Sensing measurement method and apparatus

Abstract

A sensing measurement method and apparatus, which relate to the technical field of communications. The method comprises: a first core network element receiving first information from a second core network element, wherein the first information comprises identification information of first candidate sensing devices for sensing a target object and first sensing requirement information of the target object; the first core network element selecting a first sensing device from among the first candidate sensing devices on the basis of the first sensing requirement information of the target object; and the first core network element sending a first sensing measurement request message to the first sensing device, wherein the first sensing measurement request message is used for requesting the first sensing device to perform sensing measurement on the target object, such that when the sensing device is a mobile device, a suitable sensing device can be selected for the target object, so as to perform sensing measurement on the target object.

Description

A perception measurement method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 22, 2023, with application number 202311796297.2 and application name “A Perception Measurement Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0004] With the development of fifth-generation (5G) networks, the demand for new perception-based network capabilities is gradually emerging. For example, in scenarios such as smart cities and smart transportation, there is a growing need to obtain the relative positions and angles between objects, as well as to perceive the position, speed, and shape of target objects. For mobile targets, sensing devices with sensing capabilities can perform sensing measurements on them to enable tracking.

[0005] Network devices (such as base stations) and terminal devices with sensing capabilities can serve as sensing devices. When a terminal device serves as a sensing device, its location is random due to its mobility. Therefore, when the sensing device is mobile, selecting the appropriate sensing device to perform sensing and measurement of the target object is a challenge that needs to be addressed. Summary of the Invention

[0006] The embodiments of the present application provide a perception measurement method and device.

[0007] In a first aspect, a perception measurement method is provided, the method comprising: a first core network network element receiving first information from a second core network network element, the first information comprising identification information of a first candidate perception device for perceiving a target object and first perception requirement information of the target object; the first core network network element selecting a first perception device from the first candidate perception devices based on the first perception requirement information of the target object; the first core network network element sending a first perception measurement request message to the first perception device, the first perception measurement request message being used to request the first perception device to perform perception measurement on the target object.

[0008] In the above implementation method, the first core network network element can select a target perception device from the candidate perception devices for the target object provided by the second core network network element to perform perception measurement on the target object, so that when the perception device is a movable device, a suitable perception device can be selected for the target object to perform perception measurement on the target object.

[0009] In one possible implementation, the first core network network element selects the first perception device from the first candidate perception devices based on the first perception requirement information, including: the first core network network element selects the first perception device from the first candidate perception devices based on the first perception requirement information, and based on the perception capability information of the first candidate perception device and / or the location information of the first candidate perception device.

[0010] In the above implementation, the first core network element selects the target sensing device according to the sensing capability information of the first candidate sensing device and / or the location information of the first candidate sensing device, which can improve the sensing measurement performance.

[0011] In a possible implementation, the method further includes: the first core network element obtaining the perception capability information of the first candidate perception device from a third core network element serving the first candidate perception device.

[0012] Optionally, the first core network network element obtains the perception capability information of the first candidate perception device from a third core network network element serving the first candidate perception device, including: the first core network network element sends a request message to the third core network network element, and the request message is used to request to obtain the perception capability information of the first candidate perception device; the first core network network element receives a response message from the third core network network element, and the response message includes the perception capability information of the first candidate perception device.

[0013] In a possible implementation, the method further includes: the first core network element obtaining the location information of the first candidate sensing device from a third core network element serving the first candidate sensing device.

[0014] Optionally, the first core network network element obtains the location information of the first candidate perception device from a third core network network element serving the first candidate perception device, including: the first core network network element sends a request message to the third core network network element, and the request message is used to request the location information of the first candidate perception device; the first core network network element receives a response message from the third core network network element, and the response message includes the location information of the first candidate perception device.

[0015] In a possible implementation, the first information further includes location information of the first candidate sensing device.

[0016] A possible implementation method also includes: when the target object moves to a first position, the first core network network element sends a request message to the second core network network element, and the request message includes the location information of the target object; the first core network network element receives a response message from the second core network element, and the response message includes second information, and the second information includes identification information of a second candidate perception device for perceiving the target object; the first core network network element selects a second perception device from the second candidate perception devices; the first core network network element sends a second perception measurement request message to the second perception device, and the second perception measurement request message is used to request the second perception device to perform perception measurement on the target object.

[0017] In the above implementation method, when the relative movement between the target object and the perception device currently performing perception measurement causes the perception device currently performing perception measurement to be unable to continue to perform perception measurement on the target object, and a new perception device needs to be selected, the first core network network element can obtain a candidate perception device for performing perception measurement on the target object at the current location from the second core network network element, so that a new perception device can be selected from it to replace the original perception device, so as to continue to perform perception measurement on the target object, thereby achieving continuity of the perception service.

[0018] In one possible implementation, when the target object moves to a first position, the first core network element sends a request message to the second core network element, including: when the first core network element receives indication information from the first perception device, the first core network element sends a request message to the second core network element, and the indication information indicates that the first perception device meets the perception measurement termination condition.

[0019] In a possible implementation manner, the first perception measurement request message includes the perception measurement termination condition, and the perception measurement termination condition is used to trigger the first perception device to send the indication information when the target object meets the perception measurement termination condition.

[0020] In a possible implementation, the sensing measurement termination condition includes one or more of the following: detecting that the target object's reception power of the sensing signal is lower than a threshold; or the target object moves out of or is about to move out of a sensing area of ​​the sensing device.

[0021] In one possible implementation, when the target object moves to a first position, the first core network network element sends a request message to the second core network network element, including: when the first core network determines that the first perception device meets the perception measurement termination condition based on the perception data obtained from the first perception device for perceiving and detecting the target object, the first core network network element sends a request message to the second core network network element.

[0022] In one possible implementation, determining that the first perception device meets the perception measurement termination condition includes: if the first core network network element determines that the target object has moved out of or is about to move out of the perception area of ​​the first perception device, then determining that the first perception device meets the perception measurement termination condition; or, if the first core network network element determines that the received power of the perception signal sent by the target object to the first perception device is lower than a threshold, then determining that the first perception device meets the perception measurement termination condition.

[0023] In one possible implementation, the first core network network element selects the second perception device from the second candidate perception devices, including: the first core network network element selects the second perception device from the second candidate perception devices based on the perception capability information of the second candidate perception device and / or the location information of the second perception device.

[0024] In a possible implementation, the first core network element receives first information from the second core network element, including: the first core network element receives a perception service request message from the second core network element, and the perception service request message includes the first information.

[0025] In a possible implementation, the perception capability information includes one or more of the following information: information on supported perception modes and information on perception areas.

[0026] In one possible implementation, the first perception requirement information includes one or more of the following: information of the target object, perception measurement accuracy information; wherein, the information of the target object includes one or more of the following: position information of the target object, shape of the target object, and size of the target object.

[0027] In a second aspect, a perception measurement method is provided, including: a first perception device receives a first perception measurement request message, where the first perception measurement request message is used to request perception measurement of a target object; the first perception device performs perception measurement on the target object according to the first perception measurement request message; when the target object moves to a first position, the first perception device sends a first message, where the first message includes second perception requirement information of the target object, and the second perception requirement information includes position information of the target object; the first perception device receives a first response message from N perception devices used to perceive the target object, where N is an integer greater than or equal to 1; the first perception device selects a second perception device from the N perception devices; the first perception device sends a second perception measurement request message to the second perception device, where the second perception measurement request message is used to request the second perception device to perform perception measurement on the target object.

[0028] In the above implementation method, the relative movement between the target object and the perception device currently performing perception measurement causes the perception device currently performing perception measurement to be unable to continue to perform perception measurement on the target object. When a new perception device needs to be selected, the perception device can obtain candidate perception devices based on the discovery mechanism, so that a new perception device can be selected from them to replace the original perception device in order to continue to perform perception measurement on the target object, thereby achieving continuity of the perception service.

[0029] In one possible implementation, the second perception requirement information also includes one or more of the following: perception capability requirement information for indicating perception capability requirements, or perception measurement accuracy information for indicating perception measurement accuracy requirements; the N perception devices meet the perception capability requirements indicated by the perception capability requirement information, and / or meet the perception measurement accuracy requirements indicated by the perception measurement accuracy information.

