, which can save resource overhead and energy consumption. Among them, the received signal quality can be the reference signal receiving power (reference signal receiving power, RSRP), or it can be the RSRP on each path of the received signal (i.e., path reference signal receiving power, RSRPP).

[0202] When the first message configures the second condition, the first message may include the second signal quality threshold. Alternatively, the first message may include an index to the second signal quality threshold to minimize resource overhead. A mapping relationship between at least one signal quality threshold and at least one index may be (pre-)configured, and the terminal device may determine the second signal quality threshold based on the index carried in the first message and the mapping relationship.

[0203] By configuring the second signal quality threshold, the number of devices participating in the perception measurement (and, therefore, the number of devices required to report) can be limited, reducing resource conflicts between devices. Furthermore, only devices with received signal quality exceeding or equal to the second signal quality threshold can report, ensuring the reliability and accuracy of these reports.

[0204] A2. At least one signal quality interval. When the second condition includes at least one signal quality interval indicating that the received signal quality is within the at least one signal quality interval, the terminal device performs a perception report. When the received signal quality of a terminal device is within any interval within the at least one signal quality interval, the terminal device may report the perception result. Conversely, if the received signal quality of a terminal device is not within any interval within the at least one signal quality interval, the terminal device does not need to report the perception result, thereby saving resource overhead and energy consumption.

[0205] When the first message configures the second condition, the first message may include at least one index, where one index corresponds to a signal quality interval, to minimize resource overhead. A mapping relationship between at least one signal quality interval and at least one index may be (pre-)configured, and the terminal device may determine at least one signal quality interval based on the at least one index carried in the first message and the mapping relationship.

[0206] By configuring at least one signal quality interval, the number of devices participating in perception reporting can be further limited to minimize resource conflicts between devices. Furthermore, only devices with received signal quality above or equal to a specific signal quality threshold can be included in the perception reporting, ensuring the reliability and accuracy of perception reporting.

[0207] A3. At least one bandwidth range. When the second condition includes at least one bandwidth range indicating that the bandwidth capability is within any one of the at least one bandwidth range, the terminal device performs perception reporting. If the perceived bandwidth of a terminal device is within any of the at least one bandwidth range, the terminal device may report the perception result. Conversely, if the perceived bandwidth of a terminal device is not within any of the at least one bandwidth range, the terminal device does not need to report the perception result, thereby saving resource overhead and energy consumption.

[0208] When the first message configures the second condition, the first message may include at least one index, wherein one index corresponds to a bandwidth range, so as to save resource overhead as much as possible. The mapping relationship between at least one bandwidth range and at least one index may be (pre)configured, and the terminal device may determine at least one bandwidth range based on the at least one index carried by the first message and the mapping relationship. Taking at least one bandwidth range including {[0, B1], [B1, B2], [B2, B3], [B4, ~]} as an example, correspondingly, 2 bits may be used to indicate a bandwidth range, for example, the value of the 2 bits is 00, indicating that the bandwidth range is [0, B1]; the value of the 2 bits is 01, indicating that the bandwidth range is [B1, B2]; the value of the 2 bits is 10, indicating that the bandwidth range is [B2, B3]; the value of the 2 bits is 11, indicating that the bandwidth range is [B4, ~].

[0209] By configuring at least one bandwidth range, terminal devices with different bandwidth capabilities can participate in perception and obtain more accurate perception results.

[0210] A4. At least one bandwidth value. When the second condition includes at least one bandwidth value indicating that the bandwidth capability corresponds to at least one bandwidth value, the terminal device performs perception reporting. When the perceived bandwidth value of a terminal device corresponds to at least one bandwidth value, the terminal device may report the perception result. Conversely, if the perceived bandwidth of a terminal device does not correspond to any configured bandwidth value, the terminal device does not need to report the perception result, thereby saving resource overhead and energy consumption.

[0211] When the first message configures the second condition, the first message may include at least one index, wherein one index corresponds to a bandwidth value, so as to save resource overhead as much as possible. The mapping relationship between at least one bandwidth value and at least one index may be (pre)configured, and the terminal device may determine at least one bandwidth value based on the at least one index carried by the first message and the mapping relationship. Taking at least one bandwidth value including {[B1], [B2], [B3], [B4]} as an example, correspondingly, 2 bits may be used to indicate a bandwidth value, for example, the value of the 2 bits is 00, indicating that the bandwidth range is [B1]; the value of the 2 bits is 01, indicating that the bandwidth range is [B2]; the value of the 2 bits is 10, indicating that the bandwidth range is [B3]; the value of the 2 bits is 11, indicating that the bandwidth range is [B4].

[0212] By configuring at least one bandwidth value, terminal devices with different bandwidth capabilities can participate in perception and obtain more accurate perception results.

[0213] A5. Second area information indicates the second area. The second area can be considered as an area with perception needs or a target area for perception needs. For example, the second area can be a park, or the second area can also be an area within a certain radius. When the second condition includes the second area information, it instructs the terminal device located in the second area to perform perception reporting. When the terminal device is located in the second area, the terminal device can report the perception result. On the contrary, if a terminal device is not in the second area, the terminal device does not need to report the perception result, which can save resource overhead and energy consumption.

[0214] By configuring the second area information, the network device can make perception requests only to the areas with perception needs, thereby reducing potential interference in perception.

[0215] A6, the second angular resolution range, indicates that the terminal device with the angular resolution within the second angular resolution range performs perception reporting. When the second condition includes the second angular resolution range, it indicates that the terminal device with the angular resolution within the second angular resolution range performs perception reporting. When the angular resolution is within the second angular resolution range, the terminal device can report the perception result to obtain a higher-precision perception result. On the contrary, if the angular resolution is not within the second angular resolution range, the terminal device does not need to report the perception result, which can save resource overhead and energy consumption. When the first message is configured with the second condition, the first message may include the second angular resolution range or the index of the first angular resolution range. The granularity of the angular resolution range can be defined according to the perception accuracy to meet the actual perception accuracy. For example, the second angular resolution is [0.1 degrees, 0,5 degrees], [0.5 degrees, 1 degree], or [1 degree, 2 degrees].

[0216] A7, the second speed range, indicates that the terminal device whose mobile speed is within the second speed range performs perception reporting. When the second condition includes the second speed range, it indicates that the terminal device whose mobile speed is within the second speed range performs perception reporting. When the mobile speed is within the second speed range, the terminal device can report the perception result. On the contrary, if the mobile speed of a terminal device is not within the second speed range, the terminal device does not need to report the perception result, which can save resource overhead and energy consumption. When the first message is configured with the second condition, the first message may include the second speed range or an index of the second speed range.

[0217] By configuring the second speed range, the network device can request perception only from terminal devices with a specific moving speed, thereby reducing the number of terminal devices that are not within the second speed range that report perception results.

[0218] A8, the second beam range, indicates that the beam carrying the perception signal is within the second beam range and the terminal device performs perception reporting. By configuring the second beam range, the terminal device can perceive within a specific angle range. For example, the terminal device can only measure the perception signal within the second beam range. If the beam carrying the perception signal is not within the second beam range, the terminal device does not need to perform perception measurement or report the perception result, so as to meet the actual perception needs, reduce unnecessary perception measurements, save resource overhead, and save energy. When the first message is configured with the second condition, the first message may include the second beam range or an index to the second beam range.

[0219] A9, Second Perception Method, instructs terminals supporting the second perception method to report perception. By configuring the second perception method, you can request the perception capabilities of terminal devices supporting a specific perception method. This limits the number of participating terminal devices, saving resources, energy consumption, and interference, while enabling perception using a specific perception method.

[0220] As mentioned above, the perception capabilities of different terminal devices may be different. In order to ensure that the information configured by the network device for the terminal device through the first message matches the perception capabilities of the terminal device, the network device can obtain the perception capabilities of the terminal device, and thereby determine the content included in the first message based on the obtained perception capabilities.

[0221] For example, a network device may broadcast a sensing capability request, which is used to request the sensing capability of at least one terminal device. Accordingly, the terminal device reports the sensing capability in response to the sensing capability request. In one implementation, the sensing capability request and the first message may be carried in a single signaling message, or the sensing capability request may be carried in the first message, or the first message may also include the sensing capability request. Of course, the sensing capability request may also be a signaling message independent of the first message.

[0222] In this case, the first message may include second resource information, where the resource indicated by the second resource information is associated with the preamble. The specific implementation of associating the resource indicated by the second resource information with the preamble is similar to the specific implementation of associating the resource indicated by the first resource information with the preamble. For details, reference may be made to the related content regarding associating the resource indicated by the first resource information with the preamble, and will not be repeated here.

[0223] In a possible implementation, the network device may obtain terminal devices that meet specific conditions based on actual perception needs. In this way, terminal devices that do not meet specific conditions may not participate in perception, thereby saving resources and energy consumption. For the convenience of description, the embodiments of the present application collectively refer to the conditions that need to be met for perception capabilities as the first condition. When the terminal device meets the first condition, the terminal device responds to the perception capability request and reports the perception capability; if the terminal device does not meet the first condition, even if the terminal device receives the perception capability request, it does not need to report the perception capability. The first condition and the second condition may be the same or different. For example, the first condition may be one or more of the second condition. Or the first condition may reuse the second condition. When the network device is configured with the second condition, it also implicitly instructs the terminal device that meets the second condition to report the perception measurement results, and the terminal device that does not meet the second condition does not need to report the perception measurement results. Exemplarily, the first condition may include one or more of the following.

[0224] B1. First signal quality threshold. When the first condition includes the first signal quality threshold, it indicates the perception capability of the terminal device requesting to obtain the received signal quality higher than the first signal quality threshold. For example, when the received signal quality of a terminal device is higher than or equal to the first signal quality threshold, the terminal device can report the received signal quality of the terminal device. Conversely, if the received signal quality of a terminal device is lower than the first signal quality threshold, the terminal device does not need to report the received signal quality of the terminal device, which can save resource overhead and energy consumption.

[0225] Similar to configuring the second condition, when the first message configures the first signal quality threshold, the first message may include the first signal quality threshold or the index of the first signal quality threshold to minimize resource overhead. A mapping relationship between at least one signal quality threshold and at least one index may be (pre-)configured, and the terminal device may determine the first signal quality threshold based on the index carried in the first message and the mapping relationship.

