Communication method, communication apparatus and communication system

Abstract

The present application relates to the technical field of wireless communications, and in particular to a communication method, a communication apparatus and a communication system. The method comprises: sending a first request message, wherein the first request message comprises first motion state information of a terminal device; and receiving a first response message, wherein the first response message comprises first information or second information, the first information being used for indicating that at least one sensing target is associated with the terminal device, and the second indication information being used for indicating that no sensing target is associated with the terminal device. By using the method, the sensing precision of the sensing technology can be improved.

Description

Communication method, communication device and communication system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 17, 2023, with application number 202311551818.8 and application name “A Communication Method, Communication Device and Communication System”, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0003] With the evolution of communications technology, sensing capabilities have emerged in communication frequency bands, particularly in the millimeter wave band. When network equipment (such as base stations) or terminal devices possess sensing capabilities, the communication system can sense and identify specific objects, thereby obtaining their current status, such as location and speed. This sensing capability can be used to address business needs in a wide range of scenarios.

[0004] In existing sensing technologies, the core network of a communication system is equipped with sensing function (SF) network elements. These elements utilize network equipment and terminal devices to transmit sensing measurement signals and receive sensing measurement signals reflected by the sensed object. Based on the signal parameters of the transmitted and received sensing measurement signals, the SF network element determines information such as the position, speed, and shape of the sensed object. For example, the SF network element can transmit a sensing measurement signal through a base station, receive the sensing measurement signal reflected by a car on the road through the base station, and then obtain information such as the car's position and speed based on the transmitted and reflected sensing measurement signals. Because sensing results rely on sensing measurement signals, this approach is highly susceptible to interference from environmental clutter, resulting in low sensing accuracy. Therefore, improving the sensing accuracy of sensing technology has become a pressing technical issue.

[0005] Summary of the Invention

[0006] In order to solve the above problems, the present application provides a communication method, a communication device and a communication system, which can reduce the impact of environmental clutter and improve the perception accuracy of perception technology.

[0007] The present application is introduced below from multiple aspects. It is easy to understand that the implementation methods of the following multiple aspects can refer to each other.

[0008] In a first aspect, an embodiment of the present application provides a communication method applicable to a first device, the method comprising: sending a first request message to a third device. The first request message includes first motion state information of the terminal device. A first response message is received from the third device. The first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0009] In the above implementation, the first device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the first device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive perception technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive perception technology.

[0010] In a second aspect, an embodiment of the present application provides a communication method applicable to a third device, the method comprising: receiving a first request message from a first device, wherein the first request message includes first motion state information of a terminal device; sending a first response message to the first device, wherein the first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0011] In a third aspect, an embodiment of the present application provides a communication method applicable to a second device, the method comprising: sending a second request message to a first device, wherein the second request message includes at least a device identifier of the terminal device; and receiving a first response message from the first device, wherein the first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0012] In a fourth aspect, an embodiment of the present application provides a communication method applicable to a third device, the method comprising: receiving a first request message from a second device, wherein the first request message includes first motion state information of the terminal device; and sending a first response message to the second device, wherein the first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0013] In the above implementation, the second device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the second device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive sensing technology.

[0014] In a fifth aspect, an embodiment of the present application provides a communication method applicable to a second device, the method comprising: sending a first request message to a third device, wherein the first request message includes first motion state information of the terminal device; and receiving a first response message from the third device, wherein the first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0015] In a sixth aspect, an embodiment of the present application provides a communication method applicable to a fourth device, the method comprising: receiving a second request message from a second device, wherein the second request message includes at least a device identifier of the terminal device. Sending a first response message to the second device. The first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0016] In the above implementation, the second device sends a second request message containing the device identifier of the terminal device to the fourth device. The fourth device can feedback a first response message based on the second request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the fourth device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive sensing technology.

[0017] In a seventh aspect, an embodiment of the present application provides a communication method applicable to a second device, the method comprising: sending a second request message to a fourth device. The second request message includes at least a device identifier of the terminal device. A first response message is received from the fourth device. The first response message includes first information or second information, the first information being used to indicate that the terminal device is associated with at least one perception target, and the second indication information being used to indicate that the terminal device has no associated perception target.

[0018] In combination with at least one of the first to seventh aspects, in a possible implementation manner, the first information includes identification information of the first target, and the first target includes a terminal device and at least one perception target.

[0019] In combination with at least one of the first to seventh aspects, in a possible implementation, the first response message includes first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and at least one perception target.

[0020] In combination with at least one of the first to seventh aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by motion state information of the terminal device and the perception target.

[0021] In combination with at least one of the first to seventh aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by location information of the terminal device and the perception target.

[0022] In combination with at least one of the first to seventh aspects, in a possible implementation manner, the sensing target is a passive object, which does not have the ability to receive and send electromagnetic waves.

[0023] In conjunction with at least one of the first to seventh aspects, in one possible implementation, the motion state information includes at least one of position information and speed information, or the motion state information is used to indicate at least one of position information and speed information. It should be understood that the first motion state information, second motion state information, etc. involved in the embodiments of the present application are all one type of motion state information described herein and all satisfy the description of motion state information herein.

[0024] In combination with at least one of the first to seventh aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by motion state information of the terminal device and the perception target.

[0025] In combination with at least one of the first to seventh aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by location information of the terminal device and the perception target.

[0026] In combination with at least one of the first to seventh aspects, in one possible implementation, a first distance between a terminal device and a perception target during a first time period is less than or equal to a first length, and the terminal device and the perception target are associated. The first distance is determined by location information of the terminal device and the perception target during the first time period.

[0027] In this implementation, whether the terminal device is associated with the perception target is determined by the size of the first distance between the terminal device and the perception target within the first time period. The solution is simple and easy to implement. It can not only improve the success rate of associating the terminal device with the perception target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, so that the perception result obtained based on the association relationship can be more accurate and reliable.

[0028] Alternatively, if the first displacement of the terminal device during the second time period is equal to or greater than the second length, and the second displacement of the perceived target during the third time period is equal to or greater than the third length, the terminal device and the perceived target are associated. The first displacement is determined by the terminal device's position information during the second time period, and the second displacement is determined by the perceived target's position information during the third time period.

[0029] In this implementation, whether the terminal device is associated with the perception target is determined by the displacement size of the terminal device in the second time period and the displacement size of the perception target in the third time period. The solution is simple and reliable, which can ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, and can ensure that the perception results obtained based on the association relationship are more accurate.

[0030] In conjunction with at least one of the first, second, fourth, and fifth aspects, in one possible implementation, the first request message includes at least one of time period indication information and length indication information. The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0031] In conjunction with at least one of the third, sixth, and seventh aspects, in one possible implementation, the second request message includes at least one of time period indication information and length indication information. The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0032] In combination with at least one of the first to seventh aspects, in a possible implementation, whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location.

[0033] In combination with at least one of the first to seventh aspects, in one possible implementation, the directional deviation of the terminal device and the perception target relative to the first reference position during a fourth time period is less than or equal to an angle threshold, and the terminal device and the perception target are associated, wherein the directional deviation is determined by the position information of the terminal device, the position information of the perception target, and the position information of the first reference position.

[0034] In the above implementation, determining whether the terminal device and the perception target are associated is based on the directional deviation of the terminal device and the perception target relative to the first reference position. This not only improves the success rate of associating the terminal device with the perception target, but also ensures the accuracy and reliability of the association relationship between the terminal device and the perception target, thereby ensuring that the perception results obtained based on the association relationship are more accurate and reliable.

[0035] Alternatively, the distance difference between the terminal device and the perceived target relative to the second reference position during the fifth time period is less than or equal to a fourth length, and the terminal device and the perceived target are associated, wherein the distance difference is determined by the position information of the terminal device, the position information of the perceived target, and the position information of the second reference position.

[0036] In the above implementation, whether the terminal device is associated with the perception target is determined by the distance difference between the terminal device and the perception target relative to the second reference position. The solution is simple and easy to implement, which can improve the success rate of associating the terminal device with the perception target, thereby improving the perception efficiency.

[0037] In conjunction with at least one of the first, second, fourth, and fifth aspects, in one possible implementation, the first request information includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0038] In conjunction with at least one of the third, sixth, and seventh aspects, in one possible implementation, the second request message includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0039] In combination with at least one of the first to seventh aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

[0040] In combination with at least one of the first to seventh aspects, in one possible implementation, during a sixth time period, if a speed difference between the terminal device and the perceived target is less than or equal to a speed difference threshold, the terminal device is associated with the perceived target. The speed difference between the terminal device and the perceived target is determined by speed information of the terminal device and the perceived target.

[0041] In combination with at least one of the first to seventh aspects, in one possible implementation, the speed difference between the terminal device and the perceived target includes a modulus of a speed vector difference between the terminal device and the perceived target. Alternatively, the speed difference between the terminal device and the perceived target includes a modulus of a speed vector component difference between the terminal device and the perceived target in the same direction.

[0042] In the above implementation, whether the terminal device is associated with the perception target is determined based on the speed deviation between the terminal device and the perception target. The solution is simple and easy to implement. It can not only improve the success rate of associating the terminal device with the perception target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, thereby ensuring that the perception results obtained based on the association relationship are more accurate and reliable.

[0043] In combination with at least one of the first, second, fourth, and fifth aspects, in one possible implementation, the first request information includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0044] In combination with at least one of the third, sixth, and seventh aspects, in one possible implementation, the second request message includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0045] In combination with the first aspect, in a possible implementation manner, the method further includes: receiving a second request message from a second device, wherein the second request message includes at least a device identifier of the terminal device.

[0046] In combination with the first aspect, in a possible implementation manner, the method further includes: sending a second response message to the second device, wherein the second response message includes the first information or the second information.

[0047] It should be understood that the communication methods provided in the second and third aspects are used to cooperate with the communication method provided in the first aspect, and thus can achieve the same beneficial effects. In order to avoid redundancy, they will not be repeated.