[0030] Optionally, the perception capability requirement information includes: information for indicating perception capability type requirements, and / or information for indicating perception area size requirements.

[0031] Optionally, the perception measurement accuracy information includes: a distance threshold between the perception device and the target object, and / or a signal strength threshold.

[0032] Optionally, the first perception measurement request message includes the perception capability requirement information and / or the perception measurement accuracy information.

[0033] In one possible implementation, the first perception device selects the second perception device from the N perception devices, including: the first perception device selects the second perception device from the N perception devices based on the perception capability information of the N perception devices and / or the location information of the N perception devices.

[0034] In the above implementation, when selecting a target sensing device from candidate sensing devices, the sensing device may select a suitable sensing device based on the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of the sensing measurement.

[0035] In a possible implementation, the first response message sent by each of the N sensing devices includes sensing capability information of the sensing device and / or location information of the sensing device.

[0036] In a possible implementation, the perception capability information includes one or more of the following information: information on supported perception modes and information on perception areas.

[0037] In one possible implementation, when the target object moves to a first position, the first perception device sends a first message, including: when the first perception device determines, based on the perception measurement of the target object, that the first perception device meets the perception measurement termination condition, the first perception device sends the first message.

[0038] In a possible implementation manner, the first perception measurement request message further includes the perception measurement termination condition.

[0039] In a possible implementation, the sensing measurement termination condition includes one or more of the following: the receiving power of the target object for the sensing signal is lower than a threshold; or the target object moves out of or is about to move out of the sensing area.

[0040] In one possible implementation, after the first perception device selects the second perception device from the N perception devices, it also includes: the first perception device sends a notification message to the first core network network element, the notification message includes the identifier of the second perception device, and the first core network network element is used to receive the perception data of the second perception device.

[0041] In a third aspect, a communication device is provided, comprising a unit or module for executing the method as described in any one of the first aspect, or comprising a unit or module for executing the method as described in any one of the second aspect.

[0042] In a fourth aspect, a communication device is provided, comprising: one or more processors configured to execute the method as described in any one of the first aspects, or to execute the method as described in any one of the second aspects.

[0043] In a fifth aspect, a readable storage medium is provided, in which a program is stored. When the program is executed by a communication device, the method as described in any one of the first aspects or the method as described in any one of the second aspects is implemented.

[0044] In the sixth aspect, a chip system is provided, comprising: a memory for storing a computer program; a processor; when the processor calls and runs the computer program from the memory, the communication device equipped with the chip system executes the method as described in any one of the first aspects, or executes the method as described in any one of the second aspects.

[0045] In a seventh aspect, a computer program product is provided. When the computer program product is called by a computer, the computer executes the method as described in any one of the first aspect or the method as described in any one of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of a self-transmitting and self-receiving mode in a sensing measurement applied in an embodiment of the present application;

[0047] FIG2 is a schematic diagram of a spontaneous transmission and reception mode in a sensing measurement applied in an embodiment of the present application;

[0048] FIG3 is a schematic diagram of a drone route tracking perception scenario in related art;

[0049] FIG4 is a schematic diagram of a 5G network architecture based on a point-to-point interface used in an embodiment of the present application;

[0050] FIG5 is a schematic diagram of a 5G network architecture based on a service-oriented interface applied in an embodiment of the present application;

[0051] FIG6 is a flow chart of a perception measurement method provided in an embodiment of the present application;

[0052] FIG7 is a schematic diagram of a flow chart of another perception measurement method provided in an embodiment of the present application;

[0053] FIG8 is a flow chart of a perception measurement method according to Example 1 in an embodiment of the present application;

[0054] FIG9 is a flow chart of a perception measurement method according to Example 2 in an embodiment of the present application;

[0055] FIG10 is a schematic diagram of a flow chart of a perception measurement method according to Example 3 of an embodiment of the present application;

[0056] FIG11 is a flow chart of a perception measurement method according to Example 4 of an embodiment of the present application;

[0057] FIG12 is a schematic structural diagram of a communication device provided by the present application;

[0058] FIG13 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The embodiments of the present application involve wireless sensing technology. In order to more clearly understand the embodiments of the present application, the wireless sensing technology is first explained.

[0060] Existing wireless signals (acoustic, optical, and radio frequency signals) in the environment can be used to perceive the environment. For example, radio waves generated by a transmitter undergo physical phenomena such as direct radiation, reflection, and scattering during propagation, forming multiple propagation paths. The resulting multipath signal at the receiver carries information about the signal propagation space. Wireless sensing technology analyzes changes in wireless signals during propagation to determine the characteristics of the signal propagation space (channel) and enable scene perception. During wireless communications, electromagnetic waves carry environmental information while transmitting signals through space. For example, if a mobile phone receives a weak wireless fidelity (Wi-Fi) signal, it may be because the phone is far from the wireless router. If the Wi-Fi signal strength drops sharply, it may be because the phone has entered a specific enclosed space, such as an elevator. In this example, the received signal strength indicator (RSSI) is used as a feature to infer the phone's location and surroundings.

[0061] Radar sensing is a common wireless sensing technology that analyzes the characteristics of received target echoes to extract and discover the target's location, shape, motion characteristics, and movement trajectory. It can also further infer characteristics of the target and its environment. Radar sensing supports a wide range of application scenarios. For example, millimeter-wave radar is already widely used in assisted driving, detecting pedestrians and preceding vehicles and providing collision avoidance warnings. Radar also has many potential applications in areas such as homes, smart buildings, autonomous driving, and wearable devices.

[0062] In addition to radar perception, it also includes other sensor perceptions, such as visual sensor perception, ultrasonic perception, etc.

[0063] With the development of 5G networks, the demand for new perception-based network capabilities is gradually emerging. For example, in certain scenarios such as smart cities and smart transportation, there is a growing need to obtain the relative position and angle between objects, as well as to perceive information such as the distance, speed, and shape of target objects. To meet these service requirements, 5G networks require further enhancements to core network functions, such as the ability to assist wireless networks in perception. 5G systems or future communication systems can deploy integrated radar and communication base stations to enhance base station perception capabilities. Leveraging radar's precise perception capabilities, precise communication can be achieved, improving communication efficiency. For example, base station communication resources and perception resources can be time-division multiplexed or space-division multiplexed to achieve perception of the surrounding environment or objects. Perception functions can be applied in security scenarios where cameras are not suitable. For example, in specific industrial parks, intrusion detection of flying objects such as drones can be achieved. In traffic scenarios, roadside stations with perception capabilities can perform traffic flow statistics and vehicle navigation.

[0064] In addition to sensing the environment or objects based on fixed-position base stations or roadside equipment, mobile terminal devices can also have sensing capabilities to achieve perception of the surrounding environment or objects.

[0065] In the embodiment of the present application, based on the perception capability of the terminal device, one or more perception modes can be supported. The perception mode of the terminal device refers to the way in which the terminal device perceives and measures the surrounding environment or objects.

[0066] For example, in an embodiment of the present application, the terminal device may support one or more of the following perception modes:

[0067] First sensing mode: The terminal device acts as both a transmitter and receiver of sensing signals. This mode is also called the self-transmitting and self-receiving mode.

[0068] In this mode, the terminal device transmits a perception signal and collects the perception signal reflected from other objects in the surrounding environment. An example of the first perception mode is shown in Figure 1. Vehicle A is the perception device. Vehicle A transmits a perception signal, which is reflected by the target object and received by Vehicle A. By comparing the transmitted perception signal with the received signal, Vehicle A can perceive information such as the target's location and speed. For example, the perception signal transmitted by Vehicle A can be a radar signal.