[0226] By configuring the first signal quality threshold, the number of devices participating in the sensing measurement can be limited. This reduces resource conflicts between devices. Furthermore, sensing is performed only on devices with received signal quality exceeding or equal to the first signal quality threshold, ensuring the accuracy of the sensing results.

[0227] It should be noted that the first signal quality threshold in B1 and the second signal quality threshold in A1 can be the same. This is equivalent to the first message including a signal quality threshold (e.g., the first signal quality threshold or the second signal quality threshold). In this case, the signal quality threshold is used to indicate the perception capability of a terminal device requesting to obtain a received signal quality higher than the signal quality threshold, and / or to indicate that a terminal device with a received signal quality higher than the signal quality threshold performs a perception report.

[0228] When the first signal quality threshold and the second signal quality threshold are different, when the first message includes the first signal quality threshold and the second signal quality threshold, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate that the first signal quality threshold is the signal quality threshold reported for the perception capability, and the second identifier is used to indicate that the second signal quality threshold is the signal quality threshold reported for the perception result.

[0229] B2. At least one signal quality interval: When the first condition includes a first signal quality threshold, the terminal device is instructed to request the sensing capability of the terminal device whose received signal quality falls within the at least one signal quality interval. When the received signal quality of the terminal device falls within any of the at least one signal quality interval, the terminal device may report the sensing capability. Conversely, if the received signal quality of a terminal device does not fall within any of the at least one signal quality interval, the terminal device does not need to report the sensing capability, thereby saving resource overhead and energy consumption.

[0230] Similar to configuring the second condition, when the first message configures at least one signal quality interval, the first message may include at least one index, where one index corresponds to a signal quality interval, to minimize resource overhead. A mapping relationship between at least one signal quality interval and at least one index may be (pre-)configured, and the terminal device may determine at least one signal quality interval based on the at least one index carried in the first message and the mapping relationship.

[0231] By configuring at least one signal quality interval, the number of devices participating in sensing can be further limited to minimize resource conflicts between devices. Furthermore, sensing can be performed only on devices with received signal quality above or equal to a specific signal quality threshold, ensuring accurate sensing.

[0232] It should be noted that at least one signal quality interval in B2 and at least one signal quality threshold in A2 may be the same. In this case, B2 may indicate a request to obtain the perception capability of a terminal device whose received signal quality is within at least one signal quality interval, and / or may be used to instruct a terminal device whose received signal quality is within at least one signal quality interval to perform a perception report.

[0233] When at least one signal quality interval in B2 is different from at least one signal quality interval in A2, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate at least one signal quality interval reported for the corresponding perception capability, and the second identifier is used to indicate at least one signal quality interval reported for the corresponding perception result.

[0234] B3. At least one bandwidth range. When the first condition includes at least one bandwidth range, the terminal device's perceived capabilities are requested to be obtained for bandwidth capabilities within at least one bandwidth range. If the perceived bandwidth of a terminal device falls within a bandwidth range within the at least one bandwidth range, the terminal device may report its perceived capabilities. Conversely, if the perceived bandwidth of a terminal device does not fall within any bandwidth range within the at least one bandwidth range, the terminal device does not need to report its perceived capabilities, saving resource overhead and energy consumption. By configuring at least one bandwidth range, terminal devices with different bandwidth capabilities can participate in perception, thereby obtaining more accurate perception results.

[0235] Similar to configuring the second condition, when the first message configures at least one bandwidth range, the first message may include at least one index, where one index corresponds to one bandwidth range, to minimize resource overhead. A mapping relationship between at least one bandwidth range and at least one index may be (pre-)configured, and the terminal device may determine the at least one bandwidth range based on the at least one index carried in the first message and the mapping relationship.

[0236] It should be noted that at least one bandwidth range in B3 may be the same as at least one bandwidth range in A3. In this case, B3 may indicate a request to obtain the perception capability of a terminal device whose bandwidth capability falls within at least one bandwidth range, and / or may be used to instruct a terminal device whose bandwidth capability falls within at least one bandwidth range to perform perception reporting.

[0237] When at least one bandwidth range in B3 is different from at least one bandwidth range in A3, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate at least one bandwidth range for reporting the corresponding perception capability, and the second identifier is used to indicate at least one bandwidth range for reporting the corresponding perception result.

[0238] B4. At least one bandwidth value. When the first condition includes at least one bandwidth value indicating a request to obtain the perceived capabilities of a terminal device whose bandwidth capability falls within the at least one bandwidth value, the terminal device may report its perceived capabilities. Conversely, if a terminal device's perceived bandwidth does not fall within any of the at least one bandwidth value, the terminal device does not need to report its perceived capabilities, saving resource overhead and energy consumption. By configuring at least one bandwidth value, terminal devices with different bandwidth capabilities can participate in perception, thereby obtaining more accurate perception results.

[0239] When the first message configures the first condition, the first message may include at least one index, where one index corresponds to a bandwidth value, to minimize resource overhead. Similar to A4, a mapping relationship between at least one bandwidth value and at least one index may be (pre-)configured, and the terminal device may determine at least one bandwidth value based on the at least one index carried in the first message and the mapping relationship.

[0240] It should be noted that at least one bandwidth value in B4 may be the same as at least one bandwidth value in A4. In this case, B4 may indicate a request to obtain the perception capability of a terminal device whose bandwidth capability is within at least one bandwidth value, and / or may be used to indicate perception reporting by a terminal device whose bandwidth capability is within at least one bandwidth value.

[0241] When at least one bandwidth value in B4 is different from at least one bandwidth value in A4, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate at least one bandwidth value reported corresponding to the perception capability, and the second identifier is used to indicate at least one bandwidth value reported corresponding to the perception result.

[0242] B5. First area information indicates the first area. The first area can be considered as an area with perception needs. For example, the first area can be a park, or the first area can also be an area with a certain radius. When the first condition includes the first area information, it indicates a request to obtain the perception capabilities of the terminal device located in the first area. When the terminal device is located in the first area, the terminal device can report the perception capabilities. On the contrary, if a terminal device is not in the first area, the terminal device does not need to report the perception capabilities, which can save resource overhead and energy consumption. By configuring the first area information, the network device can request perception capabilities only from terminal devices located in areas with perception needs.

[0243] It should be noted that the area indicated by the first area information in B4 and the area indicated by the second area information in A4 can be the same, for example, both indicate the first area. In this case, B4 can indicate a request to obtain the perception capability of the terminal device located in the first area, and / or be used to instruct the terminal device located in the first area to perform perception reporting.

[0244] When the area indicated by the first area information in B4 is different from the area indicated by the second area information in A4, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate the first area information reported by the corresponding perception capability, and the second identifier is used to indicate the second area information reported by the corresponding perception result.

[0245] B6, First Angular Resolution Range, indicates a request to obtain the perception capabilities of a terminal device with an angular resolution within the first angular resolution range. When the angular resolution is within the first angular resolution range, the terminal device may report its perception capabilities to obtain higher-precision perception results. Conversely, if the angular resolution is not within the first angular resolution range, the terminal device does not need to report its perception capabilities, saving resources and energy.

[0246] Similar to configuring the second angular resolution range, when the first message configures the first angular resolution range, the first message may include the first angular resolution range or an index of the first angular resolution range.

[0247] It should be noted that the first angular resolution range in B5 and the second angular resolution range in A5 may be the same. In this case, B4 may indicate a request to obtain the perception capability of a terminal device with an angular resolution within the first angular resolution range, and / or may be used to instruct a terminal device with an angular resolution within the first angular resolution range to perform perception reporting.

[0248] When the first angular resolution range in B5 is different from the second angular resolution range in A5, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate the first angular resolution range reported by the corresponding perception capability, and the second identifier is used to indicate the second angular resolution range reported by the corresponding perception result.

[0249] B7, first speed range, indicates a request to obtain the perception capability of terminal devices whose mobile speed is within the first speed range. When the mobile speed is within the first speed range, the terminal device can report the perception capability. On the contrary, if the mobile speed of a terminal device is not within the first speed range, the terminal device does not need to report the perception capability, which can save resource overhead and energy consumption. The first message may include the first speed range or an index of the first speed range. By configuring the first speed range, the network device can only request perception capability from terminal devices with a specific mobile speed, thereby reducing unnecessary reporting of perception capabilities of terminal devices.

[0250] It should be noted that the first speed range in B6 and the second speed range in A6 can be the same. In this case, B4 can indicate a request to obtain the perception capability of terminal devices with a moving speed within the first speed range, and / or be used to instruct terminal devices with a moving speed within the first speed range to perform perception reporting.

[0251] When the first speed range in B6 is different from the second speed range in A6, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate the first speed range reported by the corresponding perception capability, and the second identifier is used to indicate the second speed range reported by the corresponding perception result.

[0252] B8, First Beam Range, indicates a request to obtain the sensing capabilities of terminal devices whose beams carrying sensing signals are within the first beam range. By configuring the first beam range, the sensing capabilities of terminal devices within a specific angle range can be obtained. If the beams carrying sensing signals are not within the first beam range, the terminal device does not need to report its sensing capabilities, reducing unnecessary reporting and saving resource overhead and energy consumption. The first message may include the first beam range or an index to the first beam range.

[0253] It should be noted that the first beam range in B7 and the second speed range in A7 can be the same. In this case, B4 can indicate a request to obtain the perception capability of a terminal device whose beam carrying the perception signal is within the first beam range, and / or instruct a terminal device whose beam carrying the perception signal is within the first beam range to perform perception reporting.

[0254] When the first beam range in B7 is different from the second beam range in A7, the first message may also include a first identifier and a second identifier, the first identifier is used to indicate the first beam range for reporting the corresponding perception capability, and the second identifier is used to indicate the second beam range for reporting the corresponding perception result.

[0255] B9, First Perception Method, indicates a request for perception reporting from terminals supporting the first perception method. By configuring the first perception method, you can request perception reporting from terminals supporting a specific perception method. This limits the number of participating terminals, conserving resources, saving energy, reducing interference, and enabling perception using a specific perception method.