[0048] It should be understood that the communication method provided in the fifth aspect is used to cooperate with the communication method provided in the fourth aspect, so the same beneficial effects can be achieved. In order to avoid redundancy, it will not be repeated.

[0049] It should be understood that the communication method provided in the seventh aspect is used to cooperate with the communication method provided in the sixth aspect, so the same beneficial effects can be achieved. In order to avoid redundancy, it will not be repeated.

[0050] It should be understood that the communication method provided in the first aspect above is also applicable to functional components within the first device, such as the processor, chip, chip system, circuit, etc. within the first device, and this application does not impose any restrictions on this. Similarly, the communication methods provided in the second to sixth aspects above are also applicable to functional components within the corresponding devices. To avoid redundancy, they will not be repeated here.

[0051] In an eighth aspect, the present application provides a communication device, which may be the first device mentioned in the first aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is used to generate a first request message. The first request message includes first motion state information of the terminal device. The transceiver unit is used to send the first request message to a third device. The transceiver unit is also used to receive a first response message from the third device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0052] In a ninth aspect, the present application provides a communication device, which may be the third device mentioned in the second aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is used to receive a first request message from a first device, wherein the first request message includes first motion state information of the terminal device. The processing unit is used to generate a first response message. The transceiver unit is used to send a first response message to the first device, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0053] In a tenth aspect, the present application provides a communication device, which may be the second device mentioned in the third aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is used to generate a second request message. The transceiver unit is used to send a second request message to the first device, wherein the second request message includes at least a device identifier of the terminal device. The transceiver unit is also used to receive a first response message from the first device, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0054] In an eleventh aspect, the present application provides a communication device, which may be the third device mentioned in the fourth aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is used to receive a first request message from a second device, wherein the first request message includes first motion state information of the terminal device. The processing unit is used to generate a second response message. The transceiver unit is used to send a first response message to the second device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0055] In a twelfth aspect, the present application provides a communication device, which may be the second device mentioned in the fifth aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is used to generate a first request message. The transceiver unit is used to send a first request message to a third device, wherein the first request message includes first motion state information of the terminal device. The transceiver unit is also used to receive a first response message from the third device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0056] In a thirteenth aspect, the present application provides a communication device, which may be the fourth device mentioned in the aforementioned sixth aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is used to receive a second request message from a second device, wherein the second request message includes at least a device identifier of the terminal device. The processing unit is used to generate a first response message. The transceiver unit is used to send a first response message to the second device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0057] In a fourteenth aspect, the present application provides a communication device, which may be the second device mentioned in the aforementioned seventh aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is used to generate a second request message. The transceiver unit is used to send a second request message to a fourth device. The second request message includes at least a device identifier of the terminal device. The transceiver unit is also used to receive a first response message from the fourth device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0058] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation, the first information includes identification information of the first target, and the first target includes a terminal device and at least one perception target.

[0059] In combination with at least one of aspects 8 to 14, in a possible implementation, the first response message includes first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and at least one perception target.

[0060] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by motion state information of the terminal device and the perception target.

[0061] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by location information of the terminal device and the perception target.

[0062] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation, the sensing target is a passive object, which does not have the ability to receive and send electromagnetic waves.

[0063] In conjunction with at least one of aspects 8 to 14, in one possible implementation, the motion state information includes at least one of position information and speed information, or the motion state information is used to indicate at least one of position information and speed information. It should be understood that the first motion state information, second motion state information, etc. involved in the embodiments of the present application are all one type of motion state information described herein and all satisfy the description of motion state information herein.

[0064] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by motion state information of the terminal device and the perception target.

[0065] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation manner, whether the terminal device is associated with the perception target is determined by location information of the terminal device and the perception target.

[0066] In combination with at least one of aspects 8 to 14, in one possible implementation, a first distance between a terminal device and a perception target during a first time period is less than or equal to a first length, and the terminal device and the perception target are associated. The first distance is determined by location information of the terminal device and the perception target during the first time period.

[0067] Alternatively, if the first displacement of the terminal device during the second time period is equal to or greater than the second length, and the second displacement of the perceived target during the third time period is equal to or greater than the third length, the terminal device and the perceived target are associated. The first displacement is determined by the terminal device's position information during the second time period, and the second displacement is determined by the perceived target's position information during the third time period.

[0068] In conjunction with at least one of the eighth, ninth, eleventh, and twelfth aspects, in one possible implementation, the first request message includes at least one of time period indication information and length indication information. The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0069] In combination with at least one of the tenth, thirteenth, and fourteenth aspects, in one possible implementation, the second request message includes at least one of time period indication information and length indication information. The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0070] In combination with at least one of aspects 8 to 14, in a possible implementation, whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location.

[0071] In combination with at least one of aspects 8 to 14, in one possible implementation, the directional deviation of the terminal device and the perceived target relative to the first reference position during a fourth time period is less than or equal to an angle threshold, and the terminal device and the perceived target are associated, wherein the directional deviation is determined by the position information of the terminal device, the position information of the perceived target, and the position information of the first reference position.

[0072] Alternatively, the distance difference between the terminal device and the perceived target relative to the second reference position during the fifth time period is less than or equal to a fourth length, and the terminal device and the perceived target are associated, wherein the distance difference is determined by the position information of the terminal device, the position information of the perceived target, and the position information of the second reference position.

[0073] In conjunction with at least one of the eighth, ninth, eleventh, and twelfth aspects, in one possible implementation, the first request information includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0074] In combination with at least one of the tenth, thirteenth, and fourteenth aspects, in one possible implementation, the second request message includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0075] In combination with at least one of the eighth to fourteenth aspects, in a possible implementation, whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

[0076] In combination with at least one of aspects 8 to 14, in one possible implementation, during a sixth time period, if a speed difference between the terminal device and the perceived target is less than or equal to a speed difference threshold, the terminal device is associated with the perceived target. The speed difference between the terminal device and the perceived target is determined by speed information of the terminal device and the perceived target.

[0077] In combination with at least one of aspects 8 to 14, in one possible implementation, the speed difference between the terminal device and the perceived target includes a modulus of a speed vector difference between the terminal device and the perceived target. Alternatively, the speed difference between the terminal device and the perceived target includes a modulus of a speed vector component difference between the terminal device and the perceived target in the same direction.

[0078] In combination with at least one of the eighth, ninth, eleventh, and twelfth aspects, in one possible implementation, the first request information includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0079] In combination with at least one of the tenth aspect, the thirteenth aspect, and the fourteenth aspect, in one possible implementation, the second request message includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0080] In combination with the eighth aspect, in a possible implementation, the transceiver unit is further used to receive a second request message from the second device, wherein the second request message includes at least a device identifier of the terminal device.

[0081] In combination with the eighth aspect, in a possible implementation, the transceiver unit is further used to send a second response message to the second device, wherein the second response message includes the first information or the second information.

[0082] In aspect 15, the present application provides a computer program product comprising instructions, which, when executed on a computer, cause the computer to execute the method of the first aspect or any possible implementation of the first aspect, or execute the method of the second aspect or any possible implementation of the second aspect, or execute the method of the third aspect or any possible implementation of the third aspect, or execute the method of the fourth aspect or any possible implementation of the fourth aspect, or execute the method of the fifth aspect or any possible implementation of the fifth aspect, or execute the method of the sixth aspect or any possible implementation of the sixth aspect, or execute the method of the seventh aspect or any possible implementation of the seventh aspect.

[0083] In the sixteenth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed, it executes the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, the third aspect or any possible implementation of the third aspect, the fourth aspect or any possible implementation of the fourth aspect, the fifth aspect or any possible implementation of the fifth aspect, the sixth aspect or any possible implementation of the sixth aspect, or executes any of the methods described in the seventh aspect or any possible implementation of the seventh aspect.

[0084] In a seventeenth aspect, the present application provides a communication device, at least one processor, and a memory. The memory is configured to store a computer program. The processor is configured to execute the computer program stored in the memory, so that the communication device performs the method described in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, the third aspect or any possible implementation of the third aspect, the fourth aspect or any possible implementation of the fourth aspect, the fifth aspect or any possible implementation of the fifth aspect, the sixth aspect or any possible implementation of the sixth aspect, or the seventh aspect or any possible implementation of the seventh aspect.

[0085] In an eighteenth aspect, the present application provides a chip, the chip comprising at least a processor. The processor is configured to execute computer-executable instructions to cause a device equipped with the chip to perform any of the methods described in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, the third aspect or any possible implementation of the third aspect, the fourth aspect or any possible implementation of the fourth aspect, the fifth aspect or any possible implementation of the fifth aspect, the sixth aspect or any possible implementation of the sixth aspect, or the seventh aspect or any possible implementation of the seventh aspect.

[0086] In conjunction with the eighteenth aspect, in a possible implementation, the chip may further include an interface circuit configured to receive computer execution instructions and transmit the instructions to the processor.

[0087] In a nineteenth aspect, the present application provides a communication system. The communication system includes at least a first device, a second device, and a third device, wherein the first device is configured to execute the communication method provided in the first aspect or any possible implementation of the first aspect, the second device is configured to execute the communication method provided in the third aspect or any possible implementation of the third aspect, and the third device is configured to execute the communication method provided in the second aspect or any possible implementation of the second aspect.

[0088] In a twentieth aspect, the present application provides a communication system, comprising at least a second device and a third device. The second device is configured to execute the communication method provided in the fifth aspect or any possible implementation of the fifth aspect, and the third device executes the communication method provided in the fourth aspect or any possible implementation of the fourth aspect.

[0089] In a twenty-first aspect, the present application provides a communication system. The communication system includes at least a second device and a fourth device. The second device is configured to execute the communication method provided in the seventh aspect or any possible implementation of the seventh aspect, and the fourth device is configured to execute the communication method provided in the sixth aspect or any possible implementation of the sixth aspect.