[0069] The second perception mode: the terminal device acts as the perception signal transmitter, and the other terminal device acts as the perception signal receiver. This mode is also called the self-transmitting and receiving mode of a pure terminal device. In this mode, the terminal device sends a perception signal, and the other terminal devices collect the perception signals reflected by other objects in the surrounding environment. An example of the second perception mode can be shown in Figure 2, where vehicle A is the perception signal transmitter or sensing transmitter, and vehicle B is the perception signal receiver or sensing receiver. Vehicle A sends a perception signal, which is reflected by the target object and then received by vehicle B. Vehicle B can measure information such as the position and speed of the target through the received signal. For example, the perception signal sent by vehicle A can be a radar signal.

[0070] The third sensing mode: The terminal device acts as the sensing signal transmitter, and the wireless access network device acts as the sensing signal receiver. In this mode, the terminal device sends the sensing signal, and the wireless access network device collects the sensing signal reflected by other objects in the surrounding environment.

[0071] The fourth sensing mode: The wireless access network acts as the sensing signal transmitter and the terminal device acts as the sensing signal receiver. In this mode, the wireless access network device transmits the sensing signal, and the terminal device collects the sensing signal reflected by other objects in the surrounding environment.

[0072] It should be understood that the above four perception modes are merely illustrative perception modes given in the embodiments of this application, and this application does not limit the perception modes.

[0073] It should be understood that different sensing modes may require different sensing capabilities of sensing devices. For example, the first sensing mode requires the terminal device to have the ability to send sensing signals and the ability to receive and identify the sensing signals it sends. The second sensing mode requires the ability for different terminal devices to cooperate with each other. The third and fourth sensing modes require the ability for the terminal device to cooperate with the wireless access network equipment.

[0074] It should be understood that in different application scenarios, different perception modes can be used to perceive and measure the surrounding environment or objects.

[0075] The relevant technology provides a drone route tracking perception scenario, which requires the continuity of perception services. Figure 3 exemplifies a drone route tracking perception scenario. As shown in Figure 3, a drone will cross the perception areas of multiple base stations during the execution of its flight mission. For example, the drone 310 in Figure 3 passes through the perception areas of base stations 321, 322, and 325 during its flight. Base stations 321, 322, and 325 perform perception measurements on the drone 310 and send the perception data to the perception function entity 330 in the 5G core network. The perception function entity 330 determines the tracking path 320 of the drone 310 based on the perception data of each base station. From a business perspective, it is necessary to achieve continuous tracking of these drones.

[0076] Similarly, the related technology also provides a perception scenario for home health testing, where a user wears a health testing device, and the health testing device moves with the user, requiring continuous tracking of the health testing device.

[0077] When the sensing device is a base station, since its deployment location is generally fixed and known, the appropriate base station can be determined based on the drone's location. However, when the sensing device is a mobile terminal, network access is random and the terminal's location is not fixed. Therefore, how to achieve the continuity of sensing services is a problem that needs to be solved.

[0078] To this end, an embodiment of the present application provides a perception measurement method and a related device that can implement the method. In an embodiment of the present application, in a scenario where the perception device is a movable device, the first core network element or the current perception device of the target object can obtain a group of candidate perception devices that can perform perception measurement on the target object at the position according to the position of the target object, and then select a perception device from the group of candidate perception devices according to the perception capabilities of the group of candidate perception devices or further combined with the position of the perception device to perform perception measurement on the target object. Whenever it is necessary to re-determine the perception device for the target object (such as when the perception device moves out of or is about to move out of the perception range of the current perception device), the target perception device that matches the current position of the target object can be determined in the above manner to measure the target object, thereby achieving continuity of the perception service.

[0079] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0080] The sensing device in the embodiment of the present application can realize sensing measurement of the target or environment. The sensing device may include a terminal device, and the sensing device may support one or more of the above-mentioned sensing modes.

[0081] In the embodiment of the present application, the terminal device is a device with wireless transceiver functions, which can be a mobile device, a handheld device (such as a mobile phone), a wearable device, an in-vehicle device, or a wireless device built into the above device (for example, a communication module, a modem, or a chip system, etc.). The terminal device is used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as but not limited to the following scenarios: cellular communication, device-to-device communication (device-to-device, D2D), V2X, machine-to-machine / machine-type communication (machine-to-machine / machine-type communications, M2M / MTC), Internet of Things (IoT), virtual reality (virtual reality, VR), augmented reality (augmented reality, AR), industrial control (industrial control), self-driving, remote medical, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, drone, robot and other scenarios. The terminal device may sometimes be referred to as UE, terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0082] The terminal device in the embodiment of the present application may also be a fixed device, such as a road side unit (RSU).

[0083] In the embodiments of the present application, the communication device for implementing the terminal device function may be a terminal device, or may be a device capable of supporting the terminal device to implement the function, such as a chip system, which may be installed in the terminal device. In the technical solutions provided in the embodiments of the present application, the technical solutions provided in the embodiments of the present application are described by taking the terminal device as an example where the device for implementing the terminal device function is a terminal device. In addition, for ease of description, UE is used in some embodiments of the present application to represent a terminal device.

[0084] The network devices in the embodiments of the present application include, for example, access network devices and / or core network elements.

[0085] The access network device is a device with wireless transceiver functions, which is used to communicate with the terminal device. The access network device includes but is not limited to base stations (base transceiver station (BTS), Node B, eNodeB / eNB, or gNodeB / gNB), transmission reception points (TRP), base stations subsequently evolved from the third generation partnership project (3GPP), access nodes in Wi-Fi systems, wireless relay nodes, wireless backhaul nodes, etc. The base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, etc. Multiple base stations can support networks with the same access technology or networks with different access technologies. The base station can include one or more co-site or non-co-site transmission and receiving points. The access network device can also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device can also be a server, etc. For example, the network device in vehicle to everything (V2X) technology may be an RSU.

[0086] The following describes access network devices using a base station as an example. A base station can communicate with a terminal device, or it can communicate with the terminal device through a relay station. A terminal device can communicate with multiple base stations using different access technologies.

[0087] The core network elements are used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the network elements that implement core network functions in systems with different access technologies may be different, and the embodiments of this application are not limited to this. Taking the 5G mobile communication system as an example, the core network elements include: access and mobility management function (AMF), session management function (SMF), policy control function (PCF) or user plane function (UPF), etc.

[0088] It should be understood that the core network element may also be referred to as a core network device, or a network function entity, or a network function, or a function entity, etc., and this application is not limited thereto. For example, a network element that implements access and mobility management functions in the core network may be referred to as an access and mobility management function, or an access and mobility management function entity, or an AMF, or an AMF network element, etc.

[0089] In the embodiments of the present application, the communication device for implementing the network device function may be a network device, or may be a device capable of supporting the network device to implement the function, such as a chip system, which may be installed in the network device. In the technical solutions provided in the embodiments of the present application, the technical solutions provided in the embodiments of the present application are described by taking the network device as an example of the device for implementing the network device function being a network device.

[0090] See Figure 4, which is a schematic diagram of a 5G network architecture based on a service-oriented architecture, which is also a network architecture used in the embodiments of the present application. The 5G network architecture shown in Figure 1 can include three parts: the UE part, the data network (DN), and the operator network part.

[0091] The operator network may include one or more of the following network elements: authentication server function (AUSF), network exposure function (NEF), policy control function (PCF), unified data management (UDM), unified data repository (UDR), network repository function (NRF), application function (AF), network slice selection function (NSSF), AMF, SMF, (radio) access network (R)AN) or UPF, etc.

[0092] The operator network includes a radio access network and a core network. The UE accesses the core network through the (R)AN. The core network includes user plane network elements and control plane network elements. The user plane network elements in the core network include the UPF; the control plane network elements in the core network include at least one of the following network elements: AUSF, AMF, SMF, NSSF, NEF, NRF, UDM, PCF, or AF.

[0093] User plane network elements (such as UPF) are mainly responsible for packet forwarding, quality of service (QoS) control, billing information statistics, etc. Control plane network elements are mainly responsible for business process interaction, issuing packet forwarding policies and QoS control policies to the user plane.

[0094] The functions of network elements in the core network are described as follows:

[0095] UPF: Supports all or part of the following functions: interconnecting protocol data unit (PDU) sessions with data networks, packet routing and forwarding (for example, supporting uplink classifiers for forwarding traffic to data networks, supporting branching points to support multi-homed PDU sessions), or packet inspection.