[0256] The embodiments of the present application do not restrict the signaling type that carries the first message. For example, the first message may be carried on one or more of the following: DCI, SCI, or MAC CE, or the first message may be a message dedicated to perception. The following describes the implementation of the first message.

[0257] In implementation mode 1, the first message is carried in MAC CE, which can improve transmission efficiency.

[0258] Implementation method 2: the first message is carried in DCI.

[0259] The DCI may include primary DCI and secondary DCI, where the primary DCI and the secondary DCI may be used to configure portions of the content included in the first message. For example, the primary DCI may configure resources for a channel carrying the secondary DCI and sensing parameters for sensing signal transmission, and the secondary DCI may be used to configure one or more of the sensing method / sensing measurement amount, the first resource information, or the second condition.

[0260] The primary DCI is carried by the PDCCH, scheduling PDSCH transmissions, while the secondary DCI is carried by the PDSCH. This keeps the primary DCI payload size relatively fixed, reducing the number of blind detections. The resources for the secondary DCI are indicated by the primary DCI, eliminating the need for blind detection and allowing for more flexible configuration of the content included in the first message.

[0261] In implementation 2, the PDCCH carrying the Level 1 DCI may be scrambled using a first RNTI. This first RNTI may be newly defined, for example, corresponding to sensing, or may be a sensing-specific RNTI (e.g., SE-RNTI). The CRC of the PDCCH carrying the Level 1 DCI is scrambled by the first RNTI to distinguish it from PDCCHs for other purposes.

[0262] Implementation method 3: the first message is carried in DCI and MAC CE.

[0263] A portion of the content included in the first message is carried by DCI, and another portion of the content included in the first message is carried by MAC CE. For example, the primary DCI can configure the resources of the channel used to carry the secondary DCI, as well as the perception parameters, and the secondary DCI can be used to configure the perception method / perception measurement amount, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second conditions. The MAC CE may include the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second conditions. When the first message indicates multiple preambles and the first resources corresponding to each preamble, the first resource information is indicated by MAC CE or secondary DCI, so that the first resources corresponding to each of the multiple terminal devices can be configured simultaneously through one signaling, thereby saving signaling overhead. For example, the MAC CE or secondary DCI can carry multiple preambles and information about the first resources corresponding to each of the multiple preambles. In addition, the terminal device can determine the first resource for reporting the perception measurement result based on the preamble. Based on the first resource carrying the perception measurement result, the network device can determine the preamble associated with the first resource, and further determine the signal bandwidth corresponding to the perception measurement result based on the preamble. In this way, the network device can combine and process the perception measurement results of multiple different terminal devices under the same bandwidth, thereby improving perception accuracy.

[0264] Implementation method 4: the first message is carried on the SCI.

[0265] The SCI may include a primary SCI and a secondary SCI, wherein the primary SCI and the secondary SCI may be used to configure portions of the content included in the first message. For example, the primary SCI may configure resources for a channel carrying the secondary SCI and sensing parameters for sensing signal transmission, and the secondary SCI may be used to configure one or more of the sensing method / sensing measurement quantity, the first resource information, or the second condition.

[0266] The first-level SCI is carried by the physical sidelink control channel (PSCCH) and schedules the transmission of the physical sidelink shared channel (PSSCH). The second-level SCI is carried by the PSSCH.

[0267] In implementation 5, the first message is a message dedicated to sensing, for example, a system message, a broadcast message, or a multicast message dedicated to sensing. For ease of description, the system message dedicated to sensing is referred to herein as a Sensing System Message (SenSIB).

[0268] In implementation 5, the network device may further broadcast a second message, which may be used to schedule the first message so that the terminal device knows how to receive the first message. The second message may include configuration information of the first message, for example, the second message includes information about the first time window and / or beam information.

[0269] The first time window is used to instruct the terminal device to detect the first message within the first time window. Alternatively, the first time window indicates that the first message is sent within the first time window, and the terminal device determines to detect the first message within the first time window based on the second message. The network device can send the second message on demand, or in other words, the network device can send the configuration information of the first message on demand. The information of the first time window may include the starting position of the first time window and the length of the first time window; or the information of the first time window may include the ending position of the first time window and the length of the first time window; or the information of the first time window includes the starting position of the first time window and the ending position of the first time window. Optionally, the first time window may be periodic, and the period of the first time window may be (pre) configured.

[0270] The beam information may indicate the beam through which the first message is transmitted, or may indicate at least one beam associated with the first message. For example, if the first message is transmitted via a first beam, the beam information may include the index of the first beam. The first beam may be one beam or multiple beams. Associating the first message with a specific beam enables sensing in a specific direction or range. Furthermore, transmitting the first message on a specific beam can reduce potential interference with communications or sensing within the network.

[0271] In a possible implementation, the second message (SIB1) indicates a specific beam for transmitting the sensing system information senSIB. The specific beam can be one beam or multiple beams. A typical specific beam corresponds to a specific transmission beam of an SSB. Since the second message is transmitted in multiple different beams corresponding to the SSB beam, the specific implementation method for indicating the beam of the senSIB in the second message can be that the indication information of the SIB1 transmitted in different beams all indicate the senSIB with the same SSB beam index. The senSIB can be associated with a specific SSB beam direction and sense a specific direction and a specific range based on a sensing demand request (from the core network, RAN, or terminal device). In addition, the same SIB1 indication information of different beams is conducive to the reception and merging of adjacent second message beams.

[0272] In a possible implementation, at least one beam that sends / carries the second message may be set by default as the sending beam of the first message. For example, if the second message (SIB1) is sent on the corresponding at least one SSB beam, then the first message is also sent through the at least one SSB beam. This method allows the terminal device to clearly know on which beam or beams to receive the first message without additional signaling instructions. It can be understood that the content of the SIB1 indications sent on different SSB beams is the same, which is beneficial for the terminal device to merge the SIB1 on adjacent SSB beams. Optionally, the SIB1 sent on at least one SSB beam can be used as a perception signal.

[0273] Depending on the specific implementation of the first message, the overall process of perception reporting is also different. The following examples 1 and 2 are used to introduce the solutions provided by the embodiments of the present application. In Example 1, the network device can request to obtain the perception capability of the terminal device, configure the configuration parameters for perception for the terminal device based on the obtained perception capability, and the terminal device reports the perception result along with the preamble. In Example 2, the network device does not need to obtain the perception capability of the terminal device, and directly configures the configuration parameters for perception for the terminal device, and the terminal device reports the perception result along with the preamble.

[0274] Example 1

[0275] Please refer to Figure 3, which is a schematic flow diagram of a communication method 300 provided in an embodiment of the present application. Figure 3 describes the method from the perspective of interaction between a network device and a terminal device. It should be understood that communication method 300 can also be implemented by other devices, such as a chip or communication device with communication capabilities. As shown in Figure 3, the process of communication method 300 includes the following steps.

[0276] S301. The network device sends a second message, where the second message is used to schedule a perception system message.

[0277] Accordingly, the terminal device receives the second message. The second message may be SIB1, and the network device sending the second message may be the network device broadcasting SIB1. The second message may be used to schedule a perception system message (e.g., the aforementioned SenSIB). As mentioned above, the second message may include information about the first time window and / or beam information. For details, please refer to the aforementioned related content and will not be repeated here.

[0278] S302. The network device sends a perception system message, which includes a perception capability request and second resource information.

[0279] Accordingly, the terminal device receives the perception system message. After receiving the second message, the terminal device detects the SenSIB within the first time window. If the second message includes beam information, the terminal device detects the SenSIB within the first time window and on at least one beam indicated by the beam information. Optionally, if at least one beam transmitting / carrying SIB1 is the default transmit beam for the SenSIB, the terminal device receives the SenSIB on at least one SSB beam corresponding to SIB1.

[0280] The SenSIB may include a sensing capability request and second resource information, where the second resource information may indicate a resource for the terminal device to report the sensing capability, for example, a second resource. The second resource is associated with a preamble. The SenSIB may also include a first condition to indicate that the sensing capability of the terminal device meeting the first condition is requested. For details about the sensing capability request, the second resource information, and the first condition, please refer to the aforementioned related content and will not be repeated here.

[0281] S303: The terminal device sends the sensing capability to the network device.

[0282] The terminal device receives the SenSIB and, based on the second resource information, determines a second resource for reporting the sensing capabilities, thereby transmitting the sensing capabilities on the second resource. Accordingly, the network device receives the sensing capabilities on the second resource. For example, the second resource information indicates an association between multiple resources and multiple preambles. The terminal device can select a preamble (e.g., the second preamble) from the configured preambles and, based on the association, determine a second resource associated with the second preamble, thereby transmitting the sensing capabilities on the second resource. The second resource can be a preamble transmission resource and a PUSCH resource associated with the preamble; alternatively, the second resource can be a data channel or control channel associated with the preamble, with the PUSCH being a data channel transmitted along with the preamble. The sensing capabilities can be transmitted along with the preamble as part of the control information or data information. Taking the four-step random access procedure or the sensing random reporting procedure as an example, when the terminal device transmits MSG1, the sensing capabilities can also be transmitted along with the data channel (or control channel) associated with MSG1. In this way, sensing capabilities can be reported without the terminal device having to be in an RRC connected state.

[0283] It is understandable that if the SenSIB includes the first condition, then only the terminal device that meets the first condition can send the sensing capability to the network device. For the specific capabilities included in the sensing capability, please refer to the relevant content of the above term explanation.

[0284] S304: The network device sends a first message.

[0285] The first message may be used to configure information for the terminal device to participate in sensing, such as one or more of the first resource information, the second resource information, the second condition, the sensing parameter, and the sensing method. For details, please refer to the description of the first message above and will not be repeated here. This first message may be MSG2 in the 4-step random access process or MSGB in the 2-step sensing random reporting process.

[0286] The first message can also be considered a sensing capability response message. The network device receives the sensing capability from the terminal device and, in response to the sensing capability, sends the first message to the terminal device. For the terminal device, the terminal device sends the sensing capability and receives a response from the network device regarding the sensing capability, which includes the first message. In this case, the sensing signal can be part of the response. In other words, when the network device sends the first message, it also sends the sensing signal; alternatively, when the network device sends the sensing capability response, the response includes the first message and the sensing signal.