[0090] In summary, the communication method provided in this application can effectively reduce the impact of environmental clutter on perception results and effectively improve the perception accuracy of passive perception technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] FIG1a is a schematic structural diagram of a communication system provided by the present application;

[0092] FIG1b is a schematic structural diagram of another communication system provided by the present application;

[0093] FIG1c is a schematic structural diagram of another communication system provided by the present application;

[0094] FIG2 is a flow chart of a communication method provided by the present application;

[0095] FIG3 is another flow chart of a communication method provided by the present application;

[0096] FIG4 is a flow chart of another communication method provided by the present application;

[0097] FIG5 is a flow chart of another communication method provided by the present application;

[0098] FIG6 is a schematic structural diagram of a communication device provided by the present application;

[0099] FIG7 is a schematic structural diagram of another communication device provided in the present application. DETAILED DESCRIPTION

[0100] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings provided in the embodiments of the present application.

[0101] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can 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. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0102] The technical solutions provided in the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, fifth generation (5G) system or new radio (NR). In addition, it can also be applicable to subsequent evolution systems, such as the sixth generation 6G communication system and even the more advanced seventh generation 7G communication system.

[0103] Please refer to Figure 1a, which is a schematic diagram of the structure of a communication system provided by this application. As shown in Figure 1a, the communication system 100 may include a first device, a second device, and a third device. The first device, the second device, and the third device cooperate with each other to implement the communication method provided by this application. Among them:

[0104] The first device can be used to initiate a positioning process and obtain relevant information such as the position, speed, acceleration, etc. of the terminal device, and return this information to the relevant device or network element, which can be a specific device, network element or functional entity. In other words, the first device is a device, network element or functional entity that can provide a positioning function for the terminal device. It should be understood that, among others, the network element can also be referred to as an entity, device, device or module, etc., and this application does not specifically limit this. In some possible implementations, the first device can be a location management function (LMF) network element in the 5G network architecture. It should be understood that in future communication systems, the first device can still be an LMF network element, or the first device can also be other network elements, or the first device can also have other names, and this application does not limit this. It should be understood that this application does not limit the specific type of the first device.

[0105] The second device is a demander of the motion status information of the terminal device and the related perception objects, and the second device can directly communicate with the network function in the mobile communication network where the first device and the third device are located. In some possible implementations, the second device can be an application server, terminal device, access network device, core network device, etc. equipped with a positioning client (i.e., client). It should be understood that this application does not limit the specific type of the second device. It should be understood that the access network device can be a device for communicating with the terminal device, a base station, an access point, or a network device, or can refer to a device in the access network that communicates with the wireless terminal through one or more sectors on the air interface.

[0106] The third device can be used to obtain information such as the position and speed of the perceived object through perception capabilities. In other words, the third device is a device, network element or functional entity that provides a perception function. In some possible implementations, the third device may be a sensing function (SF) network element in the 5G network architecture. It should be understood that in future communication systems, the third device may still be an SF network element, or the third device may be other network elements with perception functions, or the third device may have other names, and this application does not impose any restrictions on this. It should be understood that this application does not impose any restrictions on the specific type of the third device.

[0107] Optionally, the communication system 100 may further include a terminal device. The terminal device may cooperate with the first device, the second device, and the third device to implement the communication method provided in this application. The terminal device may also be referred to as: user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user apparatus, etc. The terminal device may be a device that provides voice / data connectivity to a user, such as a handheld device or vehicle-mounted device with wireless connection capabilities. At present, some examples of terminals are: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (PLMNs). The terminal equipment in the network (PLMN), etc., is not limited to this in the embodiments of the present application.

[0108] Please refer to Figure 1b, which is a schematic diagram of the structure of another communication system provided by this application. As shown in Figure 1b, the communication system 200 may include a second device and a fourth device.

[0109] The fourth device may be a device, network element, or functional entity that has both positioning and sensing functions, and may be deployed on the access network side or on the core network side. In some possible implementations, the fourth device may be a location and sensing unit (LSU) that is deployed on the access network side and provides wireless services such as positioning and sensing. It should be understood that in future communication systems, the fourth device may also be other network elements with sensing functions, or the fourth device may have other names, and this application does not limit this.

[0110] Optionally, the communication system 100 may further include a terminal device. The terminal device may cooperate with the second device and the fourth device to implement the communication method provided in this application.

[0111] Please refer to Figure 1c, which is a schematic diagram of the structure of another communication system provided by this application. As shown in Figure 1c, the communication system 100 may include a second device and a third device. The second device and the fourth device cooperate with each other to implement the communication method provided by this application.

[0112] Optionally, the communication system 100 may further include a terminal device and a first device. The terminal device may cooperate with the first device, the second device, and the third device to implement the communication method provided in this application.

[0113] It should be understood that the network architecture or business scenario described in the embodiments of the present application is for the purpose of more clearly illustrating the technical solution provided by the present application, and does not constitute a limitation on the technical solution provided by the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0114] To facilitate understanding of the present application, some nouns or terms involved in the present application are explained below.

[0115] 1. Active positioning technology

[0116] Active positioning technology is a technology that obtains information such as the position and speed of the object to be located through the signals it receives and sends.

[0117] It mainly adopts an architecture in which the core network element controls, and the access network equipment and terminal equipment assist. Taking the downlink active positioning process as an example, the core network element mainly completes the following operations: (1) Cell information interaction with the access network equipment, such as obtaining the configuration information of the positioning reference signal (PRS), the configuration information of the sounding reference signal (SRS), cell timing information, cell location information, etc. (2) Terminal equipment capability information transmission, auxiliary information transmission, measurement information transmission, etc. are completed with the terminal equipment. (3) Measurement information transmission, etc. is completed with the access network equipment. Accordingly, the terminal equipment and the access network equipment assist the core network element in completing the above operations. In actual implementation, the core network element can determine the location, speed and other information of the terminal equipment based on the cell information, the measurement report of the downlink signal of each cell by the terminal equipment, and the measurement report of the uplink signal of the terminal equipment by each cell.

[0118] It should be noted that the active positioning process can be initiated by the terminal device or the core network element, or indirectly initiated by the gateway mobile location center (GMLC), and this application does not limit this. The core network element can specifically be the LMF element.

[0119] Exemplarily, the active positioning process may be as follows:

[0120] S1: The location service client sends a location service request to the AMF. Specifically, when the location service request is initiated by the client, the location service request is sent to the GMLC, and the GMLC sends the location service request to the AMF.

[0121] S2: The AMF initiates a location service request. For example, the network needs to initiate an emergency call to the UE. If the AMF initiates the location service request, proceed directly to the next step.

[0122] S3: The UE sends a location service request to the AMF. Specifically, the UE may request location services from the AMF via NAS signaling.

[0123] S4, AMF sends a location service request to LMF.

[0124] S5: Interact with the gNB where the UE is located for related positioning procedures. Specifically, if the LMF determines that the gNB needs to participate in this positioning process, it interacts with the serving gNB where the target UE is located for related positioning procedures to obtain positioning measurement quantities or assistance data.

[0125] S6: Interact with the UE for related positioning procedures. Specifically, if the LMF determines that the UE needs to participate in the positioning process, it interacts with the UE through non-access stratum (NAS) messages to perform related positioning procedures, such as obtaining location information, obtaining positioning measurements or auxiliary data, etc.

[0126] S7: LMF returns a location service response to AMF, where the location service response includes the location result.

[0127] S8, AMF sends the location service response to the location service client. Specifically, if the location service request is initiated by the location service client, AMF passes the positioning result to GMLC, and GMLC then sends the location information to the service client that initiated the positioning request.

[0128] S9: AMF obtains the location service response. Specifically, if the location request is initiated by the AMF, the AMF provides the location data to the location service requesting the location in the AMF.

[0129] S10: The AMF sends a positioning service response to the UE. Specifically, if the positioning request is initiated by the UE, the AMF returns the positioning result to the UE.

[0130] In this application, active positioning technology mainly refers to the positioning technology provided by LTE and the 3rd Generation Partnership Project (3GPP). Among them, the 3GPP protocol defines a variety of positioning technologies, including cell ID positioning supported by LTE, enhanced cell ID (E-CID) positioning, assisted GPS (A-GPS) positioning, and observed time difference of arrival (OTDOA) positioning technology. 5G introduces some new positioning technologies, such as NR ECID positioning, uplink time difference of arrival (UL time difference of arrival, UL-TDOA) positioning, DL-TDOA positioning, signal strength-based positioning, uplink angle of arrival (UL angle of arrival, UL-AoA), DL-AoA, multi-round trip time (Multi-RTT) and other positioning technologies.

[0131] For example, the principle of TDOA positioning is to determine the position of the terminal device based on the intersection of two hyperbolas. Based on the propagation speed of electromagnetic waves and the arrival time difference between the transmission receive point (TRP) and the terminal device, the distance difference between the two TRPs can be obtained. The terminal device must be located on a hyperbola with two TRPs as the focus and a certain distance difference from the two focuses. The distance difference between the two sets of TRPs and the terminal device can be used to obtain two sets of hyperbolas. The location, speed and other information of the UE can be determined based on the intersection of these two sets of hyperbolas. Specifically, in UL-TDOA positioning, the terminal device sends an uplink SRS, and multiple TRPs receive the uplink SRS sent by the terminal device, and send the propagation delay (TOA) of the SRS to the LMF. The LMF calculates the location, speed, etc. of the terminal device based on the TDOA between the two TRPs and the known TRP positions through geometric solution. DL-TDOA positioning sends PRS to the terminal device through TRP. The terminal device performs downlink reference signal time difference (RSTD) measurement on the PRS sent by each TRP, and then reports the DL RSTD measurement result to LMF. LMF uses the known TRP position and RSTD measurement result to calculate the specific position, speed, etc. of the terminal device.