[0096] AMF: Used for UE access management and mobility management. It is responsible for UE status maintenance, UE reachability management, forwarding of non-mobility management (MM) non-access-stratum (NAS) messages, and forwarding of session management (SM) N2 messages.

[0097] SMF: UE session management, allocating and releasing resources for UE sessions. These resources include session QoS, session paths, and forwarding rules. The SMF is responsible for selecting or reselecting UPFs, allocating Internet Protocol (IP) addresses, and establishing, modifying, and releasing bearers.

[0098] NEF: Opens network functions to third parties via northbound application programming interfaces (APIs).

[0099] NRF: Provides storage and selection functions for network function entity information for other network elements.

[0100] UDM: User subscription context management, responsible for managing UE subscription data and notifying the corresponding network elements when the subscription data is modified.

[0101] UDR: A unified data repository function responsible for storing and retrieving contract data, policy data, and public architecture data, enabling network elements such as the UDM, PCF, or NEF to access relevant data. The UDR can implement different data access authentication mechanisms for different types of data (such as contract data and policy data) to ensure data access security. The UDR should be able to return a failure response with an appropriate reason value for illegal service-based operations or data access requests.

[0102] PCF: User Policy Management, used to generate and manage user, session, and QoS flow processing policies.

[0103] AF: Application management, which provides application layer services to the UE. When providing services to the UE, the AF has requirements for QoS (policy) and charging strategies, and needs to notify the network. In addition, the AF also needs to feedback application-related information from the core network.

[0104] The relevant interfaces between network element functions involved in the embodiments of this application include:

[0105] N1: Interface between UE and core network control plane.

[0106] N2: Communication interface between (R)AN and core network control plane.

[0107] N3: Communication interface between (R)AN and UPF, used to transmit user plane data.

[0108] N4: Communication interface between SMF and UPF, used by SMF to configure policies for UPF, etc.

[0109] N6: Communication port between UPF and DN.

[0110] The core network control plane can adopt a service-oriented architecture, that is, the interaction between control plane network elements adopts the service call method to replace the point-to-point communication method in the traditional architecture. In the service-oriented architecture, a control plane network element will open services to other control plane network elements for other control plane network elements to call; in point-to-point communication, there will be a set of specific messages in the communication interface between control plane network elements, which can only be used by the control plane network elements at both ends of the interface when communicating. See Figure 5, which is a schematic diagram of a 5G network architecture based on a service-oriented interface. This network architecture is another network architecture applied in the embodiment of the present application. For the network elements in the architecture shown in Figure 2, please refer to the introduction of the relevant network elements in the architecture shown in Figure 1.

[0111] The system diagram architecture shown in Figure 4 or Figure 5 above may also include a sensing function (SF). SF may be responsible for sensing-related business management, such as selecting sensing devices and determining parameters such as the position and speed of the target object based on information from the sensing devices. SF may be, for example, a newly added network element in the core network; or, SF may also be an SMF, AMF or location management function (LMF) with the sensing function added; or, SF may also be a module in SMF, AMF or LMF; or, SF may also have the functions of one or more network elements in SMF, AMF or LMF, which can be understood as SF being used to replace one or more network elements in SMF, AMF or LMF. SF may also be called a sensing function entity, or a sensing function network element, etc., which is not limited in this application.

[0112] It should be understood that the embodiments of the present application can be applied to future communication systems. When the embodiments of the present application are applied to future communication systems, the names of terminal devices, access network devices, core network devices with sensing functions, and devices with other functions may change, and the embodiments of the present application do not limit this. For ease of understanding, the following text uses the application of the embodiments of the present application in a 5G system as an example to introduce specific solutions.

[0113] Based on a system architecture applicable to embodiments of the present application (e.g., the system architecture shown in FIG. 4 or FIG. 5 ), FIG. 6 illustrates a flow diagram of a perception measurement method provided by an embodiment of the present application. In this flow, a first core network element may select a target perception device from candidate perception devices provided by a second core network element for performing perception measurement on a target object.

[0114] Referring to FIG6 , a perception measurement method provided in an embodiment of the present application may include the following steps:

[0115] Step 601: The second core network element sends first information to the first core network element, where the first information includes identification information of a first candidate sensing device for sensing a target object and first sensing requirement information of the target object.

[0116] The first candidate perception device for perceiving the target object can be understood as a target perception device selected from the first candidate perception devices for performing perception measurements on the target object, or it can be understood as the first candidate perception device being one or more perception devices determined by the second core network element for the purpose of performing perception measurements on the target object.

[0117] The first candidate sensing device has sensing capability. The number of first candidate sensing devices may be one or more. Optionally, the identification information of the first candidate sensing device may be presented as a first candidate sensing device list, which includes identification information of one or more candidate sensing devices. This application does not limit the form of the identification information, for example, it may be an ID or a URL. If the first core network element is able to index the sensing device based on the identification information, then the identification information should be understood to be covered by the identification information in the above step 601.

[0118] Optionally, the first candidate sensing device may include a terminal device, for example, the first candidate sensing device may include a vehicle (or a connected vehicle) or a vehicle-mounted terminal.

[0119] In one possible implementation, the first core network element is a network element with a perception function, for example, the first core network element may be an SF network element in the core network. The second core network element may be a network element related to a perception service, for example, it may initiate a perception service request and provide information related to the perception service. Exemplarily, the second core network element may be an AF network element.

[0120] It should be understood that the second core network element may send the first information to the first core network element through other network elements, such as NEF. For example, AF sends the first information to NEF, and NEF sends the first information to SF.

[0121] In one possible implementation, the first perception requirement information may include information about the target object. Optionally, the target object information includes one or more of the following: location information of the target object, shape of the target object, and size of the target object. The second core network element sends the target object information to the first core network element. On the one hand, this allows the first core network element to select a suitable target perception device from the first candidate perception devices based on information such as the location of the target object, such as selecting the perception device closest to the target object, to improve perception measurement performance. On the other hand, this allows the first core network element to provide information such as the location of the target object to the target perception device so that the target perception device can perform perception measurement on the target object.

[0122] In one possible implementation, the first sensing requirement information may include sensing measurement accuracy information, indicating the accuracy required for sensing measurements of the target object. The second core network element transmits the sensing measurement accuracy information to the first core network element, enabling the first core network element to select a suitable target sensing device from the first candidate sensing devices based on the sensing measurement accuracy information, such as selecting a sensing device that meets the sensing measurement accuracy requirements. Because the distance between the sensing device and the target object can affect the sensing measurement accuracy, with closer distances resulting in higher sensing measurement accuracy and greater distances resulting in lower sensing measurement accuracy, in one possible implementation, the sensing measurement accuracy information may include a required distance between the sensing device and the target object, such as a distance threshold between the sensing device and the target object. Accordingly, when selecting a target sensing device, the first core network element may select a target sensing device within the threshold range of the distance from the target object based on the distance threshold, i.e., the distance between the target sensing device and the target object is less than or equal to the distance threshold.

[0123] In a possible implementation, the first perception requirement information includes target object information and perception measurement accuracy information.

[0124] In one possible implementation, the first information also includes the location information of the first candidate sensing device, for example, the first information includes the location information of each candidate sensing device among multiple first candidate sensing devices. When determining the first candidate sensing device, the second core network network element can determine the terminal device located within a certain range around the target object as the first candidate sensing device of the target object based on the location of the target object, and accordingly, the location information of the first candidate sensing device can be sent to the first core network network element. The second core network network element sends the location information of the first candidate sensing device to the first core network network element, so that the first core network network element can select a suitable target sensing device from the first candidate sensing devices based on the location information of the first candidate sensing device, such as selecting the sensing device closest to the target object, to improve the perception measurement performance.

[0125] One possible implementation of step 601 is as follows: the second core network element sends a perception service request message to the first core network element, where the perception service request message includes the first information. After receiving the perception service request message, the first core network element obtains the first information in the perception service request message. In this implementation, the second core network element sends relevant information about the perception service (i.e., the first information) to the first core network element while initiating the perception service request. This reduces signaling overhead compared to separately sending the perception service request and the perception service related information via different signaling.