[0287] Optionally, the first message may further indicate that a previously sent signal (e.g., SSB) is used as a perception signal for perception measurement reporting. When the perception signal is an SSB or a synchronization signal, it may be used for narrowband-based auxiliary perception measurement, such as providing angle perception measurement reporting.

[0288] In one possible scenario, before configuring the first resource information, the network device also configures second resource information to indicate resources for reporting sensing capabilities. In this case, the first resource information may indicate resources for reporting sensing results, but not resources for reporting sensing capabilities. Alternatively, in this case, the resources indicated by the first resource information are used for reporting sensing results.

[0289] S305. The terminal device sends the perception result on the first resource.

[0290] After receiving the first message, the terminal device measures the received sensing signal to obtain a sensing result. The terminal device determines a resource (e.g., a first resource) for reporting the sensing result based on the first resource information and sends the sensing result on the first resource. Accordingly, the network device receives the sensing result on the first resource.

[0291] In the 4-step random access process, the sensing result can be carried in MSG3 or MSGC.

[0292] As mentioned above, if the correspondence between the (pre)configured bandwidth and the preamble code, or the correspondence between the (pre)configured bandwidth and the preamble code resource pool, is indicated by the first resource information, it is also helpful for the network device to determine the perception signal bandwidth corresponding to the perception information based on the reported resource selected by the terminal device. There is no need for the terminal device to indicate the perception signal bandwidth corresponding to the perception information through additional indications. For example, when the terminal device sends the perception result on the first resource, based on the correspondence between the preamble code and the first resource, and the correspondence between the bandwidth and the preamble code, it can be determined which perception signal bandwidth the perception result is the perception result of. In addition, when the terminal device sends the perception result, it can also send the preamble code, and based on the correspondence between the bandwidth and the preamble code, it can be determined which perception signal bandwidth the perception result is the perception result of.

[0293] If the first message includes a portion of a response to a sensing capability sent by a network device, and the response indicates an association between at least one preamble and at least one resource, when the terminal device sends a sensing result and reports a corresponding sensing resource, the network device may determine, based on the resource and the association, which sensing signal bandwidth the sensing result relates to.

[0294] Optionally, when the terminal device sends the perception result, it may also send a preamble code so that the network device can determine which perception signal bandwidth the perception result is the perception result of.

[0295] Optionally, when the terminal device sends the perception result, it may also indicate the bandwidth corresponding to the perception result. For example, the perception information sent by the terminal device includes the perception result and bandwidth indication information (eg, bandwidth index).

[0296] Optionally, when the terminal device sends the perception result, it may also send a preamble and bandwidth indication information.

[0297] S306. The network device sends a response message of the perception result to the terminal device.

[0298] After receiving the sensing result, the network device may send a response message to the terminal device to indicate receipt of the response message.

[0299] In the communication method 300, a terminal device with perception capabilities can report perception information (e.g., perception results or perception capabilities) during a random access process or a random perception reporting process. In this way, the perception information can be transmitted without the terminal device being in an RRC connected state. Compared to transmitting perception information based on the SDT mechanism, the transmission delay of the perception information can be reduced and the reliability of the perception information transmission can be improved. It is particularly suitable for terminal devices in an RRC inactive state or a terminal device in an RRC idle state, and can also be applied to some low-power terminal devices, with a wider range of applicability. It should be noted that in the communication method 300, the terminal device can use the random access process to send the perception result, that is, randomly report the perception result. However, whether the terminal device performs random access is not limited in the embodiment of the present application. For example, if the preamble is dedicated to perception, then the network device sends a first message to the terminal device in response to the preamble. The terminal device determines to send the perception result on the first resource based on the first resource information included in the first message. The network device confirms that the perception task is completed, but will not access the network. For another example, the preamble is a random access preamble, and the network device sends a first message to the terminal device in response to the preamble. The terminal device determines to send the sensing result on the first resource based on the first resource information included in the first message. In this case, the terminal device may or may not be connected to the network.

[0300] Example 2

[0301] Please refer to Figure 4, which is a schematic flow chart of a communication method 400 provided in an embodiment of the present application. Figure 4 describes the method from the perspective of interaction between a network device and a terminal device. It should be understood that communication method 400 can also be implemented by other devices, such as a chip or communication device with communication capabilities. As shown in Figure 4, the process of communication method 400 includes the following steps.

[0302] S401. The network device sends a second message, where the second message is used to schedule a perception system message.

[0303] Accordingly, the terminal device receives the second message. The second message may be SIB1, and the network device sending the second message may be the network device broadcasting SIB1. The second message may be used to schedule a perception system message (e.g., the aforementioned SenSIB). As mentioned above, the second message may include information about the first time window and / or beam information. For details, please refer to the aforementioned related content and will not be repeated here.

[0304] S402. The network device sends a perception system message, where the perception system message includes first resource information.

[0305] Accordingly, the terminal device receives the perception system message. After receiving the second message, the terminal device detects the perception system message within the first time window. If the second message includes beam information, the terminal device detects the perception system message within the first time window and on at least one beam indicated by the beam information. Optionally, if at least one beam that transmits / carries SIB1 by default is the transmit beam for the perception system message, the terminal device receives the perception system message on at least one SSB beam corresponding to SIB1.

[0306] The perception system message can be used to configure some information for the terminal device to participate in perception, such as first resource information, second condition, perception parameters, perception method, etc. It is understandable that the SenSIB here can be the aforementioned first message. Please refer to the introduction of the aforementioned first message for details, which will not be repeated here.

[0307] S403: The network device sends a perception signal.

[0308] Network devices can send multiple bandwidth sensing signals to enable terminal devices with different bandwidth capabilities to participate in sensing collaboration. For example, if the second condition is configured, the second condition includes at least one bandwidth range or at least one bandwidth value. As long as the terminal device meets the second condition, it can participate in sensing.

[0309] Accordingly, the terminal device receives the sensing signal and measures the sensing signal to obtain a sensing result. If the network device sends sensing signals of multiple bandwidths, any terminal device can measure the sensing signal at the bandwidth it supports to obtain a sensing result.

[0310] S404. The terminal device sends the perception result on the first resource.

[0311] The terminal device receives the SenSIB, determines a resource (eg, a first resource) for reporting the sensing result based on the first resource information, and sends the sensing result on the first resource. Correspondingly, the network device receives the sensing result on the first resource.

[0312] As mentioned above, if the (pre)configured bandwidth and preamble, or the correspondence between the (pre)configured bandwidth and the preamble resource pool, the network device determines the perception signal bandwidth corresponding to the perception result based on the first resource of the perception result reported by the terminal device. There is no need for the terminal device to indicate the perception signal bandwidth corresponding to the perception result through additional indication. Optionally, when the terminal device sends the perception result, it can also indicate the bandwidth corresponding to the perception result. For example, the perception information sent by the terminal device includes the perception result and bandwidth indication information (e.g., bandwidth index).

[0313] In the 2-step random access process or the random perception reporting process, the perception result can be sent along with the MSGA. In other words, when the terminal device sends the MSGA, it can also send the perception result along with the MSGA.

[0314] S405. The network device sends a response message of the perception result to the terminal device.

[0315] After receiving the sensing result, the network device may send a response message to the terminal device to indicate receipt of the response message.

[0316] In the communication method 400, a terminal device with perception capability can report the perception result during the random access process or the random perception reporting process. In this way, the transmission of perception information can be achieved without the terminal device being in the RRC connection state. Compared with the transmission of perception information based on the SDT mechanism, the transmission delay of the perception information can be reduced and the reliability of the perception information transmission can be improved. It is particularly suitable for terminal devices in the RRC inactive state and terminal devices in the RRC idle state, and can also be applied to some low-power terminal devices, with a wider range of applicability. Similar to the communication method 300, in the communication method 400, the terminal device can use the random access process to send the perception result, that is, randomly report the perception result. However, whether the terminal device performs random access is not limited in the embodiment of the present application.

[0317] The various embodiments provided in the embodiments of the present application can be executed separately or in combination with each other. In the embodiments provided in the present application above, the methods provided in the embodiments of the present application are introduced from the perspective of the interaction between the terminal device and the network device. Among them, the steps performed by the terminal device can be implemented by different functional entities that constitute the terminal device. The steps performed by the network device can be implemented by different functional entities that constitute the network device. For example, the network device can be a CU-DU architecture, the CU can generate a first message, and the DU can send a first message. In order to implement the various functions in the methods provided in the embodiments of the present application above, the terminal device and the network device may include a hardware structure and / or a software module, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is performed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0318] The following describes the communication device used to implement the above method in the embodiment of the present application with reference to the accompanying drawings. Therefore, the above contents can be used in subsequent embodiments, and repeated contents will not be repeated.

[0319] Figure 5 is a schematic block diagram of a communication device 500 provided in an embodiment of the present application. The communication device 500 may be a network device or a terminal device in the aforementioned embodiments. For example, the communication device 500 may be the network device or terminal device in Figure 1; alternatively, the communication device 500 may be a chip (system) in a network device or a chip (system) in a terminal device; or alternatively, the communication device 500 may be a software module of the network device or terminal device. The communication device 500 may implement the functions or steps implemented by the terminal device or network device in the aforementioned method embodiments. The communication device 500 may include a processing module 510 and a transceiver module 520. Optionally, it may also include a storage module, which may be used to store instructions (code or program) and / or data. The storage module may be, for example, a memory. The processing module 510 and the transceiver module 520 may be coupled to the storage module. For example, the processing module 510 may read the instructions (code or program) and / or data in the storage module to implement the corresponding method. When the communication device 500 is a chip in a terminal device, the storage module may be a storage module within the chip, such as a register or cache. For example, the storage module may also be a storage module located outside the chip within the network device / terminal device, such as a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc. The above-mentioned units may be independently provided or partially or fully integrated.

[0320] In one possible implementation, the processing module 510 may be a processor or controller, such as a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The transceiver module 520 is a transceiver, an interface circuit, a bus, a pin, or other possible communication interface for receiving signals from other devices. For example, when the device is implemented in the form of a chip, the transceiver module 520 is an interface circuit for the chip to receive signals from other chips or devices, or an interface circuit for the chip to send signals to other chips or devices.