[0132] It should be understood that the active positioning technology involved in this application includes but is not limited to the positioning technology described above. Ordinary technicians in this field can know that with the evolution of network architecture and communication technology, newly emerging similar positioning technologies can also be used as a type of active positioning technology provided in this application.

[0133] 2. Passive sensing technology

[0134] Passive sensing technology is a technology that uses signals reflected by the object to be sensed to obtain information such as its position and speed. The core network part of the communication system is equipped with a sensing function (SF) network element, which can use network equipment and terminal equipment to send sensing measurement signals and receive sensing measurement signals reflected by the sensed object, and then determine the position, speed, shape and other information of the sensed object based on the signal parameters of the sent sensing measurement signals and the received sensing measurement signals reflected by the sensed object. For example, the SF network element can send a sensing measurement signal through a base station, and then receive a sensing measurement signal reflected by a car on the road through the base station, and then obtain the position, moving speed and other information of the car based on the sent and reflected sensing measurement signals. It should be understood that this application does not limit the specific implementation process of the passive sensing technology, and existing sensing technologies and sensing technologies evolved in the future can be used as a type of passive sensing technology provided by this application.

[0135] 3. Passive objects

[0136] In the embodiments of the present application, passive objects mainly refer to objects that do not have the ability to transmit and receive radio electromagnetic waves, but have the ability to reflect radio waves (including visible light, infrared, ultraviolet light, etc.), such as pedestrians, animals, traditional cars, buildings, bridges, etc. For passive objects, passive sensing technology can be used to obtain their position, speed and other parameters. The description of passive objects can be in the form of point cloud (i.e., cloudpoint) objects, each of which contains one or more point coordinates, and each point coordinate corresponds to the position of the radio wave reflection point on the surface of the passive object.

[0137] Existing sensing technologies rely on sensing measurement signals to obtain sensing results. This approach is highly susceptible to interference from environmental noise, resulting in low sensing accuracy. Therefore, the technical problem to be solved in this application is: how to improve the sensing accuracy of sensing technologies.

[0138] Please refer to Figure 2, which is a flow chart of a communication method provided by this application. The method is applicable to the communication system shown in Figure 1c. As shown in Figure 2, the method includes the following steps:

[0139] S210: The second device sends a first request message to the third device. Correspondingly, the third device receives the first request message.

[0140] In some possible implementations, the second device may generate and send a first request message to the third device.

[0141] Among them, the first request message includes at least the first motion state information of the terminal device. It should be noted that the first motion state information may be the motion state information of the terminal device at the first moment obtained by active positioning technology. Optionally, the motion state information provided in this application refers to relevant information that can indicate the motion state of the terminal device. The motion state information may include at least one of position information and speed information. Alternatively, the motion state information may be used to indicate at least one of position information and speed information. Optionally, the above-mentioned position information may specifically include or indicate position coordinate data. The above-mentioned speed information may specifically include or indicate a velocity vector or an upper velocity vector component in a certain direction. The first motion state information described here and the second motion state information described later, etc. all belong to one of the motion state information provided in this application, and therefore all meet the specific description of the motion state information here.

[0142] In an optional implementation, the second device may obtain the first motion state information of the terminal device when it is determined that the preset trigger condition is met. Then, the second device may generate a first request message containing the above-mentioned first motion state information and send the first request message to the third device. Optionally, the above-mentioned preset trigger conditions include but are not limited to one or more of the following: receiving a positioning service message, arriving at a preset request period, receiving a preset user instruction, etc. It should be understood that the preset trigger conditions here are only exemplary. In actual implementation, the preset trigger conditions may also include other possible conditions, and this application does not impose specific restrictions on them.

[0143] Correspondingly, the third device can receive the first request message and obtain the content included in the first request message.

[0144] In an optional implementation, the first request message may further include a device identifier of the terminal device.

[0145] S220: The third device sends a first response message to the second device. Correspondingly, the second device may receive the first response message.

[0146] In some feasible implementations, after receiving the first request message, the third device may generate a first response message based on the content of the first request message. The first response message includes the first information or the second information. The first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. Here, the so-called perception target is the object perceived by the third device through passive perception technology. In other words, when the third device determines that the terminal device is associated with at least one perception target, it may generate a first response message containing the first information. When the third device determines that the terminal device has no associated perception target, or that no perception target is detected around the terminal device, it may generate a first response message containing the second information. It should be noted that in an embodiment of the present application, if the terminal device is associated with a perception target, it means that the terminal device and the perception target have the characteristics of co-location and co-speed, that is, the terminal device and the perception target move synchronously, so the motion state information of the two may be the same or similar.

[0147] In some feasible implementations, whether the terminal device is associated with the perception target is determined by the motion state information of the terminal device and the perception target. It should be understood that after obtaining the first motion information, the third device can extract the location information of the terminal device and obtain the motion state information of the perception targets around the terminal device through passive sensing technology. For example, the third device can determine a perception area associated with the terminal device with the location information of the terminal device as the center, and obtain the motion state information of the perception targets that can be perceived within the area. It should be understood that the motion state information of the terminal device and the perception target should at least include location information and speed information. Then, the third device can determine whether the terminal device is associated with the perception target based on the motion state information of the terminal device and the perception target. If the third device determines that the terminal device is associated with at least one perception target, it can generate a first response message containing the first information. If the third device determines that there is no associated perception target for the terminal device, it can generate a first response message containing the second information.

[0148] It should be understood that when there are multiple perception targets around the terminal device, the way the third device determines whether each perception target is associated with the terminal device is the same. Therefore, the following will take a perception target i among all the perception targets that can be perceived around the terminal device as an example to describe the specific implementation process of the third device determining whether the terminal device and the perception target are associated.

[0149] In actual implementation, the third device can determine whether the terminal device is associated with the perception target i through the following multiple optional implementation methods.

[0150] In a first optional implementation, whether the terminal device is associated with the sensing target i can be determined by the location information of the terminal device and the sensing target i. That is, the third device can determine whether the terminal device is associated with the sensing target i based on the location information of the terminal device and the location information of the sensing target i.

[0151] Optionally, if the third device determines, based on the location information of the terminal device and the location information of the perception target i, that the first distance between the terminal device and the perception target i in the first time period is always less than or equal to the first length, then it can be determined that the terminal device and the perception target i are associated. Correspondingly, if the third device determines, based on the location information of the terminal device and the location information of the perception target i, that the first distance between the terminal device and the perception target i at at least one moment in the first time period is greater than the first length, then it can be determined that the terminal device and the perception target i are not associated. The first distance between the terminal device and the perception target i in the first time period is determined by the location information obtained by the terminal device and the perception target i in the first time period. It should be understood that the location information of the terminal device in the first time period can be obtained by the third device from its pre-stored historical location information of the terminal device, or can be temporarily obtained by the third device from the second device, and this application does not impose any restrictions on this. The location information of the perception target i in the first time period can also be obtained by the third device from its pre-stored historical location information of the perception target i.

[0152] For example, it is assumed that there are detection time 1, detection time 2, and detection time 3 within the first time period. The third device can obtain the corresponding position information of the terminal device and the perception target i at detection time 1, detection time 2, and detection time 3, and then calculate the first distance d1, first distance d2, and first distance d3 corresponding to the terminal device and the perception target i at detection time 1, detection time 2, and detection time 3 based on this position information. If the third device determines that the first distance d1, the first distance d2, and the first distance d3 are all less than or equal to the first length, it can be determined that the terminal device is associated with the perception target i. If the third device determines that any one or more of the first distance d1, the first distance d2, and the first distance d3 are greater than the first length, it can be determined that the terminal device is not associated with the perception target i.

[0153] In the above implementation, whether the terminal device is associated with the perception target is determined based on the size of the first distance between the terminal device and the perception target within the first time period. The solution is simple and easy to implement. It can not only improve the success rate of associating the terminal device with the perception target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, thereby ensuring that the perception results obtained based on the association relationship are more accurate and reliable.

[0154] Optionally, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first displacement of the terminal device in the second time period is equal to or greater than the second length, and that the second displacement of the sensing target i in the third time period is equal to or greater than the third length, then it can be determined that the two are associated. Correspondingly, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first displacement of the terminal device in the second time period is less than the second length, and / or determines that the second displacement of the sensing target i in the third time period is less than the third length, then it can be determined that the two are not associated. Here, the first displacement of the terminal device in the second time period can be determined by the location information of the terminal device in the second time period obtained by the third device. The second displacement of the sensing target i in the third time period can be determined by the location information of the sensing target i in the third time period obtained by the third device. It should be understood that the above-mentioned second and third time periods can be the same or different. Preferably, when the second and third time periods are different, there may be overlapping portions between the second and third time periods.

[0155] Exemplarily, the third device may obtain the location information corresponding to the start and end times of the terminal device at the second time period, and determine the first displacement d4 of the terminal device in the second time period based on the location information at these two times. Similarly, the third device may obtain the location information corresponding to the start and end times of the perception target i in the third time period, and determine the second displacement d5 of the perception target i in the third time period based on the location information at these two times. If the third device determines that the first displacement d4 is equal to or greater than the second length, and determines that the second position d5 is equal to or greater than the third length, then it is determined that the terminal device is associated with the perception target i. If the third device determines that the first displacement d4 is less than the second length, and / or determines that the second position d5 is less than the third length, then it is determined that the terminal device is not associated with the perception target i.

[0156] In the above implementation, whether the terminal device is associated with the perception target is determined by the displacement size of the terminal device in the second time period and the displacement size of the perception target in the third time period. The solution is simple and reliable, which can ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, and can ensure that the perception result obtained based on the association relationship is more accurate.

[0157] Optionally, the first request message may include at least one of time period indication information and length indication information.