[0126] As an alternative to step 601, in a possible implementation, the first core network element receives identification information of the first candidate sensing device and first sensing requirement information of the target object.

[0127] The first core network element may receive the identification information of the first candidate sensing device and the first sensing requirement information of the target object via different messages. For example, the first core network element receives the first sensing requirement information of the target object from the second core network element; the first core network element then requests and obtains the identification information of the first candidate sensing device for sensing the target object from the second core network element.

[0128] Optionally, the first core network element receives identification information of a first candidate sensing device from a first device (e.g., AF#1) and first sensing requirement information of a target object from a second device (e.g., a sensing request from AF#2). Optionally, the first candidate sensing device may be a first candidate sensing device corresponding to a first area or a first location.

[0129] Step 602: The first core network element selects a first sensing device from a first set of candidate sensing devices according to the first sensing requirement information of the target object.

[0130] The first sensing device is a target sensing device for sensing and measuring a target object, and is a sensing device that can meet the first sensing requirement information among the first candidate sensing devices.

[0131] In a possible implementation, the first core network element may select the first perception device from the first candidate perception devices based on the first perception requirement information and the perception capability information of the first candidate perception device.

[0132] Optionally, for a perception device, the first perception capability information of the perception device may include one or more of the following information: information about the perception mode supported by the perception device, and information about the perception area of ​​the perception device.

[0133] Among them, the information of the perception mode of the perception device can be used to indicate the type of perception mode. For example, the information of the perception mode can be used to indicate that the perception device only supports the first perception mode, or the perception device only supports the second perception mode, or the perception device supports the first perception mode and the second perception mode at the same time. The information of the perception area of ​​the perception device can be used to indicate the size of the perception range of the perception device. For example, if the information of the perception area is 100 centimeters, it means that the perception range of the perception device is 100 centimeters around the perception device. It can be understood that a perception device that can support the first perception mode and the second perception mode at the same time has a stronger perception capability than a perception device that only supports the first perception mode or the second perception mode; a perception device with a large perception area has a stronger perception capability than a perception device with a small perception area.

[0134] One possible implementation manner in which the first core network element selects the first sensing device from the first candidate sensing devices based on the first sensing requirement information and the sensing capability information of the first candidate sensing device is as follows: the first core network element selects a sensing device with the strongest sensing capability from the first candidate sensing devices based on the capability information of each candidate sensing device in the first candidate sensing devices, so as to improve sensing measurement performance. In another possible implementation manner, the first core network element selects a sensing device from the first candidate sensing devices whose sensing capability meets the measurement accuracy requirement corresponding to the sensing measurement accuracy information and the sensing capability information of the first candidate sensing device.

[0135] Optionally, the sensing capability information of the first candidate sensing device may be obtained by the first core network element from a third core network element serving the first candidate sensing device. Optionally, the third core network element may be an AMF element.

[0136] A possible implementation manner in which a first core network element obtains sensing capability information of a first candidate sensing device from a third core network element serving the first candidate sensing device is as follows: the first core network element sends a request message to the third core network element serving the first candidate sensing device, the request message being used to request obtaining the sensing capability information of the first candidate sensing device. The third core network element sends a response message to the first core network element based on the received request message, the response message including the sensing capability information of the first candidate sensing device.

[0137] In one possible implementation, the third core network network element can obtain the perception capability information of the candidate perception device in the following manner: after the third core network network element receives the request message from the first core network network element, it sends a request message to the candidate perception device served by the third core network element, requesting to obtain the perception capability information; after the candidate perception device receives the request message, it sends a response message to the third core network network element, and the response message includes the perception capability information of the candidate perception device.

[0138] Among them, if N (N is an integer greater than or equal to 2) of the first candidate sensing devices correspond to the same third core network element, or the third core network element serves the N candidate sensing devices, the first core network element can send the identification information of the N candidate sensing devices to the third core network element through a request message; the third core network element can send request messages to the N candidate sensing devices respectively to request to obtain sensing capability information. When the third core network element receives the response messages sent by the N candidate sensing devices, it can send the sensing capability information of the N candidate sensing devices to the first core network element through a response message, thereby saving signaling overhead.

[0139] If there are multiple first candidate sensing devices, and these multiple candidate sensing devices correspond to different third core network elements, for example, candidate sensing device 1 corresponds to AMF1, and candidate sensing device 2 corresponds to AMF2, then the first core network element sends a request message containing the identification information of candidate sensing device 1 to AMF1, and sends a request message containing the identification information of sensing device 2 to AMF2; AMF1 sends a request message to candidate sensing device 1 to request to obtain the sensing capability information of candidate sensing device 1, and sends the sensing capability information of candidate sensing device 1 to the first core network element. AMF2 sends a request message to candidate sensing device 2 to request to obtain the sensing capability information of candidate sensing device 2, and sends the sensing capability information of candidate sensing device 2 to the first core network element.

[0140] In another possible implementation, the third core network network element may obtain the perception capability information of the candidate perception device in the following manner: after receiving the request message from the first core network network element, the third core network network element sends a request message to the fourth core network network element to request the perception capability information of the first candidate perception device; after receiving the request message, the fourth core network network element sends a response message to the third core network element, and the response message includes the perception capability information of the first candidate perception device. The fourth core network network element stores the perception capability information of the device. For example, the terminal device can register its perception capability information with the fourth core network network element. Optionally, the fourth core network network element may be an NRF, which is not limited in this application.

[0141] In one possible implementation, the first core network element may select the first sensing device from the first candidate sensing devices based on the first sensing requirement information and the location information of the first candidate sensing device. A possible implementation of the first core network element selecting the first sensing device from the first candidate sensing devices based on the first sensing requirement information and the location information of the first candidate sensing device is as follows: the first core network element selects the sensing device closest to the target object from the first candidate sensing devices as the first sensing device based on the location information of the target object and the location information of the first candidate sensing device, thereby improving sensing measurement performance.

[0142] The location information of the first candidate sensing device may be the location information of the first candidate sensing device included in the first information. That is, the location information of the first candidate sensing device may be provided by the second core network element to the first core network element.

[0143] The location information of the first candidate sensing device may also be obtained by the first core network element from a third core network element serving the first candidate sensing device. Optionally, the third core network element may be an AMF element.

[0144] A possible implementation manner in which a first core network element obtains the location information of the first candidate sensing device from a third core network element serving the first candidate sensing device is as follows: the first core network element sends a request message to the third core network element serving the first candidate sensing device, the request message being used to request obtaining the location information of the first candidate sensing device. The third core network element sends a response message to the first core network element based on the received request message, the response message including the location information of the first candidate sensing device.

[0145] In one possible implementation, the third core network network element can obtain the location information of the candidate sensing device in the following manner: after the third core network network element receives the request message from the first core network network element, it sends a request message to the candidate sensing device served by the third core network element to request the location information; after the candidate sensing device receives the request message, it sends a response message to the third core network network element, and the response message includes the location information of the candidate sensing device.

[0146] Among them, if N (N is an integer greater than or equal to 2) perception devices in the first candidate perception devices correspond to the same third core network network element, or the third core network network element serves the N candidate perception devices, then the third core network network element can send request messages to the N candidate perception devices respectively to request to obtain location information. After the third core network network element receives the response message sent by the N candidate perception devices, it can send the location information of the N candidate perception devices to the first core network network element through one response message, thereby saving signaling overhead. It can be understood that the third core network network element can also send the location information of the N candidate perception devices to the first core network network element through N response messages. This is not limited in the embodiments of the present application.

[0147] Through the above implementation method, the first core network network element can obtain the current position of the first candidate perception device. Compared with the position information of the first candidate perception device included in the first information, the position information obtained in real time through the above method has higher accuracy and / or higher precision, thereby making the target candidate perception device selected based on the position information more suitable for perception measurement of the target object.