[0321] In some possible implementations, the communication device 500 can implement the behaviors and functions of the terminal device in the above-described method embodiments. The communication device 500 can be a terminal device, a component (e.g., a chip or circuit) used in a terminal device, a chip or chipset in a terminal device, or a portion of a chip used to perform the functions of the relevant method, or a software module capable of implementing the method performed by the terminal device in the above-described method (e.g., any of the methods in communication methods 200-400), without limitation.

[0322] For example, the communication device 500 implements the method executed by the terminal device in the embodiment of Figure 2. The transceiver module 520 can be used to execute S201-S202 in the embodiment shown in Figure 2, and / or to support other processes of the technology described herein; the processing module 510 can be used to execute other processes of the technology described herein.

[0323] In a possible implementation, the transceiver module 520 is configured to receive a first message and transmit the perception information on a first resource based on first resource information. The first message includes the first resource information, the first resource information indicating a first resource, the first resource being a resource for reporting the perception information. The first resource is associated with a preamble.

[0324] The perception information includes one or more of the following: a result obtained by measuring at least one perception signal bandwidth, a perception capability, indication information of a perception measurement bandwidth, or indication information of a preamble code.

[0325] As an optional implementation, the transceiver module 520 is further configured to: receive a sensing capability request, and report the sensing capability in response to the sensing capability request. The sensing capability request is used to request the sensing capability of at least one terminal device.

[0326] As an optional implementation method, the perception capability request is carried in a perception system message, which is used for perception, wherein the perception system message also includes a first condition and a second resource configuration information. The first condition indicates the perception capability of at least one terminal device used to obtain the first condition, and the second resource information indicates reporting the resources used for the perception capability.

[0327] As an optional implementation manner, the resource indicated by the second resource information is associated with the preamble code.

[0328] As an optional implementation, the first condition includes one or more of the following:

[0329] A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold;

[0330] At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval;

[0331] At least one bandwidth range, indicating that the bandwidth capability of a terminal device whose bandwidth capability is within the at least one bandwidth range is requested to be acquired;

[0332] at least one bandwidth value, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth value;

[0333] First area information, indicating a request to obtain the sensing capability of a terminal device located in the first area;

[0334] A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range;

[0335] A first speed range indicates a request to obtain the sensing capability of a terminal device within a first speed range; or

[0336] A first beam range indicates a request to obtain the perception capability of a terminal device whose beam carrying the perception signal is within the first beam range;

[0337] The first perception method indicates a request to obtain the perception capability of the terminal device that supports the first perception method.

[0338] As an optional implementation method, the first message is also used to configure one or more of the following: transmission parameters of the perception signal, perception method, perception result reporting method, or a second condition, and the second condition indicates that the terminal device that meets the second condition performs perception reporting.

[0339] As an optional implementation, the second condition includes one or more of the following:

[0340] A second signal quality threshold is used to instruct a terminal device whose received signal quality is higher than the first signal quality threshold to perform perception reporting;

[0341] At least one signal quality interval, indicating that a terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting;

[0342] At least one bandwidth range, indicating that terminal devices with bandwidth capabilities within the at least one bandwidth range perform perception reporting;

[0343] At least one bandwidth value, indicating that the terminal device with a bandwidth capability within the at least one bandwidth value performs perception reporting;

[0344] Second area information, instructing terminal devices located in the first area to perform perception reporting;

[0345] The second angular resolution range indicates that the terminal device with an angular resolution within the first angular resolution range performs perception reporting;

[0346] The second speed range instructs the terminal devices within the first speed range to perform perception reporting; or

[0347] The second beam range indicates that the terminal device whose beam carrying the perception signal is within the first beam range performs perception reporting;

[0348] The second perception method instructs the terminal device that supports the second perception method to perform perception reporting.

[0349] As an optional implementation, the perception parameter includes at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the first resource is selected from at least one resource pool corresponding to the first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

[0350] As an optional implementation, the first message is carried in one or more of a DCI, an RRC message, or a MAC CE, wherein the DCI includes a primary DCI and a secondary DCI, the primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI, and the secondary DCI is used to configure the perception method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition. The MAC CE includes one or more of the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, and the modulation and coding mode.

[0351] As an optional implementation method, the PDCCH carrying the first-level DCI is scrambled using a first RNTI, and the first RNTI corresponds to perception.

[0352] As an optional implementation, the first message is carried in one or more of DCI, SCI, MAC CE, or RRC messages. The SCI includes a primary SCI and a secondary SCI. The primary SCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI. The secondary SCI is used to configure the perception method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding scheme, or one or more of the second condition. The MAC CE includes the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding scheme, or one or more of the second condition.

[0353] As an optional implementation, the communication apparatus 500 is a first terminal device, and the first terminal device satisfies one or more of the following conditions:

[0354] In the radio resource control RRC inactive state; in the RRC idle state; or, in the RRC connected state, and the power consumption requirement is lower than the first threshold; or, in the low power consumption state; or, configured in the low power consumption mode.

[0355] As an optional implementation manner, the perception method includes one or more of a DL AoA method, a DL AoD method, a TDoA method, or a Multi RTT method.

[0356] As an optional implementation manner, the perception method includes one or more of the SL AoA method, the SL AoD method, the TDOA method, or the RTT method.

[0357] As an optional implementation method, when the bandwidth capability of the communication device 500 is greater than or equal to the first bandwidth, the perception method used by the communication device 500 is one or more of the DL AoA method, the DL AoD method, the TDoA method, or Multi RTT; when the bandwidth capability of the communication device 500 is less than the first bandwidth, the perception method used by the communication device 500 is the DL AoA method and / or the DL AoD method.

[0358] As an optional implementation method, when the bandwidth capability of the communication device 500 is greater than or equal to the first bandwidth, the perception method used by the communication device 500 is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method, or the perception method used by the communication device 500 is the TDoA method and / or the RTT method; when the bandwidth capability of the communication device 500 is less than the first bandwidth, the perception method used by the communication device 500 is the SL AoA method and / or the SL AoD method.

[0359] As an optional implementation method, the first message is a perception system message, and the perception system message is used for perception.

[0360] As an optional implementation manner, the transceiver module 520 is specifically configured to: receive a response to the sensing capability, where the response includes a first message.

[0361] As an optional implementation, the sensing signal is part of the response.

[0362] As an optional implementation, before receiving the first message, the transceiver module 520 is further configured to receive a second message, the second message being used to schedule the first message, the second message including first time window information and / or beam information. The first time window is used to indicate detection of the first message within the first time window. The beam information is used to indicate a beam for transmitting the first message.

[0363] As an optional implementation manner, the sending beam of the first message is at least one beam carrying the second message.

[0364] In some possible implementations, the communication device 500 can implement the behaviors and functions of the network device in the above-mentioned method embodiments. The communication device 500 can be a network device, a component (such as a chip or circuit) used in a network device, a chip or chipset in a network device, or a portion of a chip used to perform the functions of the relevant method, or a software module capable of implementing the method performed by the network device in the above-mentioned method (such as any method in communication method 200-communication method 400), without limitation.

[0365] For example, the communication device 500 implements the method executed by the terminal device in the embodiment of Figure 2. The transceiver module 520 can be used to execute S201-S202 in the embodiment shown in Figure 2 and / or other processes supporting the technology described herein; the processing module 510 can be used to execute other processes of the technology described herein.

[0366] In a possible implementation, the transceiver module 520 is configured to send a first message and receive perception information on a first resource. The first message includes first resource information, the first resource information indicating a first resource, the first resource being a resource used for perception information reporting, and the first resource being associated with a preamble. The perception information includes one or more of the following: a measurement result of at least one perception signal bandwidth, a perception capability, information indicating a perception measurement bandwidth, or information indicating a preamble.

[0367] As an optional implementation, the transceiver module 520 is further configured to: send a sensing capability request, and receive the sensing capability of the first terminal device in response to the sensing capability request. The sensing capability request is used to request the sensing capability of at least one terminal device.

[0368] As an optional implementation method, the perception capability request is carried in a perception system message, which is used for perception, wherein the perception system message also includes a first condition and a second resource configuration information. The first condition indicates the perception capability of at least one terminal device used to obtain the first condition, and the second resource information indicates reporting the resources used for the perception capability.

[0369] As an optional implementation manner, the resource indicated by the second resource information is associated with the preamble code.

[0370] As an optional implementation, the first condition includes one or more of the following:

[0371] A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold;

[0372] at least one bandwidth value, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth value;

[0373] First area information, indicating a request to obtain the sensing capability of a terminal device located in the first area;

[0374] A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range;

[0375] A first speed range indicates a request to obtain the sensing capability of a terminal device within a first speed range; or

[0376] A first beam range indicates a request to obtain the perception capability of a terminal device whose beam carrying the perception signal is within the first beam range;

[0377] The first perception method indicates a request to obtain the perception capability of the terminal device that supports the first perception method.

[0378] As an optional implementation method, the first message is also used to configure one or more of the following: transmission parameters of the perception signal, perception method, perception result reporting method, or a second condition, and the second condition indicates that the terminal device that meets the second condition performs perception reporting.

[0379] As an optional implementation, the second condition includes one or more of the following:

[0380] A second signal quality threshold is used to instruct a terminal device whose received signal quality is higher than the first signal quality threshold to perform perception reporting;

[0381] At least one signal quality interval, indicating that a terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting;

[0382] At least one bandwidth range, indicating that terminal devices with bandwidth capabilities within the at least one bandwidth range perform perception reporting;

[0383] At least one bandwidth value, indicating that the terminal device with bandwidth capability within the at least one bandwidth value performs perception reporting;

[0384] Second area information, instructing terminal devices located in the first area to perform perception reporting;

[0385] The second angular resolution range indicates that the terminal device with an angular resolution within the first angular resolution range performs perception reporting;

[0386] The second speed range instructs the terminal devices within the first speed range to perform perception reporting; or

[0387] The second beam range indicates that the terminal device whose beam carrying the perception signal is within the first beam range performs perception reporting;

[0388] The second perception method instructs the terminal device that supports the second perception method to perform perception reporting.