[0158] The time period indication information may be used to indicate at least one of the first time period, the second time period, and the third time period. For example, the time period indication information may include the end time and duration of the first time period, thereby indicating the first time period through the end time and duration of the first time period. Of course, the time period indication information may also be implemented in other possible ways, and this application does not limit this.

[0159] The length indication information may be used to indicate at least one of the first length, the second length, and the third length. Optionally, the length indication information may directly include at least one of the first length, the second length, and the third length.

[0160] Optionally, the end moment of at least one of the first time period, the second time period, and the third time period is the first moment, and the first moment is indicated by the first motion state information. In other words, the first moment is the moment when the first motion state information is acquired. In this case, the process of the third device determining whether the terminal device and the perception target i are associated can use the location information contained in the above-mentioned first motion state information. Here, the accuracy and reliability of the association relationship between the terminal device and the perception target is further ensured by using the latest location information of the terminal device.

[0161] In a second optional implementation, whether the terminal device is associated with the perception target i is determined by the terminal device's location information, the perception target i's location information, and the first reference location's location information or the second reference location's location information. Alternatively, the third device may determine whether the terminal device is associated with the perception target i based on the terminal device's location information, the perception target i's location information, and the first reference location's location information or the second reference location's location information. Here, the first reference location may also be understood as an anchor point used to determine whether the terminal device is associated with the perception target i.

[0162] Optionally, if the third device determines that the direction deviation of the terminal device and the perception target i relative to the first reference position within the fourth time period is always less than or equal to the angle threshold, it can be determined that the terminal device and the perception target i are associated. If the third device determines that the direction deviation of the terminal device and the perception target i relative to the first reference position at at least one moment within the fourth time period is greater than the angle threshold, it can be determined that the terminal device and the perception target i are not associated. The direction deviation of the terminal device and the perception target i relative to the first reference position within the fourth time period is determined by the third device based on the position information of the terminal device, the position information of the perception target, and the position information of the first reference position.

[0163] For example, assume that detection time 1, detection time 2, and detection time 3 exist within the fourth time period. The third device may obtain the corresponding location information of the terminal device and sensing target i at detection time 1, detection time 2, and detection time 3. Furthermore, the third device may determine the first direction of the terminal device relative to the first reference position at detection time 1 based on the location information of the terminal device at detection time 1 and the location information of the first reference position. The third device may then determine the second direction of sensing target i relative to the first reference position at detection time 1 based on the location information of sensing target i at detection time 1 and the location information of the first reference position. The third device may then calculate the deviation angle between the first direction and the second direction and determine this deviation angle as the first direction deviation of the terminal device and sensing target i relative to the first reference position at detection time 1. Similarly, the third device may calculate the second direction deviation and the third direction deviation of the terminal device and sensing target i relative to the first reference position at detection time 2 and detection time 3, respectively. If the third device determines that the first direction deviation, the second direction deviation, and the third direction deviation are all less than or equal to the angle threshold, the third device may determine that the terminal device is associated with sensing target i. If the third device determines that any one or more of the first direction deviation, the second direction deviation, and the third direction deviation is greater than the angle threshold, it can be determined that the terminal device is not associated with the perceived target i.

[0164] In the above implementation, determining whether the terminal device and the perception target are associated is based on the directional deviation of the terminal device and the perception target relative to the first reference position. This not only improves the success rate of associating the terminal device with the perception target, but also ensures the accuracy and reliability of the association relationship between the terminal device and the perception target, thereby ensuring that the perception results obtained based on the association relationship are more accurate and reliable.

[0165] Optionally, if the third device determines that the distance difference between the terminal device and the perception target i relative to the second reference position within the fifth time period is always less than or equal to the fourth length, it can be determined that the terminal device and the perception target i are associated. If the third device determines that the distance difference between the terminal device and the perception target i relative to the first reference position at at least one moment within the fifth time period is greater than the fourth length, it can be determined that the terminal device and the perception target i are not associated. The distance difference between the terminal device and the perception target i relative to the first reference position within the fifth time period is determined by the third device based on the position information of the terminal device and the perception target within the fifth time period and the position information of the first reference position.

[0166] For example, it is assumed that there are detection time 1, detection time 2, and detection time 3 in the fifth time period. The third device can obtain the corresponding location information of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3. Furthermore, the third device can determine the fourth distance d6 of the terminal device relative to the second reference position at detection time 1 based on the location information of the terminal device at detection time 1 and the location information of the above-mentioned second reference position. Then, the third device can determine the fifth distance d7 of the sensing target i relative to the second reference position at detection time 1 based on the location information of the sensing target i at detection time 1 and the location information of the above-mentioned second reference position. Then, the third device can calculate the difference between the fourth distance d6 and the fifth distance d7, and determine it as the first distance difference between the terminal device and the sensing target i relative to the second reference position at detection time 1. Similarly, the third device can calculate the second distance difference and the third distance difference between the terminal device and the sensing target i relative to the second reference position at detection time 2 and detection time 3, respectively. Then, if the third device determines that the first distance difference, the second distance difference, and the third distance difference are all less than or equal to the fourth length, it can be determined that the terminal device is associated with the perception target i. If the third device determines that at least one of the first distance difference, the second distance difference, and the third distance difference is greater than the fourth length, it can be determined that the terminal device is not associated with the perception target i.

[0167] In the above implementation, whether the terminal device is associated with the perception target is determined by the distance difference between the terminal device and the perception target relative to the second reference position. The solution is simple and easy to implement, which can improve the success rate of associating the terminal device with the perception target, thereby improving the perception efficiency.

[0168] Optionally, the first request message may include at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information.

[0169] The time period indication information may be used to indicate at least one of the fourth time period and the fifth time period. For example, the time period indication information may include the end time and duration of the fourth time period, so as to indicate the first time period through the end time and duration of the fourth time period. Of course, the time period indication information may also be implemented in other possible ways, and this application does not limit this.

[0170] The length indication information may be used to indicate the fourth length. The angle threshold indication information may be used to indicate the angle threshold. The reference position indication information may be used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0171] Optionally, the end moment of the fourth time period and / or the fifth time period is the first moment, and the first moment is indicated by the first motion state information. In other words, the first moment is the moment when the first motion state information is acquired. In this case, the process of the third device determining whether the terminal device and the perception target i are associated can use the location information contained in the above-mentioned first motion state information. Here, the latest location information of the terminal device is used to determine whether the terminal device and the perception target i are associated, which can further ensure the accuracy and reliability of the association relationship between the terminal device and the perception target.

[0172] In a third optional implementation, whether the terminal device is associated with the perceived target i is determined by the speed information of the terminal device and the speed information of the perceived target. In other words, the third device can determine whether the terminal device is associated with the perceived target i based on the speed information of the terminal device and the speed information of the perceived target.

[0173] Optionally, if, during the sixth time period, the third device determines that the speed difference between the terminal device and the perception target i is less than or equal to a speed difference threshold, then the terminal device may be determined to be associated with the perception target. Accordingly, if, at at least one moment during the sixth time period, the third device determines that the speed difference between the terminal device and the perception target i is greater than the speed difference threshold, then the terminal device may be determined to be not associated with the perception target i. The speed difference between the terminal device and the perception target during the sixth time period is determined by speed information of the terminal device and the perception target during the sixth time period.

[0174] For example, it is assumed that there are detection time 1, detection time 2, and detection time 3 in the sixth time period. The third device can obtain the speed information corresponding to the terminal device and the perception target i at detection time 1, detection time 2, and detection time 3. Furthermore, the third device can determine the first speed difference between the terminal device and the perception target i at detection time 1 based on the speed information of the terminal device at detection time 1 and the speed information of the perception target i at detection time 1. Similarly, the third device can calculate the second speed difference and the third speed difference between the terminal device and the perception target i at detection time 2 and detection time 3, respectively. Then, if the third device determines that the first speed difference, the first speed difference, and the first speed difference are all less than or equal to the speed difference threshold, it can be determined that the terminal device is associated with the perception target i. If the third device determines that at least one of the first speed difference, the first speed difference, and the first speed difference is greater than the speed difference threshold, it can be determined that the terminal device is not associated with the perception target i.

[0175] Furthermore, optionally, the speed difference between the terminal device and the perceived target i may be a modulus of a speed vector difference between the terminal device and the perceived target i at the same time. Alternatively, the speed difference between the terminal device and the perceived target i may be a modulus of a speed vector component difference between the terminal device and the perceived target i at the same time and in the same direction.

[0176] In the above implementation, whether the terminal device is associated with the perception target is determined based on the speed deviation between the terminal device and the perception target. The solution is simple and easy to implement. It can not only improve the success rate of associating the terminal device with the perception target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the perception target, thereby ensuring that the perception results obtained based on the association relationship are more accurate and reliable.

[0177] Optionally, the first request information may include at least one of time period indication information and speed difference threshold indication information.

[0178] The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0179] Optionally, the end time of the sixth time period is the first time, and the first time is indicated by the first motion state information. In other words, the first time is the time when the first motion state information is acquired. In this case, the third device can use the location information contained in the first motion state information to determine whether the terminal device and the perception target i are associated. This can further ensure the accuracy and reliability of the association relationship between the terminal device and the perception target.

[0180] It should be noted that the preceding text provides multiple optional methods for determining whether a terminal device is associated with a perceived target i. In actual implementation, the third device may also combine these methods. For example, the third device may determine whether the terminal device is associated with the perceived target i based on the speed difference between the terminal device and the perceived target i during the sixth time period, as well as the directional deviation of the terminal device and the perceived target relative to the first reference position during the fourth time period. Combining these multiple optional methods can further ensure the accuracy and reliability of the association between the terminal device and the perceived target, thereby ensuring the reliability of the perception results derived based on this association.

[0181] It should be understood that in actual implementation, the above steps S210 and S220 may be repeated multiple times until the first response message sent by the third device includes the above first information.