[0148] In one possible implementation, the first core network element may select the first perception device from the first candidate perception devices based on the first perception requirement information, the perception capability information of the first candidate perception device, and the location information of the first candidate perception device.

[0149] The specific manner in which the first core network element obtains the sensing capability information of the first candidate sensing device and the location information of the first candidate sensing device can be referred to the aforementioned content and will not be repeated here.

[0150] Step 603: The first core network element sends a first perception measurement request to the first perception device, where the first perception measurement request is used to request the first perception device to perform perception measurement on the target object.

[0151] Optionally, the first perception measurement request may include information of the target object, such as location information of the target object, shape of the target object, size of the target object, and other information.

[0152] After receiving the first sensing measurement request, the first sensing device performs sensing measurement on the target object, obtains sensing data, and sends the sensing data to the first core network element. The first sensing device can perform sensing measurement on the target object according to a set period and send the sensing data to the first sensing device.

[0153] Optionally, the first perception device can directly send the perception data to the first core network network element, or send the perception data to the first core network network element through a third core network network element (such as an AMF network element) serving the first perception device.

[0154] The first core network element may determine the position or movement trajectory of the target object based on the sensing data from the first sensing device. Further, the first core network element may send the position or movement trajectory of the target object to the second core network element.

[0155] When the first perception device no longer meets the perception measurement requirements, or is unable to perform perception measurement on the target object, the first core network network element can obtain a second candidate perception device from the second core network network element, and select a new target perception device from the second candidate perception device to replace the first perception device to perform perception measurement on the target object.

[0156] In a possible implementation, based on the process shown in FIG6 , the following steps may be further included:

[0157] Step 604: When the target object moves to the first position, the first core network element sends a request message to the second core network element, where the request message includes the position information of the target object.

[0158] The target object moving to the first position can be understood as the target object moving to a position that triggers the reselection of the sensing device for the target object, or the target object moving to a position that satisfies the sensing measurement termination condition, or the first sensing device no longer meets the sensing measurement requirements for the target object, or the first sensing device is unable to sense and measure the target object. The "movement" here can be understood as the position of the target object moving relative to the first sensing device.

[0159] The "target object moves to the first position" can also be understood as based on the movement of the target object or the movement of the first sensing device, or based on the movement of the target object relative to the first sensing device, the first sensing device meets the perception measurement termination condition, or currently meets the conditions for reselecting the target sensing device for the target object.

[0160] Optionally, the perception measurement termination condition may include: the target object moves out of or is about to move out of the perception area of ​​the perception device, or the target object moves to the edge of the perception area of ​​the perception device. For example, if the perception area of ​​the first perception device has a range of 10 meters, then when the target object moves to a position 10 meters away from the first perception device, the target object is considered to have moved out of or is about to move out of the perception area of ​​the perception device. For another example, if the perception area of ​​the first perception device has a range of 10 meters, then when the target object moves to a position 9 meters away from the first perception device, the target object is considered to have moved out of or is about to move out of the perception area of ​​the perception device.

[0161] Optionally, the perception measurement termination condition may include: the target object's received power of the perception signal is lower than a threshold. If the target object's received power of the perception signal sent by the perception device is lower than the threshold, this indicates that the target object is far away from the perception device and may be about to move out of the perception range of the perception device. Even if it has not moved out of the perception range of the perception device, the target object's low received power of the perception signal will result in a weak reflection of the perception signal, which may affect the perception measurement performance.

[0162] Optionally, the sensing measurement condition may include both the target object moving out of or about to move out of the sensing device's sensing area and the target object's received sensing signal power being lower than a threshold. That is, only when both of these conditions are met will the first core network element be triggered to send a request message to the second core network element, thereby triggering the process of reselecting a target sensing device for the target object.

[0163] Based on the above understanding of "the target object moves to the first position," in one possible implementation, the first sensing device, based on sensing measurements of the target object, sends an indication message to the first core network element when it determines that the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device. After receiving the indication message, the first core network element sends a request message to the second core network element. In another possible implementation, the first sensing device, based on sensing measurements of the target object, sends an indication message to the first core network element when it determines that the received power of the sensing signal from the target object is below a threshold. After receiving the indication message, the first core network element sends a request message to the second core network element.

[0164] The indication information is used to indicate that the first sensing device meets a sensing measurement termination condition.

[0165] It should be understood that the indication information can also be understood as being used to trigger or instruct the first core network element to send a request message to the second core network element to request the acquisition of the second candidate sensing device; or, the indication information can also be understood as being used to instruct the first core network element to acquire the second candidate sensing device; or, the indication information can also be understood as being used to indicate that the first sensing device is no longer suitable for sensing and measuring the target object, or the indication information is used to indicate that the first sensing device can no longer sense and measure the target object; or, the indication information can also be understood as being used to indicate that the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device. In short, the indication information can trigger the reselection of the target sensing device for the target object.

[0166] In one possible implementation, the first perception device may send the indication information directly to the first core network element, or may send the indication information to the first core network element through the service AMF network element of the first perception device.

[0167] In one possible implementation, the perception measurement termination condition may be included in a first perception measurement request sent to the first perception device. Based on the above description of the perception measurement termination condition, the perception measurement termination condition may be used to trigger the first perception device to send indication information to the first core network element when the target object meets the perception measurement termination condition, thereby triggering reselection of a perception device for the target object.

[0168] Based on the above understanding of "the target object moves to the first location," in one possible implementation, when the first core network element determines, based on the perception data obtained by the first perception device through perception detection of the target object, that the first perception device meets the perception measurement termination condition, the first core network element sends a request message to the second core network element. In other words, the first core network element may determine, based on the perception data reported by the first perception device, to initiate a process of reselecting a target perception device for the target object.

[0169] Optionally, the first core network element determines that the first sensing device meets the sensing measurement termination condition, which may include the following situations:

[0170] Case 1: If the first core network element determines that the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device, it is determined that the first sensing device meets the sensing measurement termination condition;

[0171] Case 2: If the first core network element determines that the received power of the target object for the sensing signal sent by the first sensing device is lower than the threshold, it is determined that the first sensing device meets the sensing measurement termination condition;

[0172] Case 3: If the first core network element determines that the target object has moved out of or is about to move out of the perception area of ​​the first perception device, and the first core network element determines that the received power of the perception signal sent by the target object to the first perception device is lower than the threshold, then it is determined that the first perception device meets the perception measurement termination condition.

[0173] In one possible implementation, the first core network element sends the location information of the target object to the second core network element, so that the second core network element can determine a second candidate perception device that can perform perception measurement on the target object based on the location information of the target object, such as determining a terminal device near the target object as the second candidate perception device.

[0174] Step 605: The second core network element sends a response message to the first core network element. The response message includes second information, and the second information includes identification information of a second candidate sensing device for sensing the target object.

[0175] Step 606: The first core network element selects a second sensing device from the second candidate sensing devices.

[0176] Step 607: The first core network element sends a second perception measurement request to the second perception device, where the second perception measurement request is used to request the second perception device to perform perception measurement on the target object.

[0177] After receiving the second sensing measurement request, the second sensing device performs sensing measurement on the target object to obtain sensing data and sends the sensing data to the first core network element. The second sensing device can perform sensing measurement on the target object according to a set period and send the sensing data to the second sensing device.

[0178] Optionally, the second perception device can directly send the perception data to the first core network element, or send the perception data to the first core network element through the core network element (such as the AMF network element) serving the second perception device.

[0179] The first core network element may determine the position or movement trajectory of the target object based on the sensing data from the second sensing device. Further, the first core network element may send the position or movement trajectory of the target object to the second core network element.

[0180] It should be understood that the above steps 605-607 can specifically refer to the process of selecting the first perception device and sending the first perception measurement request to the first perception device in steps 602-604, which will not be repeated here.

[0181] It should be understood that when the second perception device meets the perception measurement termination condition, the first core network element can also reselect the target perception device for the target object, and so on, until the perception measurement of the target object is completed.

[0182] It should be understood that the method for determining the first sensing device (ie, the initial sensing device) can be performed according to steps 601 to 603 in the process shown in FIG6 , or other methods can be used, and this application does not impose any restrictions.