[0389] As an optional implementation, the perception parameter includes at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the first resource is selected from at least one resource pool corresponding to the first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

[0390] As an optional implementation, the first message is carried in one or more of DCI, RRC message, or MAC CE. The DCI includes primary DCI and secondary DCI. The primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI. The secondary DCI is used to configure the perception method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition. The MAC CE includes the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, and the modulation and coding mode.

[0391] As an optional implementation method, the PDCCH carrying the first-level DCI is scrambled using a first RNTI, and the first RNTI corresponds to perception.

[0392] As an optional implementation, the first message is carried in one or more of DCI, sidelink control information (SCI), MAC CE, or RRC message. The SCI includes a primary SCI and a secondary SCI. The primary SCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI. The secondary SCI is used to configure the perception method, the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition. The MAC CE includes the first resource information, the preamble corresponding to the first resource, the timing advance, the transmit power, the modulation and coding mode, or one or more of the second condition.

[0393] As an optional implementation manner, the sensing method includes one or more of a DL AoA method, a DL AoD method, a TDoA method, or Multi RTT.

[0394] As an optional implementation manner, the perception method includes one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT.

[0395] As an optional implementation method, when the bandwidth capability of the communication device 500 is greater than or equal to the first bandwidth, the perception method used by the communication device 500 is one or more of the DL AoA method, the DL AoD method, the TDoA method, or Multi RTT; when the bandwidth capability of the communication device 500 is less than the first bandwidth, the perception method used by the communication device 500 is the DL AoA method and / or the DL AoD method.

[0396] As an optional implementation method, when the bandwidth capability of the communication device 500 is greater than or equal to the first bandwidth, the perception method used by the communication device 500 is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method, or the perception method used by the communication device 500 is the TDoA method and / or the RTT method; when the bandwidth capability of the communication device 500 is less than the first bandwidth, the perception method used by the communication device 500 is the SL AoA method and / or the SL AoD method.

[0397] As an optional implementation method, the first message is a perception system message, and the perception system message is used for perception.

[0398] As an optional implementation manner, the transceiver module 520 is specifically used to: send a response of the sensing capability, where the response includes a first message.

[0399] As an optional implementation, the sensing signal is part of the response.

[0400] As an optional implementation, before receiving the first message, the transceiver module 520 is further configured to: transmit a second message, the second message being used to schedule the first message, the second message including first time window information and / or beam information. The first time window is used to indicate detection of the first message within the first time window. The beam information is used to indicate a beam for transmitting the first message.

[0401] As an optional implementation manner, the sending beam of the first message is at least one beam carrying the second message.

[0402] When the communication device 500 is a chip-type device or circuit, the transceiver module may be an input / output circuit and / or a communication interface; the processing module may be an integrated processor or microprocessor or integrated circuit.

[0403] Figure 6 is a schematic block diagram of a communication device 600 provided in an embodiment of the present application. The communication device 600 can be a network device or a terminal device in the above-mentioned embodiment. For example, the communication device 600 can be the network device or terminal device in Figure 1; or the communication device 600 is a chip (system) in the network device or terminal device. In the embodiment of the present application, the chip system can be composed of a chip, or it can include a chip and other discrete devices. For specific functions, please refer to the description in the above-mentioned method embodiment.

[0404] The communication device 600 includes one or more processors 601, which are used to implement or support the communication device 600 to implement the functions of the terminal device or network device in the method provided in the embodiment of the present application. Please refer to the detailed description in the method example for details, which will not be repeated here. The processor 601 can also be called a processing unit or processing module, which can implement certain control functions. The processor 601 can be a general-purpose processor or a dedicated processor. For example, it includes: a baseband processor, a central processing unit, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, a memory, and / or a neural network processor. The baseband processor can be used to process communication protocols and communication data. The central processing unit can be used to control the communication device 600 (such as a network device or terminal device), execute software programs and / or process data. Different processors can be independent devices or integrated into one or more processors, for example, integrated into one or more dedicated integrated circuits.

[0405] In one design, the processor 601 may include a program 603 (sometimes also referred to as code or instructions), which may be executed on the processor 601 to cause the communication device 600 to perform the methods described in the following embodiments. In another possible design, the communication device 600 includes circuitry (not shown in FIG6 ) configured to implement the network device or terminal device functions described in the above embodiments.

[0406] In one design, the communication device 600 may include one or more memories 602 on which a program 604 (sometimes also referred to as code or instructions) is stored. The program 604 can be run on the processor 601, so that the communication device 600 performs the method described in the above method embodiment, such as the process shown in one or more figures in Figures 2 to 5.

[0407] In one design, the processor 601 and / or the memory 602 may include an artificial intelligence (AI) module 607 and an AI module 608, each configured to implement AI-related functions. The AI ​​module may be implemented using software, hardware, or a combination of software and hardware. For example, the AI ​​module may include a RAN intelligent controller (RIC) module. For example, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0408] In a possible design, data may also be stored in the processor 601 and / or the memory 602. The processor and the memory may be provided separately or integrated together.

[0409] In one possible design, the communication device 600 may further include a transceiver 605 and / or an antenna 606. The processor 601 may also be sometimes referred to as a processing unit, and controls the communication device 600. The transceiver 605 may also be sometimes referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, and is configured to implement the transceiver function of the communication device through the antenna 606.

[0410] In one possible design, the communication device 600 may further include one or more of the following components: a wireless communication module, an audio module, an external memory interface, an internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It will be appreciated that in some embodiments, the communication device 600 may include more or fewer components, or some components may be integrated or separated. These components may be implemented in hardware, software, or a combination of software and hardware.

[0411] The communication device in the above embodiments can be a terminal device (or network device), a circuit, a chip used in a terminal device (or network device), or other combined devices or components with the above terminal device (or network device). When the communication device is a terminal device (or network device), the transceiver module can be a transceiver, which can include an antenna and a radio frequency circuit, etc., and the processing module can be a processor, such as a CPU. When the communication device is a component with the functions of the above terminal device (or network device), the transceiver module can be a radio frequency unit, and the processing module can be a processor. When the communication device is a chip system, the communication device can be an FPGA, a dedicated ASIC, a system on chip (SoC), a CPU, a network processor (NP), a DSP, a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated circuit. The processing module can be the processor of the chip system. The transceiver module or communication interface can be the input / output interface or interface circuit of the chip system. For example, the interface circuit can be a code / data read / write interface circuit. The interface circuit can be used to receive code instructions (the code instructions are stored in a memory and can be read directly from the memory or read from the memory via another device) and transmit them to the processor; the processor can be used to execute the code instructions to perform the method in the above method embodiment. For example, the interface circuit can also be a signal transmission interface circuit between a communication processor and a transceiver.

[0412] The present application also provides a communication system. Specifically, the communication system includes a network device and a terminal device. Exemplarily, the communication system includes a terminal device and a network device for implementing the functions associated with one or more of Figures 2 to 4. For details, please refer to the relevant descriptions in the above method embodiments and will not be repeated here.

[0413] An embodiment of the present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, enables the computer to execute the method executed by the terminal device or network device in Figures 2 to 4.

[0414] An embodiment of the present application also provides a computer program product, including instructions, which, when executed on a computer, enables the computer to execute the method executed by the terminal device or network device in Figures 2 to 4.

[0415] The embodiment of the present application provides a chip system, which includes a processor and may also include a memory, for implementing the functions of the terminal device or network device in the above method. The chip system can be composed of a chip or include a chip and other discrete devices.

[0416] To implement the functions of the communication device shown in Figures 5 and 6, embodiments of the present application further provide a chip including a processor for supporting the communication device in implementing the functions of the terminal device or network device described in the method embodiments. In one possible design, the chip is connected to or includes a memory, which is used to store computer programs, instructions, and data necessary for the communication device.

[0417] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0418] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0419] 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.

[0420] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0421] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0422] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the part that essentially contributes to the technical solution of the present application or the part of the technical solution can be embodied in the form of a software product, which 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 the present application. The aforementioned storage medium includes various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0423] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

Claims

1. A communication method, characterized in that: The method comprises: receiving a first message, where the first message includes first resource information, where the first resource information indicates a first resource, and where the first resource belongs to a resource used for reporting perception information; The perception information is sent on the first resource according to the resource configuration information, and the first resource is associated with a preamble code.

2. The method according to claim 1, characterized in that The perception information includes one or more of the following: a result obtained by measuring at least one perceptual signal bandwidth; Perception ability; an indication of the perceived measurement bandwidth; or, Indication of the preamble.

3. The method according to claim 1 or 2, characterized in that The method further comprises: receiving a sensing capability request, where the sensing capability request is used to request to obtain sensing capabilities of at least one terminal device; In response to the sensing capability request, the sensing capability is reported.

4. The method according to claim 3, characterized in that The perception capability request is carried in a perception system message, and the perception system message is used for perception, wherein the perception system message also includes a first condition and second resource information, the first condition indicates the perception capability used to obtain at least one terminal device that meets the first condition, and the second resource information indicates the resources used to report the perception capability.

5. The method according to claim 4, characterized in that The resources indicated by the second resource information are associated with the preamble code.

6. The method according to claim 4 or 5, characterized in that The first condition includes one or more of the following: A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold; At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval; at least one bandwidth range, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth range; at least one bandwidth value, indicating the bandwidth capability of the terminal device for which the bandwidth capability is requested to be within the at least one bandwidth value; First area information, indicating a request to obtain the perception capability of a terminal device located in the first area; A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range; A first speed range, indicating a request to obtain the perception capability of terminal devices within the first speed range; or, The first beam range indicates that the perception capability of the terminal device requesting to obtain the beam carrying the perception signal is within the first beam range.

7. The method according to claim 1, characterized in that The first message is also used to configure one or more of the following: The transmission parameters of the perception signal, the perception method, the perception result reporting method, or the second condition, where the second condition indicates that the terminal device that meets the second condition performs perception reporting.

8. The method according to claim 7, characterized in that The perception signal includes a synchronization signal and a physical broadcast channel block SSB.