[0182] It should also be noted that the first time period, the second time period, the third time period, the fourth time period, the fifth time period or the sixth time period mentioned above can be preset or configured in real time, and this application does not impose any specific restrictions on this.

[0183] In some feasible implementations, the third device may also generate the above-mentioned first response message and feed back the first response message to the second device only when it is determined that the first information is obtained. In this case, the second device may send multiple first request messages to the third device, and each first request message contains the new motion status information of its terminal device. For example, after the second device sends a first request message to the third device, if it determines that the first response message containing the first information is not received within a preset time period, it may obtain the new motion status information of the terminal device and generate a new first request message based on the new motion status information of the terminal device. Then, the second device may send this new request message to the third device and wait for the third device to respond. Repeat this process until the second device receives the first response message containing the first information and stops.

[0184] In some feasible implementations, the first information may include identification information of the first target. Here, the first target includes a terminal device and at least one sensing target.

[0185] Optionally, the identification information of the first target may specifically be an identification group, and the identification group includes the device identification of the terminal device and the identification of each sensing target in the at least one sensing target.

[0186] It should be understood that the identification information of the first target may also be implemented in other ways, and this application does not impose any limitation on this.

[0187] It should be noted that the sensing targets involved in this application can be active objects or passive objects. Preferably, the sensing targets involved in this application can be passive objects. Among them, passive objects do not have the ability to receive and transmit electromagnetic waves, while active objects have the ability to receive and transmit electromagnetic waves, such as mobile phones and smart cars.

[0188] In some feasible implementations, when the first response message includes the first information, the first response message may also include second motion state information, and the second motion state information corresponds to the terminal device and the at least one sensing target. In other words, the second motion state information is motion state information shared by the terminal device and the at least one sensing target.

[0189] In the above implementation, when it is determined that the terminal device is associated with at least one perception target, the common motion status information corresponding to the terminal device and at least one perception target can be fed back through a first response message, so that the second device can quickly obtain the motion status information of these perception targets, thereby improving the service response speed of the second device.

[0190] Optionally, the second motion state information can be determined by a third device based on the first motion state information and the third motion state information of one or more perception targets in the at least one perception target. For example, it is assumed that the motion state information includes position information and speed information. The third device can calculate the mean of the position data indicated by the position information contained in the first motion state information and the position data indicated by the position information contained in the third motion state information of a certain perception target, and determine the position information contained in the second motion state information based on the mean. The third device can calculate the mean of the speed vector indicated by the speed information contained in the first motion state information and the speed vector indicated by the speed information contained in the third motion state information of a certain perception target, and determine the speed information contained in the second motion state information based on the mean. It should be understood that the third device can also use other methods to determine the second motion state information based on the first motion state information and the third motion state information of one or more perception targets in the at least one perception target, and this application does not limit this.

[0191] Correspondingly, the second device can receive the first response message and obtain the content included in the first response message.

[0192] In some feasible implementations, please refer to FIG3, which is another flow chart of a communication method provided by the present application. As shown in FIG3, the communication method may further include the following steps:

[0193] S230: The second device sends a third request message to the first device. Correspondingly, the first device receives the third request message.

[0194] In some feasible implementations, when the second device needs to obtain the motion state information of the terminal device, it may send a third request message to the first device, wherein the third request message includes at least the device identifier of the terminal device.

[0195] S240: The first device sends a third response message to the second device. Correspondingly, the second device receives the third response message.

[0196] In some feasible implementations, after receiving the third request message, the first device may obtain the first motion state information of the terminal device through active positioning technology. Then, the first device may generate a third response message including the first motion state information of the terminal device and send the third response message to the second device.

[0197] Correspondingly, the second device may receive the third response message and obtain the first motion state information of the terminal device. It should be understood that the first motion state information may be used by the second device to generate the above-mentioned first request message.

[0198] Optionally, the third request message may also include requirement parameter indication information corresponding to the motion state information, where the requirement parameter indication information indicates the type of motion state information that the second device needs to obtain. For example, the requirement parameter indication information may be used to indicate position and speed. In this case, the first motion state information included in the third response message includes at least the position information and speed information of the terminal device. It should be understood that the requirement parameter indication information may also indicate other types of motion state information, such as latency, and this application does not impose any restrictions on this.

[0199] It should be noted that, in actual implementation, the second device and the first device may repeatedly execute the above steps S230 and S240 until the second device no longer needs to obtain the motion status information of the terminal device.

[0200] In the communication method shown in Figure 2 or Figure 3, the first device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the first device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive perception technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive perception technology.

[0201] Please refer to Figure 4, which is a flow chart of another communication method provided by this application. This communication method is applicable to the communication system shown in Figure 1a. As shown in Figure 4, the communication method includes the following steps:

[0202] S410: The second device sends a second request message to the first device. Correspondingly, the first device receives the second request message.

[0203] In some feasible implementations, when the second device needs to know whether the terminal device has an associated sensing target, it may send a second request message to the first device. The second request message includes at least the device identifier of the terminal device. Accordingly, the first device may receive the second request message.

[0204] S420: The first device sends a first request message to the third device. Correspondingly, the third device receives the first request message.

[0205] In some feasible implementations, after receiving the second request message, the first device may determine, based on the device identifier of the terminal device contained therein, whether the second device needs to know whether the terminal device has an associated perception target. Furthermore, the first device initiates active positioning technology to obtain first motion state information of the terminal device and generates a first request message containing the first motion state information. The first device may then send the first request message to the third device. In response, the third device may receive the first request message.

[0206] S430: The third device sends a first response message to the first device. Correspondingly, the first device receives the first response message.

[0207] In some feasible implementations, after receiving the first request message, the third device may generate a first response message based on the content of the first request message. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

[0208] Here, the specific process of the third device generating the first response message can be referred to the specific process of the third device generating the first response message described in step S220 in embodiment 1, and will not be repeated here.

[0209] After generating the first response message, the third device may send the first response message to the first device. Correspondingly, the first device may receive the first response message and obtain the content contained in the first response message.

[0210] S440: The first device sends a second response message to the second device. Correspondingly, the second device receives the second response message.

[0211] In some feasible implementations, after receiving the first response message and obtaining the content contained in the first response message, the first device may generate a second response message based on the content. For example, if the first response message includes first information, the first device may generate a second response message including the first information. If the first response message includes second information, the first device may generate a second response message including the second information. After generating the second response message, the first device may send the second response message to the second device.

[0212] Accordingly, the second device may receive the second response message and extract the content contained therein to determine whether the terminal device has associated perception targets, and, if so, what the associated perception targets are. For example, assuming that the second response message includes the first information, the second device may determine the identifier of each perception target of at least one perception target associated with the terminal device based on the first information.

[0213] It should be noted that, in actual implementation, after receiving the second request message sent by the second device, the first device and the third device may repeatedly perform steps S420, S430, and S440 above multiple times until the second device sends a message to the first device instructing it to stop. Alternatively, after receiving the second request message sent by the second device, the first device and the third device may repeatedly perform steps S420, S430, and S440 above multiple times until they stop when the second response message contains the first information.

[0214] In the communication method shown in Figure 4, the second device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the second device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive perception technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive perception technology.

[0215] Please refer to Figure 5, which is a flow chart of another communication method provided by this application. This communication method is applicable to the communication system shown in Figure 1b. As shown in Figure 5, the communication method may include the following steps:

[0216] S510: The second device sends a second request message to the fourth device. Correspondingly, the fourth device receives the second request message.

[0217] In some feasible implementations, when the second device needs to know whether the terminal device has an associated sensing target, it may send a second request message to the fourth device. The second request message includes at least the device identifier of the terminal device. Accordingly, the fourth device may receive the second request message.

[0218] S520: The fourth device sends a first response message to the second device. Correspondingly, the second device receives the first response message.

[0219] In some feasible implementations, after receiving the second request message, the fourth device may generate a first response message based on the content of the second request message. The specific content of the first response message can be found in the corresponding description in step S220 above and will not be repeated here. Specifically, after receiving the second request message from the second device, the fourth device may determine, based on the device identifier of the terminal device contained therein, whether the second device needs to know whether the terminal device is associated with a sensing target. Furthermore, the fourth device may initiate active positioning technology to obtain motion state information of the terminal device. The fourth device may then extract the terminal device's location information from the motion state information and obtain motion state information of sensing targets surrounding the terminal device using passive sensing technology. For example, the fourth device may determine a sensing area associated with the terminal device using the terminal device's location information as the center, and obtain motion state information of sensing targets that can be sensed within this area. It should be understood that the motion state information of both the terminal device and the sensing target should include at least location information and velocity information. The third device may then determine whether the terminal device is associated with the sensing target based on the motion state information of the terminal device and the sensing target. If the third device determines that the terminal device is associated with at least one sensing target, it may generate a first response message including the first information. If the third device determines that the terminal device has no associated sensing target, it may generate a first response message including the second information.

[0220] In actual implementation, the fourth device can determine whether the terminal device is associated with the perception target through a variety of optional implementation methods. It should be understood that when there are multiple perception targets around the terminal device, the fourth device determines whether each perception target is associated with the terminal device in the same manner. Therefore, the following describes the specific implementation process of the fourth device determining whether the terminal device is associated with the perception target using a perception target i among all the perception targets that can be perceived around the terminal device as an example.

[0221] In a first optional implementation, whether the terminal device is associated with the perception target i can be determined by the location information of the terminal device and the perception target i. That is, the fourth device can determine whether the terminal device is associated with the perception target i by using the location information of the terminal device and the location information of the perception target i. It should be understood that the specific process of the fourth device determining whether the terminal device and the perception target i are associated by using the location information of the terminal device and the location information of the perception target i can be referred to the process described in step S220 above in which the third device determines whether the terminal device and the perception target i are associated by using the location information of the terminal device and the location information of the perception target i, and will not be repeated here.

[0222] Optionally, the second request message may include at least one of time period indication information and length indication information.