[0183] In the above-mentioned embodiment of the present application, the first core network network element can select a target sensing device from the candidate sensing devices for the target object provided by the second core network network element to perform sensing measurement on the target object. Based on the above-mentioned method, when the sensing device currently performing sensing measurement is unable to continue to perform sensing measurement on the target object due to relative motion between the target object and the sensing device currently performing sensing measurement, and a new sensing device needs to be selected, the first core network network element can obtain the candidate sensing device for performing sensing measurement on the target object at the current position from the second core network network element, so that the new sensing device can be selected to replace the original sensing device to continue to perform sensing measurement on the target object, thereby achieving continuity of the sensing service.

[0184] In addition, when selecting a target sensing device from candidate sensing devices, the first core network element may select a suitable sensing device based on the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of the sensing measurement.

[0185] Based on the system architecture applicable to the embodiments of the present application (such as the system architecture shown in Figure 4 or Figure 5 above), Figure 7 shows a flow chart of another perception measurement method provided by an embodiment of the present application. In this process, the first perception device currently performing perception measurement on the target object can obtain the next perception device (second perception device) for the target object through the discovery mechanism to take over the measurement of the target object by the first perception device.

[0186] Referring to FIG7 , a perception measurement method provided in an embodiment of the present application may include the following steps:

[0187] Step 701: A first perception device receives a first perception measurement request message, where the first perception measurement request message is used to request a perception measurement of a target object.

[0188] Step 702: The first perception device performs perception measurement on the target object according to the first perception measurement request message.

[0189] In one possible implementation, the specific implementation of steps 701 to 702 may refer to steps 601 to 603 in Figure 6, or refer to steps 604 to 607 in Figure 6. That is, the first sensing device may be an initial sensing device for performing sensing and measurement on the target object, or may be a sensing device selected by the first core network element to perform sensing and measurement on the target object after the initial sensing device.

[0190] Steps 703a and 703b: When the target object moves to the first position, the first sensing device sends a first message, wherein the first message includes second sensing requirement information of the target object, and the second sensing requirement information includes the position information of the target object.

[0191] Optionally, the first message is a broadcast message.

[0192] Optionally, the first message may be sent via a device-to-device (D2D) link, or sent via a PC5 interface.

[0193] Optionally, the first message includes an identifier of the first sensing device.

[0194] Optionally, the first message may also include information such as the shape and size of the target object.

[0195] Optionally, the second perception requirement information may indicate requirements to be met for perception measurement of the target object.

[0196] Optionally, the requirement to be met for the perception measurement of the target object may include a perception capability requirement. Accordingly, the second perception requirement information includes perception capability requirement information for indicating the perception capability requirement.

[0197] Optionally, the perception capability requirement information indicates the type of perception capability that needs to be supported (or possessed), and / or the size of the perception area (or perception range) that needs to be supported.

[0198] Exemplarily, the perception capability requirement information may include information indicating the perception capability type requirement. For example, if the perception capability requirement information indicates a first perception mode, it indicates that the perception device used to perform perception measurement on the target object needs to support the first perception mode; if the perception capability requirement information indicates a second perception mode, it indicates that the perception device used to perform perception measurement on the target object needs to support the second perception mode; if the perception capability requirement information indicates a third perception mode, it indicates that the perception device used to perform perception measurement on the target object needs to support the third perception mode; if the perception capability requirement information indicates a fourth perception mode, it indicates that the perception device used to perform perception measurement on the target object needs to support the fourth perception mode; if the perception capability requirement information indicates the first perception mode and the second perception mode, it indicates that the perception device used to perform perception measurement on the target object needs to support both the first perception mode and the second perception mode.

[0199] As another example, the sensing capability requirement information may include information indicating the size of a sensing area. Only sensing devices with a sensing area greater than or equal to the area size indicated by the information meet the requirement for sensing and measuring the target object.

[0200] Optionally, the requirement to be met for the perception measurement of the target object may include a perception measurement accuracy requirement. Accordingly, the second perception requirement information may include perception measurement accuracy information indicating the perception measurement accuracy requirement, indicating the accuracy required for the perception measurement of the target object.

[0201] Because the distance between a sensing device and a target object can affect sensing measurement accuracy, in one possible implementation, the sensing measurement accuracy requirement is also referred to as a distance requirement between the sensing device and the target object. For example, the sensing measurement accuracy information may specifically be a distance threshold between the sensing device and the target object. Accordingly, if the distance between a sensing device receiving the first message and the target object is less than or equal to the distance threshold, the distance requirement between the sensing device and the target object is met.

[0202] Because the signal strength received by the sensing device can affect the sensing measurement accuracy, in one possible implementation, the sensing measurement accuracy information may specifically be a signal strength threshold, such as a received power threshold. Accordingly, if the sensing device that receives the first message determines that the received signal strength of the first message is greater than or equal to the signal strength threshold, then the requirement is met.

[0203] In one possible implementation, the sensing capability requirement information and / or sensing measurement accuracy information may come from a first sensing measurement request message received by the first terminal device. That is, the first sensing measurement request message may include the sensing capability requirement information and / or sensing measurement accuracy information.

[0204] It should be understood that the second perception requirement information may include one or more of the above-mentioned perception capability requirement information and perception measurement accuracy information.

[0205] In one possible implementation, when the target object moves to the first position, indicating that the first sensing device meets the sensing measurement termination condition, the first sensing device transmits the first message. For details on "the target object moves to the first position," refer to the relevant content in the process shown in FIG6 .

[0206] Optionally, the sensing measurement termination condition includes one or more of the following: the receiving power of the target object for the sensing signal is lower than a threshold; or the target object moves out of or is about to move out of the sensing area.

[0207] Optionally, the first perception measurement request message received by the first perception device includes the perception measurement termination condition, so that the first perception device can send the first message when determining that the condition is met based on the perception measurement termination condition.

[0208] Step 704: The first sensing device receives a first response message from N sensing devices used to sense the target object, where N is an integer greater than or equal to 1.

[0209] Optionally, the first response message includes an identifier of the perception device that sends the first response message.

[0210] Optionally, the first response message may also include location information of the sensing device that sent the first response message. The location information may be absolute location information of the sensing device or location information of the sensing device relative to the target object, such as the distance to the target object.

[0211] Optionally, the first response message may also include perception capability information of the perception device that sends the first response message.

[0212] In one possible implementation, if the first message does not include sensing capability requirement information and sensing measurement accuracy information, the terminal device that receives the first message can determine, based on the target object's location information, that the target object is within the terminal device's sensing area and can then return a first response message to the first sensing device. In other words, all N sensing devices that return the first response message can perform sensing measurements on the target object.

[0213] In one possible implementation, if the first message includes sensing capability requirement information but does not include sensing measurement accuracy information, the terminal device that receives the first message determines that the target object is within the terminal device's sensing area and, based on the sensing capability requirement indicated by the sensing capability requirement information in the first message, determines that it meets the sensing capability requirement indicated by the sensing capability requirement information. The terminal device then sends a first response message to the first sensing device; otherwise, no response message is sent to the first sensing device. In other words, the N sensing devices that return the first response message can all perform sensing measurements on the target object and meet the sensing capability requirement indicated by the sensing capability requirement information.

[0214] Exemplarily, the terminal device receives a first message, which includes perception capability requirement information, and the perception capability requirement information is specifically information used to indicate the perception capability type requirement, which indicates the first perception mode; if the terminal device supports the first perception mode and the target object is within the perception area of ​​the terminal device, a first response message is sent to the first perception device, otherwise the first response message is not sent to the first perception device.

[0215] As another example, the terminal device receives a first message, which includes perception capability requirement information, and the perception capability requirement information is specifically information used to indicate the perception area size requirement; if the perception area size of the terminal device is greater than or equal to the size indicated by the information, and the target object is within the perception area of ​​the terminal device, a first response message is sent to the first perception device, otherwise the first response message is not sent to the first perception device.