9. The method according to claim 7 or 8, characterized in that The second condition includes one or more of the following: A second signal quality threshold, instructing a terminal device whose received signal quality is higher than the second signal quality threshold to perform perception reporting; At least one signal quality interval, indicating that the terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting; At least one bandwidth range, indicating that terminal devices whose bandwidth capability is within the at least one bandwidth range should perform perception reporting; At least one bandwidth value, indicating that the bandwidth capability corresponds to the at least one bandwidth value to be perceived and reported by the terminal device; Second area information, instructing terminal devices located in the second area to perform perception reporting; A second angular resolution range, indicating that a terminal device with an angular resolution within the second angular resolution range performs perception reporting; A second speed range, indicating that the terminal device whose moving speed is within the second speed range performs perception reporting; or, The second beam range indicates that the beam carrying the perception signal is located in the second beam range and the terminal device performs perception reporting.

10. The method according to claim 9, characterized in that The perception parameters include at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the preamble code associated with the first resource is selected from at least one resource pool corresponding to a first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

11. The method according to any one of claims 1 to 10, characterized in that The first message is carried in one or more of downlink control information DCI, sidelink control information SCI, radio resource control RRC message, or media access control MAC control element CE; The DCI includes a primary DCI and a secondary DCI, the primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI, and the secondary DCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The SCI includes a primary SCI and a secondary SCI, the primary SCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary SCI, and the secondary SCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The MAC CE includes the first resource information and / or a preamble code associated with the first resource.

12. The method according to claim 11, characterized in that The physical downlink control channel PDCCH carrying the primary DCI is scrambled using a first radio network temporary identifier RNTI, and the first RNTI corresponds to perception.

13. The method according to any one of claims 1 to 10, characterized in that The method is applied to a first terminal device, and the first terminal device satisfies one or more of the following: In the radio resource control RRC inactive state; In RRC idle state; or, The device is in an RRC connected state, and the power consumption requirement is lower than a first threshold; in a low power state; or, Configured for low power mode.

14. The method according to claim 13, characterized in that The sensing method includes one or more of a downlink angle of arrival DL AoA method, a downlink angle of departure DL AoD method, a time difference of arrival TDoA method, or a multi-cell round trip time Multi RTT.

15. The method according to claim 13 or 14, characterized in that The sensing method includes one or more of a side link SL AoA method, a SL AoD method, a TDOA method or a round trip time RTT method.

16. The method according to claim 14, characterized in that in, When the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of a DL AoA method, a DL AoD method, a TDoA method, or Multi RTT; When the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is a DL AoA method and / or a DL AoD method.

17. The method according to claim 15, characterized in that When the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the round-trip time RTT method, or the perception method used by the first terminal device is the TDoA method and / or the RTT method; When the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDOA method or the round-trip time RTT method.

18. The method according to any one of claims 1 to 17, characterized in that The first message is a perception system message, and the perception system message is used for perception.

19. The method according to claim 3, characterized in that Receiving a first message, including: A response to the sensing capability is received, the response including the first message.

20. The method of claim 19, wherein: The sensory signal is part of the response.

21. The method according to any one of claims 1 to 20, characterized in that Before receiving the first message, the method further includes: receiving a second message, where the second message is used to schedule the first message, and the second message includes one or more of the following: Information of a first time window, used to indicate detection of the first message within the first time window; Beam information, used to indicate the sending beam of the first message.

22. The method according to claim 21, characterized in that The transmission beam of the first message is at least one beam carrying the second message.

23. A communication method, characterized in that: include: Sending a first message, where the first message includes first resource information, where the first resource information indicates a resource used for reporting perception information; Sensing information is received on a first resource, the first resource being associated with a preamble.

24. The method of claim 23, wherein: The perception information includes one or more of the following: a result obtained by measuring at least one perceptual signal bandwidth; Perception ability; an indication of the perceived measurement bandwidth; or, Indication of the preamble.

25. The method according to claim 23 or 24, characterized in that The method further comprises: Sending a sensing capability request, where the sensing capability request is used to request to obtain sensing capabilities of at least one terminal device; The sensing capability is received from the first terminal device.

26. The method of claim 25, wherein: The perception capability request is carried in a perception system message, and the perception system message is used for perception, wherein the perception system message also includes a first condition and second resource information, the first condition indicates the perception capability used to obtain at least one terminal device that meets the first condition, and the second resource information indicates the resources used to report the perception capability.

27. The method of claim 26, wherein: The resources indicated by the second resource information are associated with the preamble code.

28. The method according to claim 26 or 27, characterized in that The first condition includes one or more of the following: A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold; At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval; at least one bandwidth range, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth range; at least one bandwidth value, indicating the bandwidth capability of the terminal device for which the bandwidth capability is requested to be within the at least one bandwidth value; First area information, indicating a request to obtain the perception capability of a terminal device located in the first area; A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range; A first speed range, indicating a request to obtain the perception capability of terminal devices within the first speed range; or, The first beam range indicates that the perception capability of the terminal device requesting to obtain the beam carrying the perception signal is within the first beam range.

29. The method of claim 23, wherein: The first message is also used to configure one or more of the following: The transmission parameters of the perception signal, the perception method, the perception result reporting method, or the second condition, where the second condition indicates that the terminal device that meets the second condition performs perception reporting.

30. The method of claim 29, wherein: The perception signal includes a synchronization signal and a physical broadcast channel block SSB.

31. The method according to claim 29 or 30, characterized in that The second condition includes one or more of the following: A second signal quality threshold, instructing a terminal device whose received signal quality is higher than the second signal quality threshold to perform perception reporting; At least one signal quality interval, indicating that the terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting; At least one bandwidth range, indicating that terminal devices whose bandwidth capability is within the at least one bandwidth range should perform perception reporting; At least one bandwidth value, indicating that the bandwidth capability corresponds to the at least one bandwidth value to be perceived and reported by the terminal device; Second area information, instructing terminal devices located in the second area to perform perception reporting; A second angular resolution range, indicating that a terminal device with an angular resolution within the second angular resolution range performs perception reporting; A second speed range, indicating that the terminal device whose moving speed is within the second speed range performs perception reporting; or, The second beam range indicates that the beam carrying the perception signal is located in the second beam range and the terminal device performs perception reporting.

32. The method of claim 31, wherein: The perception parameters include at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the preamble code associated with the first resource is selected from at least one resource pool corresponding to a first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

33. The method according to any one of claims 23 to 32, characterized in that The first message is carried in one or more of downlink control information DCI, sidelink control information SCI, or media access control MAC control element CE; The DCI includes a primary DCI and a secondary DCI, the primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI, and the secondary DCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The SCI includes a primary SCI and a secondary SCI, wherein the primary SCI is used to configure the transmission parameters of the perception signal and to carry the secondary SCI. The secondary SCI is used to configure one or more of the sensing method, the first resource information, the preamble associated with the first resource, or the second condition; The MAC CE includes the first resource information and / or a preamble code associated with the first resource.

34. The method of claim 33, wherein: The physical downlink control channel PDCCH carrying the primary DCI is scrambled using a first radio network temporary identifier RNTI, and the first RNTI corresponds to perception.

35. The method according to any one of claims 23 to 34, characterized in that The sensing method includes one or more of a downlink angle of arrival DL AoA method, a downlink angle of departure DL AoD method, a time difference of arrival TDoA method, or multiple round trip times Multi RTT.

36. The method according to any one of claims 23 to 35, characterized in that The sensing method includes one or more of a side link SL AoA method, a SL AoD method, a TDOA method or a round trip time RTT method.

37. The method of claim 35, wherein: in, When the bandwidth capability of the terminal device is greater than or equal to the first bandwidth, the perception method used by the terminal device is one or more of a DL AoA method, a DL AoD method, a TDoA method, or Multi RTT; When the bandwidth capability of the terminal device is less than the first bandwidth, the perception method used by the terminal device is the DL AoA method and / or the DL AoD method.

38. The method of claim 36, wherein: in, When the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method; or, the perception method used by the first terminal device is the TDoA method and / or the RTT method; When the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is the SL AoA method or the SL AoD method.

39. The method according to any one of claims 23 to 38, characterized in that Send a first message, including: A response of the sensing capability is sent, the response including the first message.

40. The method of claim 39, wherein: The sensory signal is part of the response.

41. The method according to any one of claims 23 to 40, characterized in that Before sending the first message, the method further includes: Send a second message, where the second message is used to schedule the first message, and the second message includes one or more of the following: Information of a first time window, used to indicate detection of the first message within the first time window; Beam information, used to indicate the sending beam of the first message.

42. The method of claim 41, wherein: The transmission beam of the first message is at least one beam carrying the second message.

43. A communication device, characterized in that: include: A transceiver module, configured to receive a first message and send perception information on a first resource, wherein the first message includes first resource information, the first resource information indicates a first resource, the first resource belongs to a resource for reporting perception information, and the first resource is associated with a preamble; A processing module is used to determine the first resource according to the resource configuration information.

44. The device according to claim 43, characterized in that The perception information includes one or more of the following: a result obtained by measuring at least one perceptual signal bandwidth; Perception ability; an indication of the perceived measurement bandwidth; or, Indication of the preamble.

45. The device according to claim 43 or 44, characterized in that The transceiver module is also used for: receiving a sensing capability request, where the sensing capability request is used to request to obtain sensing capabilities of at least one terminal device; In response to the sensing capability request, the sensing capability is reported.

46. ​​The device according to claim 45, characterized in that The perception capability request is carried in a perception system message, and the perception system message is used for perception, wherein the perception system message also includes a first condition and second resource information, the first condition indicates the perception capability used to obtain at least one terminal device that meets the first condition, and the second resource information indicates the resources used to report the perception capability.

47. The device according to claim 46, characterized in that The resources indicated by the second resource information are associated with the preamble code.

48. The device according to claim 45 or 46, characterized in that The first condition includes one or more of the following: A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold; At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval; at least one bandwidth range, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth range; at least one bandwidth value, indicating the bandwidth capability of the terminal device for which the bandwidth capability is requested to be within the at least one bandwidth value; First area information, indicating a request to obtain the perception capability of a terminal device located in the first area; A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range; A first speed range, indicating a request to obtain the perception capability of terminal devices within the first speed range; or, The first beam range indicates that the perception capability of the terminal device requesting to obtain the beam carrying the perception signal is within the first beam range.