[0223] The time period indication information may be used to indicate at least one of the first time period, the second time period, and the third time period. For example, the time period indication information may include the end time and duration of the first time period, thereby indicating the first time period through the end time and duration of the first time period. Of course, the time period indication information may also be implemented in other possible ways, and this application does not limit this.

[0224] The length indication information may be used to indicate at least one of the first length, the second length, and the third length. Optionally, the length indication information may directly include at least one of the first length, the second length, and the third length.

[0225] Optionally, the end time of at least one of the first time period, the second time period, and the third time period is the first time period, and the first time period is indicated by the first motion state information. In other words, the first time period is the time period when the first motion state information is acquired.

[0226] In a second optional implementation, whether the terminal device is associated with the perception target i is determined by the location information of the terminal device, the location information of the perception target i, and the location information of the preset first reference location or the location information of the second reference location. In other words, the fourth device can determine whether the terminal device is associated with the perception target i based on the location information of the terminal device, the location information of the perception target i, and the location information of the preset first reference location or the location information of the second reference location. Here, the specific process of the fourth device determining whether the terminal device is associated with the perception target i based on the location information of the terminal device, the location information of the perception target i, and the location information of the preset first reference location or the location information of the second reference location can be referred to the process described in the above step S220 in which the third device determines whether the terminal device is associated with the perception target i based on the location information of the terminal device, the location information of the perception target i, and the location information of the preset first reference location or the location information of the second reference location, and will not be repeated here.

[0227] Optionally, the second request message may include at least one of time period indication information, angle threshold indication information, and length indication information.

[0228] The time period indication information may be used to indicate at least one of the fourth time period and the fifth time period. For example, the time period indication information may include the end time and duration of the fourth time period, so as to indicate the first time period through the end time and duration of the fourth time period. Of course, the time period indication information may also be implemented in other possible ways, and this application does not limit this.

[0229] The length indication information may be used to indicate the fourth length. The angle threshold indication information may be used to indicate the above-mentioned angle threshold.

[0230] Optionally, the end moment of the fourth time period and / or the fifth time period is the first moment, and the first moment is indicated by the first motion state information. In other words, the first moment is the moment when the first motion state information is acquired. In this case, the process of the fourth device determining whether the terminal device and the perception target i are associated can use the location information contained in the above-mentioned first motion state information. Here, the latest location information of the terminal device is used to determine whether the terminal device and the perception target i are associated, which can further ensure the accuracy and reliability of the association relationship between the terminal device and the perception target.

[0231] In a third optional implementation, whether the terminal device is associated with the perceived target i is determined by the speed information of the terminal device and the speed information of the perceived target. In other words, the fourth device can determine whether the terminal device is associated with the perceived target i by using the speed information of the terminal device and the speed information of the perceived target. Here, the specific process of the fourth device determining whether the terminal device is associated with the perceived target i by using the speed information of the terminal device and the speed information of the perceived target can be referred to in conjunction with the process of the third device determining whether the terminal device is associated with the perceived target i by using the speed information of the terminal device and the speed information of the perceived target described in step S220 above, and will not be repeated here.

[0232] Optionally, the second request message may include at least one of time period indication information and speed difference threshold indication information.

[0233] The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0234] Optionally, the end time of the sixth time period is the first time, and the first time is indicated by the first motion state information. In other words, the first time is the time when the first motion state information is acquired. In this case, the fourth device can use the location information contained in the first motion state information to determine whether the terminal device and the perception target i are associated. This can further ensure the accuracy and reliability of the association relationship between the terminal device and the perception target.

[0235] It should be noted that the preceding text provides multiple optional solutions for determining whether a terminal device is associated with a perceived target i. In actual implementation, the fourth device may also use a combination of these options. This combination of options can further ensure the accuracy and reliability of the association between the terminal device and the perceived target, thereby ensuring the reliability of the perception results obtained based on this association.

[0236] It should be understood that in actual implementation, the above steps S510 and S520 can be repeated multiple times until the first response message sent by the fourth device contains the above first information.

[0237] In some feasible implementations, the fourth device may generate the above-mentioned first response message and feedback the first response message to the second device only when it determines that it has obtained the first information. In this case, the second device may only send multiple second request messages to the fourth device, and each second request message includes its terminal device identifier. For example, after the second device sends a second request message to the fourth device, if it determines that it has not received the first response message containing the first information within a preset time period, it may send the second request message again until the second device receives the first response message containing the first information, and then stop.

[0238] In some feasible implementations, the second device may also send the second request message only once, and the fourth device repeats step S520 until the second device receives the first response message including the first information and then stops.

[0239] It should be added that, for the specific description of the first information and the perception target, please refer to the description of the first information and the perception target in the previous step S220, which will not be repeated here.

[0240] In some feasible implementations, when the first response message includes the first information, the first response message may also include second motion state information, and the second motion state information corresponds to the terminal device and the at least one sensing target. In other words, the second motion state information is motion state information shared by the terminal device and the at least one sensing target.

[0241] In the above implementation, when it is determined that the terminal device is associated with at least one perception target, the motion status information corresponding to the terminal device and at least one perception target can be fed back through a first response message, so that the second device can quickly obtain the motion status information of these perception targets, thereby improving the service response speed of the second device.

[0242] Optionally, the second motion state information may be determined by the fourth device based on the motion state information of the terminal device and one or more sensing targets among the at least one sensing target.

[0243] Accordingly, the second device may receive the first response message and extract the content contained therein to determine whether the terminal device has associated perception targets, and, if so, what the associated perception targets are. For example, assuming that the first response message includes first information, the second device may determine the identifier of each perception target of at least one perception target associated with the terminal device based on the first information.

[0244] In the communication method shown in Figure 5, the second device sends a second request message containing the device identifier of the terminal device to the fourth device. The fourth device can feedback a first response message based on the second request message, and inform the terminal device whether there is an associated perception target through the first information or the second information in the first response message. In the case where the fourth device determines at least one perception target associated with the terminal device through the first response message, when it perceives the at least one perception target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate perception result. Therefore, the above method can effectively reduce the impact of environmental clutter on the perception results and improve the perception accuracy of the passive sensing technology.

[0245] The communication method provided in the embodiments of the present application is described in detail above with reference to Figures 2 to 5 . The communication device provided in the embodiments of the present application will be described in detail below with reference to Figures 6 and 7 . It should be understood that the description of the embodiments of the communication device corresponds to the description of the embodiments of the communication method. Therefore, for portions not described in detail, reference can be made to the aforementioned method embodiments.

[0246] Please refer to Figure 6 , which is a schematic diagram of the structure of a communication device provided by this application. As shown in Figure 6 , the communication device 600 may include a transceiver unit 610 and a processing unit 620 .

[0247] In some feasible implementations, the communication apparatus 600 may correspond to the first device described in the communication method shown in FIG. 4 , or a component (such as a circuit, a chip, or a chip system) configured in the first device.

[0248] Specifically, the processing unit 620 is used to generate a first request message. The first request message includes the first motion state information of the terminal device. The transceiver unit 610 is used to send the first request message to the third device. The transceiver unit 610 is also used to receive a first response message from the third device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the first device in the communication method shown in Figure 4, and will not be repeated here.

[0249] In some feasible implementations, the communication apparatus 600 may correspond to the third device described in the communication method shown in FIG. 4 , or a component (such as a circuit, a chip, or a chip system) configured in the third device.

[0250] In a specific implementation, the transceiver unit 610 is used to receive a first request message from the first device, wherein the first request message includes the first motion state information of the terminal device. The processing unit 620 is used to generate a first response message. The transceiver unit 610 is used to send a first response message to the first device, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the third device in the communication method shown in Figure 4, and will not be repeated here.

[0251] In some feasible implementations, the communication apparatus 600 may correspond to the second device described in the communication method shown in FIG. 4 , or a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0252] The processing unit 620 is used to generate a second request message. The transceiver unit 610 is used to send a second request message to the first device, wherein the second request message includes at least a device identifier of the terminal device. The transceiver unit 610 is also used to receive a first response message from the first device, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the second device in the communication method shown in Figure 4, and will not be repeated here.

[0253] In some feasible implementations, the communication apparatus 600 may correspond to the third device described in the communication method shown in FIG. 2 to FIG. 3 above, or a component (such as a circuit, a chip, or a chip system) configured in the third device.

[0254] The transceiver unit 610 is used to receive a first request message from the second device, wherein the first request message includes the first motion state information of the terminal device. The processing unit 620 is used to generate a second response message. The transceiver unit 610 is used to send a first response message to the second device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the first device in the communication method shown in Figures 2 to 3, and will not be repeated here.

[0255] In some feasible implementations, the communication device 600 may correspond to the second device described in the communication method shown in Figures 2 to 3 above, or a component (such as a circuit, chip or chip system) configured in the first device.

[0256] In a specific implementation, the processing unit 620 is used to generate a first request message. The transceiver unit 610 is used to send a first request message to a third device, wherein the first request message includes the first motion state information of the terminal device. The transceiver unit 610 is also used to receive a first response message from the third device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the second device in the communication method shown in Figures 2 to 3, and will not be repeated here.

[0257] In some feasible implementations, the communication apparatus 600 may correspond to the fourth device described in the communication method shown in FIG. 5 above, or a component (such as a circuit, a chip, or a chip system) configured in the fourth device.

[0258] The transceiver unit 610 is used to receive a second request message from the second device, wherein the second request message includes at least the device identification of the terminal device. The processing unit 620 is used to generate a first response message. The transceiver unit 610 is used to send a first response message to the second device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the fourth device in the communication method shown in Figure 5, and will not be repeated here.