49. The device according to claim 43, characterized in that The first message is also used to configure one or more of the following: The transmission parameters of the perception signal, the perception method, the perception result reporting method, or the second condition, where the second condition indicates that the terminal device that meets the second condition performs perception reporting.

50. The device according to claim 49, characterized in that The perception signal includes a synchronization signal and a physical broadcast channel block SSB.

51. The device according to claim 49 or 50, characterized in that The second condition includes one or more of the following: A second signal quality threshold, instructing a terminal device whose received signal quality is higher than the second signal quality threshold to perform perception reporting; At least one signal quality interval, indicating that the terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting; At least one bandwidth range, indicating that terminal devices whose bandwidth capability is within the at least one bandwidth range should perform perception reporting; At least one bandwidth value, indicating that the bandwidth capability corresponds to the at least one bandwidth value to be perceived and reported by the terminal device; Second area information, instructing terminal devices located in the second area to perform perception reporting; A second angular resolution range, indicating that a terminal device with an angular resolution within the second angular resolution range performs perception reporting; A second speed range, indicating that the terminal device whose moving speed is within the second speed range performs perception reporting; or, The second beam range indicates that the beam carrying the perception signal is located in the second beam range and the terminal device performs perception reporting.

52. The device according to claim 51, characterized in that The perception parameters include at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the preamble code associated with the first resource is selected from at least one resource pool corresponding to a first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

53. The device according to any one of claims 43 to 52, characterized in that The first message is carried in one or more of downlink control information DCI, sidelink control information SCI, or media access control MAC control element CE; The DCI includes a primary DCI and a secondary DCI, the primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI, and the secondary DCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The SCI includes a primary SCI and a secondary SCI, the primary SCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary SCI, and the secondary SCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The MAC CE includes the first resource information and / or a preamble code associated with the first resource.

54. The device according to claim 53, characterized in that The physical downlink control channel PDCCH carrying the primary DCI is scrambled using a first radio network temporary identifier RNTI, and the first RNTI corresponds to perception.

55. The device according to any one of claims 43 to 52, characterized in that The communication device is a first terminal device, and the first terminal device satisfies one or more of the following: In the radio resource control RRC inactive state; In RRC idle state; or, The device is in an RRC connected state, and the power consumption requirement is lower than a first threshold; in a low power state; or, Configured for low power mode.

56. The device according to claim 55, characterized in that The sensing method includes one or more of a downlink angle of arrival DL AoA method, a downlink angle of departure DL AoD method, a time difference of arrival TDoA method, or multiple round trip times Multi RTT.

57. The device according to claim 55 or 56, characterized in that The sensing method includes one or more of a side link SL AoA method, a SL AoD method, a TDOA method or a round trip time RTT method.

58. The device of claim 56, wherein: in, When the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the sensing method used by the first terminal device is one or more of a DL AoA method, a DL AoD method, a TDoA device, or Multi RTT; When the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is a DL AoA method and / or a DL AoD method.

59. The device according to claim 57, characterized in that in, When the bandwidth capability of the first terminal device is greater than or equal to the first bandwidth, the perception method used by the first terminal device is one or more of the SL AoA method, the SL AoD method, the TDoA method, or the RTT method; or, the perception method used by the first terminal device is the TDoA method and / or the RTT method; When the bandwidth capability of the first terminal device is less than the first bandwidth, the perception method used by the first terminal device is the SL AoA method and / or the SL AoD method.

60. The device according to any one of claims 43 to 59, characterized in that The first message is a perception system message, and the perception system message is used for perception.

61. The device of claim 45, wherein: The transceiver module is specifically used for: A response to the sensing capability is received, the response including the first message.

62. The device according to claim 61, characterized in that The sensory signal is part of the response.

63. The device according to any one of claims 43 to 62, characterized in that Before receiving the first message, the transceiver module is further used for: receiving a second message, where the second message is used to schedule the first message, and the second message includes one or more of the following: Information of a first time window, used to indicate detection of the first message within the first time window; Beam information, used to indicate the sending beam of the first message.

64. The device according to claim 63, characterized in that The transmission beam of the first message is at least one beam carrying the second message.

65. A communication device, characterized in that: include: A transceiver module, configured to send a first message and receive perception information on a first resource, wherein the first message includes first resource information, the first resource information indicates a resource used for reporting the perception information, and the first resource is associated with a preamble; A processing module is used to determine the first resource.

66. The device according to claim 65, characterized in that The perception information includes one or more of the following: a result obtained by measuring at least one perceptual signal bandwidth; Perception ability; an indication of the perceived measurement bandwidth; or, Indication of the preamble.

67. The device according to claim 65 or 66, characterized in that The transceiver module is also used for: Sending a sensing capability request, where the sensing capability request is used to request to obtain sensing capabilities of at least one terminal device; The sensing capability is received from the first terminal device.

68. The device according to claim 67, characterized in that The perception capability request is carried in a perception system message, and the perception system message is used for perception, wherein the perception system message also includes a first condition and second resource information, the first condition indicates the perception capability used to obtain at least one terminal device that meets the first condition, and the second resource information indicates the resources used to report the perception capability.

69. The device according to claim 68, characterized in that The resources indicated by the second resource information are associated with the preamble code.

70. The device according to claim 67 or 68, characterized in that The first condition includes one or more of the following: A first signal quality threshold, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is higher than the first signal quality threshold; At least one signal quality interval, indicating a request to obtain a received signal quality of a terminal device whose received signal quality is within the at least one signal quality interval; at least one bandwidth range, indicating a request to obtain bandwidth capabilities of a terminal device whose bandwidth capabilities are within the at least one bandwidth range; at least one bandwidth value, indicating the bandwidth capability of the terminal device for which the bandwidth capability is requested to be within the at least one bandwidth value; First area information, indicating a request to obtain the perception capability of a terminal device located in the first area; A first angular resolution range, indicating a request to obtain the perception capability of a terminal device having an angular resolution within the first angular resolution range; A first speed range, indicating a request to obtain the perception capability of terminal devices within the first speed range; or, The first beam range indicates that the perception capability of the terminal device requesting to obtain the beam carrying the perception signal is within the first beam range.

71. The device of claim 65, wherein: The first message is also used to configure one or more of the following: The transmission parameters of the perception signal, the perception method, the perception result reporting method, or the second condition, where the second condition indicates that the terminal device that meets the second condition performs perception reporting.

72. The device according to claim 71, characterized in that The perception signal includes a synchronization signal and a physical broadcast channel block SSB.

73. The device according to claim 71 or 72, characterized in that The second condition includes one or more of the following: A second signal quality threshold, instructing a terminal device whose received signal quality is higher than the second signal quality threshold to perform perception reporting; At least one signal quality interval, indicating that the terminal device whose received signal quality is within the at least one signal quality interval performs perception reporting; At least one bandwidth range, indicating that terminal devices whose bandwidth capability is within the at least one bandwidth range should perform perception reporting; At least one bandwidth value, indicating that the bandwidth capability corresponds to the at least one bandwidth value to be perceived and reported by the terminal device; Second area information, instructing terminal devices located in the second area to perform perception reporting; A second angular resolution range, indicating that a terminal device with an angular resolution within the second angular resolution range performs perception reporting; A second speed range, indicating that the terminal device whose moving speed is within the second speed range performs perception reporting; or, The second beam range indicates that the beam carrying the perception signal is located in the second beam range and the terminal device performs perception reporting.

74. The device of claim 73, wherein: The perception parameters include at least one bandwidth configuration, and the at least one bandwidth configuration corresponds to at least one resource pool, wherein the preamble code associated with the first resource is selected from at least one resource pool corresponding to a first bandwidth, and the first bandwidth is the bandwidth of the perception signal.

75. The device according to any one of claims 65 to 74, characterized in that The first message is carried in one or more of downlink control information DCI, sidelink control information SCI, or media access control MAC control element CE; The DCI includes a primary DCI and a secondary DCI, the primary DCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary DCI, and the secondary DCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The SCI includes a primary SCI and a secondary SCI, the primary SCI is used to configure the transmission parameters of the perception signal and the resources of the channel carrying the secondary SCI, and the secondary SCI is used to configure the perception method, the first resource information, the preamble associated with the first resource, or one or more of the second condition; The MAC CE includes the first resource information and / or a preamble code associated with the first resource.

76. The device of claim 75, wherein: The physical downlink control channel PDCCH carrying the primary DCI is scrambled using a first radio network temporary identifier RNTI, and the first RNTI corresponds to perception.

77. The device according to any one of claims 65 to 76, characterized in that The sensing method includes one or more of a downlink angle of arrival DL AoA method, a downlink angle of departure DL AoD method, a time difference of arrival TDoA method, or multiple round trip times Multi RTT.

78. The device according to any one of claims 65 to 77, characterized in that The sensing method includes one or more of a side link SL AoA method, a SL AoD method, a TDOA method or a round trip time RTT method.

79. The device according to any one of claims 65 to 77, characterized in that The transceiver module is specifically used for: A response of the sensing capability is sent, the response including the first message.

80. The device of claim 79, wherein: The sensory signal is part of the response.

81. The device according to any one of claims 65 to 80, characterized in that Before sending the first message, the transceiver module is further used for: Send a second message, where the second message is used to schedule the first message, and the second message includes one or more of the following: Information of a first time window, used to indicate detection of the first message within the first time window; Beam information, used to indicate the sending beam of the first message.

82. The device according to claim 81, characterized in that The transmission beam of the first message is at least one beam carrying the second message.

83. A communication device, characterized in that: The communication device includes a processor and a memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory, so that the communication device performs the method according to any one of claims 1-22, or the communication device performs the method according to any one of claims 23-42.

84. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 22, or the computer is caused to execute the method according to any one of claims 23 to 42.

85. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 22, or the computer is caused to execute the method according to any one of claims 23 to 42.

86. A chip system, characterized in that: The chip system comprises: A processor and an interface, wherein the processor is used to call and run instructions from the interface, and when the processor executes the instructions, the method according to any one of claims 1 to 22 is implemented, or the method according to any one of claims 23 to 42 is implemented.

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