[0259] In some feasible implementations, the communication apparatus 600 may correspond to the second device described in the communication method shown in FIG. 5 above, or a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0260] In a specific implementation, the processing unit 620 is used to generate a second request message. The transceiver unit 610 is used to send a second request message to the fourth device. The second request message includes at least the device identification of the terminal device. The transceiver unit 610 is also used to receive a first response message from the fourth device. The first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding description of the method steps implemented by the second device in the communication method shown in Figure 5, and will not be repeated here.

[0261] Please refer to Figure 7, which is a schematic diagram of the structure of another communication device provided in this application. The communication device 700 can be used to implement the operations performed by the first device, second device, third device, or fourth device in the above embodiments. Alternatively, the communication device 700 can be the first device, second device, third device, or fourth device described above. The communication device 700 includes: a processor 710, a memory 720, and a bus system 730.

[0262] The memory 720 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and is used to store relevant instructions and data. The memory 720 stores the following elements, executable modules, or data structures, or subsets thereof, or extended sets thereof:

[0263] Operation instructions: include various operation instructions, used to implement various operations.

[0264] Operating system: includes various system programs used to implement various basic services and process hardware-based tasks.

[0265] FIG7 shows only one memory. Of course, the number of memories may also be multiple as needed.

[0266] The communication device 700 may further include a transceiver 740. The transceiver 740 may be a communication module or a transceiver circuit. In the embodiments of the present application, the transceiver 740 is used to perform the message sending and receiving operations described in the above embodiments.

[0267] Processor 710 may be a controller, a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Processor 710 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.

[0268] In a specific application, the various components of the communication device 700 are coupled together via a bus system 730. In addition to a data bus, the bus system 730 may also include a power bus, a control bus, and a status signal bus. However, for clarity, all of the various buses are labeled as the bus system 730 in FIG7 . For ease of illustration, FIG7 is merely a schematic representation.

[0269] In a specific implementation, the communication device 700 may execute the steps of the method performed by the first device, the second device, the third device, or the fourth device in the above-mentioned embodiment. Specifically, when the communication device 700 is used to implement the steps performed by the first device, the second device, the third device, or the fourth device in the communication method provided in the embodiment, the processor 710 may implement the functions of the above-mentioned processing unit 620, and the transceiver 740 is used to implement the functions of the above-mentioned transceiver unit 610.

[0270] It should be noted that in practical applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-mentioned method embodiment can be completed by hardware integrated logic circuits in the processor or by software instructions. The above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above-mentioned method.

[0271] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

[0272] The present application also provides a computer-readable medium having a computer program stored thereon, which, when executed by a computer, implements the method steps performed by the first device, the second device, the third device or the fourth device in the communication method provided in Figures 2 to 5 above.

[0273] The present application also provides a computer program product, which, when executed by a computer, implements the method steps performed by the first device, the second device, the third device or the fourth device in the communication method provided in Figures 2 to 5 above.

[0274] The present application also provides a chip comprising at least a processor, wherein the processor is configured to execute computer-executable instructions so that a device equipped with the chip implements the method steps performed by the first device, the second device, the third device, or the fourth device in the communication methods provided in Figures 2 to 5 above.

[0275] Optionally, the chip may further include an interface circuit for receiving computer execution instructions and transmitting the instructions to the processor.

[0276] The present application also provides a chip system, which includes a processor for supporting a device on which the chip system is installed to implement the method steps performed by the first device, the second device, the third device, or the fourth device in the communication method provided in Figures 2 to 5 above, such as generating or processing the data and / or information involved in the above method. In one possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for the data sending device. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0277] The present application also provides a communication system. The communication system includes at least the first device, the second device, and the third device described above. The first device, the second device, and the third device work together to implement the communication method shown in FIG. 4 .

[0278] The present application also provides a communication system, which includes at least the second device and the third device described above. The second device and the third device work together to implement the communication method shown in Figure 2 or Figure 3 above.

[0279] The present application also provides a communication system. The communication system includes at least the second device and the fourth device described above. The second device and the fourth device work together to implement the communication method shown in Figure 5 above.

[0280] In the above method embodiments, all or part of the methods can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0281] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0282] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

[0283] The above description is only a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the scope of protection of this application.

Claims

1. A communication method, characterized in that: The method comprises: Sending a first request message, wherein the first request message includes first motion state information of the terminal device; A first response message is received, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

2. A communication method, characterized in that: The method comprises: Receiving a first request message, wherein the first request message includes first motion state information of the terminal device; Send a first response message, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

3. The method according to claim 1 or 2, characterized in that: The first information includes identification information of a first target, and the first target includes the terminal device and the at least one sensing target.

4. The method according to any one of claims 1 to 3, characterized in that: The first response message includes the first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and the at least one perception target.

5. The method according to any one of claims 1 to 4, characterized in that: Whether the terminal device is associated with the perception target is determined by the motion state information of the terminal device and the perception target.

6. The method according to claim 5, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device and the perception target.

7. The method according to claim 6, characterized in that Whether the terminal device is associated with the sensing target is determined by location information of the terminal device and the sensing target, including: A first distance between the terminal device and the perception target in a first time period is less than or equal to a first length, and the terminal device is associated with the perception target, wherein the first distance is determined by position information of the terminal device and the perception target in the first time period; Alternatively, the first displacement of the terminal device in the second time period is equal to or greater than the second length, and the second displacement of the perceived target in the third time period is equal to or greater than the third length, and the terminal device and the perceived target are associated, wherein the first displacement is determined by the position information of the terminal device in the second time period, and the second displacement is determined by the position information of the perceived target in the third time period.

8. The method according to claim 5, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

9. The method according to claim 8, characterized in that Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target, including: During a sixth time period, a speed difference between the terminal device and the perceived target is less than or equal to a speed difference threshold, and the terminal device is associated with the perceived target, wherein the speed difference between the terminal device and the perceived target is determined by speed information of the terminal device and the perceived target.

10. The method according to claim 1, characterized in that The method is applied to a first device, and the method further includes: A second request message is received from a second device, wherein the second request message includes at least a device identification of the terminal device.

11. The method according to claim 10, characterized in that The method further comprises: A second response message is sent to the second device, wherein the second response message includes the first information or the second information.

12. A communication method, characterized in that: The method comprises: Sending a second request message, wherein the second request message includes at least a device identifier of the terminal device; A first response message is received, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

13. A communication method, characterized in that: The method comprises: Receiving a second request message, wherein the second request message at least includes a device identifier of the terminal device; Send a first response message, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

14. The method according to claim 12 or 13, characterized in that The first information includes identification information of a first target, and the first target includes the terminal device and the at least one sensing target.

15. The method according to any one of claims 12 to 14, characterized in that: The first response message includes the first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and the at least one perception target.

16. The method according to any one of claims 12 to 15, characterized in that: Whether the terminal device is associated with the perception target is determined by the motion state information of the terminal device and the perception target.

17. The method according to claim 16, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device and the perception target.

18. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by location information of the terminal device and the sensing target, including: A first distance between the terminal device and the perception target in a first time period is less than or equal to a first length, and the terminal device is associated with the perception target, wherein the first distance is determined by position information of the terminal device and the perception target in the first time period; Alternatively, the first displacement of the terminal device in the second time period is equal to or greater than the second length, and the second displacement of the perceived target in the third time period is equal to or greater than the third length, and the terminal device and the perceived target are associated, wherein the first displacement is determined by the position information of the terminal device in the second time period, and the second displacement is determined by the position information of the perceived target in the third time period.

19. The method according to claim 18, characterized in that The second request message includes at least one of time period indication information and length indication information; The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

20. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location or the location information of the second reference location.

21. The method according to claim 20, characterized in that Whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location or the location information of the second reference location, including: The direction deviation of the terminal device and the perception target relative to the first reference position in a fourth time period is less than or equal to an angle threshold, and the terminal device is associated with the perception target, wherein the direction deviation is determined by the position information of the terminal device, the position information of the perception target, and the position information of the first reference position; Alternatively, the distance difference between the terminal device and the perceived target relative to the second reference position within a fifth time period is less than or equal to a fourth length, and the terminal device and the perceived target are associated, wherein the distance difference is determined by the position information of the terminal device, the position information of the perceived target, and the position information of the second reference position.

22. The method according to claim 21, characterized in that The second request information includes at least one of time period indication information, angle threshold indication information, and length indication information; The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, and the length indication information is used to indicate the fourth length.

23. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

24. A communication device, characterized in that: The communication device comprises: a unit for implementing the communication method according to any one of claims 1-11 or claims 12-23.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the communication method according to any one of claims 1 to 11 or the communication method according to any one of claims 12 to 23 is implemented.

26. A chip, characterized in that: Including processors; The processor is used to execute computer-executable instructions so that the device equipped with the chip executes the communication method according to any one of claims 1 to 11, or the communication method according to any one of claims 12 to 23.

27. The chip according to claim 26, characterized in that: The chip further comprises an interface circuit, wherein the interface circuit is used for receiving the computer execution instruction and transmitting the instruction to the processor.

28. A computer program product, wherein the computer program product is executed by a computer to perform the method for reporting channel state information according to any one of claims 1 to 11, or the method for reporting channel state information according to any one of claims 12 to 23.

29. A communication device, characterized in that: include: at least one processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory, so that the communication device executes the communication method according to any one of claims 1 to 11, or the communication method according to any one of claims 12 to 23.

30. A communication system, characterized in that: The communication system comprises at least a first device, a second device and a third device, the first device is used to execute the method according to any one of claims 1 and 3 to 11, the second device is used to execute the method according to any one of claims 12 and 14 to 23, and the third device is used to execute the method according to any one of claims 2 to 11; Alternatively, the communication system includes at least a second device and a third device, the second device is used to execute the method according to any one of claims 1 and 3-11, and the second device is used to execute the method according to any one of claims 2-11; Alternatively, the communication system includes at least a second device and a fourth device, the second device is used to execute the method as described in any one of claims 12 and 14-23, and the fourth device is used to execute the method as described in any one of claims 13-23.

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