[0216] As another example, the terminal device receives a first message, which includes perception capability requirement information, and the perception capability requirement information includes information for indicating the perception capability type requirement and information for indicating the perception area size requirement; if the terminal device determines, based on the perception capability requirement information, that the perception mode type and perception area size supported by itself meet the requirements, and the target object is within the perception area of ​​the terminal device, a first response message is sent to the first perception device, otherwise the first response message is not sent to the first perception device.

[0217] In one possible implementation, if the first message includes perception measurement accuracy information but does not include perception capability requirement information, the terminal device that receives the first message determines whether it meets the perception measurement accuracy requirement based on the perception measurement accuracy information in the first message. If so, and the target object is within the perception area of ​​the terminal device, the terminal device sends a first response message to the first perception device; otherwise, no response message is sent to the first perception device. In other words, the N perception devices that return the first response messages all meet the perception measurement accuracy requirement indicated by the perception measurement accuracy information, and the target object is within the perception area of ​​the terminal device.

[0218] Exemplarily, the terminal device receives a first message, which includes the location information of the target object and the perception measurement accuracy information (specifically the distance threshold between the perception device and the target object); if the terminal device determines, based on the location information of the target object, that the target object is within the perception area of ​​the terminal device and the distance between the target object and the target object is less than or equal to the distance threshold, a first response message is sent to the first perception device, otherwise the first response message is not sent to the first perception device.

[0219] As another example, the terminal device receives a first message, which includes perception measurement accuracy information (specifically, a signal strength threshold); if the target object is within the perception area of ​​the terminal device, and the terminal device determines that the received signal strength of the first message is greater than or equal to the signal strength threshold, a first response message is sent to the first perception device, otherwise the first response message will not be sent to the first perception device.

[0220] In one possible implementation, if the first message includes perception capability requirement information and perception measurement accuracy information, then if the terminal device receiving the first message determines that the target object is within the perception area of ​​the terminal device and that the terminal device meets the perception capability requirement indicated by the perception capability requirement information and the perception measurement accuracy requirement indicated by the perception measurement accuracy information, then the terminal device sends a first response message to the first perception device; otherwise, no response message is sent to the first perception device. In other words, the N perception devices that return the first response message meet the perception capability requirement indicated by the perception capability requirement information, meet the perception measurement accuracy requirement indicated by the perception measurement accuracy information, and the target object is within the perception area of ​​the perception device.

[0221] Since the first message includes perception capability requirement information and / or perception measurement accuracy information, only terminal devices that meet the corresponding requirements return the first response message, so that the first perception device selects a target perception device from them, thereby improving perception measurement performance.

[0222] Step 705: The first sensing device selects a second sensing device from the N sensing devices that return the first response message.

[0223] In a possible implementation, the first sensing device selects the second sensing device from the N sensing devices according to sensing capability information of the N sensing devices.

[0224] Optionally, the first response message sent by the sensing device includes sensing capability information of the sensing device. The first sensing device may select a second sensing device from the N sensing devices based on the sensing capability information of the N sensing devices, such as selecting a sensing device with strong sensing capability. Alternatively, the first sensing device may select a sensing device that meets the condition (or requirement) from the N sensing devices based on the sensing capability requirement information (which is from the first sensing measurement request message received by the first sensing device) and the sensing capability information of the N sensing devices.

[0225] In a possible implementation, the first sensing device selects the second sensing device from the N sensing devices based on location information of the N sensing devices.

[0226] Optionally, the first response message sent by the sensing device includes location information of the sensing device. The first sensing device may select a sensing device closest to the target object from the N sensing devices according to the location information of the N sensing devices.

[0227] In a possible implementation, the first sensing device selects the second sensing device from the N sensing devices based on the sensing capability information and location information of the N sensing devices.

[0228] In one possible implementation, after the first perception device selects the second perception device from N perception devices, it can also send a notification message to the first core network network element, where the notification message includes the identifier of the second perception device, thereby notifying the first core network network element of the identifier of the reselected perception device.

[0229] Step 706: The first sensing device sends a second sensing measurement request message to the second sensing device, where the second sensing measurement request message is used to request the second sensing device to perform sensing measurement on the target object.

[0230] Optionally, the second perception measurement request message may include information of the target object, such as location information of the target object, shape of the target object, size of the target object, and other information.

[0231] After receiving the second sensing measurement request message, the second sensing device performs sensing measurement on the target object, obtains sensing data, and sends the sensing data to the first core network element. The second sensing device can perform sensing measurement on the target object according to a set period and send the sensing data to the second sensing device.

[0232] Optionally, the second perception device can directly send the perception data to the first core network element, or send the perception data to the first core network element through the core network element (such as the AMF network element) serving the second perception device.

[0233] The first core network element may determine the position or movement trajectory of the target object based on the sensing data from the second sensing device. Further, the first core network element may send the position or movement trajectory of the target object to the second core network element.

[0234] In one possible implementation, after receiving the second perception measurement request message, the second perception device may also send a notification message to the first core network element, where the notification message includes the identifier of the second perception device, thereby notifying the first core network element of the identifier of the reselected perception device.

[0235] In the above-mentioned embodiments of the present application, due to the relative movement between the target object and the perception device currently performing perception measurement, the perception device currently performing perception measurement cannot continue to perform perception measurement on the target object. When a new perception device needs to be selected, the perception device can obtain candidate perception devices based on the discovery mechanism, so that a new perception device can be selected from them to replace the original perception device, so as to continue to perform perception measurement on the target object, thereby achieving continuity of the perception service.

[0236] In addition, when selecting a target sensing device from candidate sensing devices, the sensing device may select a suitable sensing device based on the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of the sensing measurement.

[0237] In order to more clearly understand the above embodiments of the present application, the processes shown in Figures 6 and 7 are described below in combination with several application scenarios.

[0238] Example 1

[0239] Example 1 Taking the system architecture shown in Figure 4 or Figure 5 as an example, a specific implementation process of the method shown in Figure 6 is described, wherein the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0240] As shown in FIG8 , the process may include the following steps:

[0241] Step 801: The AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of a target object. The first candidate UE list includes identifiers of candidate UEs that perform sensing measurements on the target object.

[0242] This example describes the case where the first candidate UE list includes the identifiers of UE1 and UE2. UE1 and UE2 are candidate UEs for performing perception measurement on the target object. Optionally, the identifiers of UE1 and UE2 are generic public subscriber identifiers (GPSIs).

[0243] Optionally, the first perception requirement information may include one or more of the following: target object information and perception measurement accuracy information. Optionally, the target object information may include one or more of the following: target object location information, target object shape, target object size, and other information. For details on the first perception requirement information, please refer to the relevant content in the process shown in Figure 6.

[0244] Optionally, the service request message may further include location information of candidate UEs (including UE1 and UE2).

[0245] Optionally, the AF may send a service request message to the SF through the NEF.

[0246] Step 802: The SF obtains the serving AMF information of the candidate UE from the UDM.

[0247] In this example, the SF can obtain information about the AMF serving UE1 and the AMF serving UE2 from the UDM. UE1's AMF and UE2's AMF may be the same AMF or different AMFs. The UDM stores the correspondence between GPSI and AMF. Specifically, the SF sends the GPSI to the UDM, which then queries the locally stored AMF information based on the GPSI and returns it to the SF. The AMF information includes the AMF's identification information.

[0248] Optionally, the SF may also obtain the UE's user permanent identifier (SUPI) from the UDM according to the GPSI of each candidate UE, wherein the UDM stores a mapping relationship between the GPSI and the SUPI.

[0249] Step 803: The SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE.

[0250] In one possible implementation, if the AMF of UE1 and the AMF of UE2 are different AMFs, the SF can send request messages to the service AMFs of UE1 and UE2 respectively, where one request message carries the identifier of UE1 to request the perception capability information of UE1, and the other request message carries the identifier of UE2 to request the perception capability information of UE2.

[0251] In another possible implementation, if the service AMF of UE1 and UE2 is the same AMF, the SF can send a request message to the common service AMF of UE1 and UE2, which carries the identifiers of UE1 and UE2, thereby obtaining the perception capability information of multiple candidate UEs through one request message, thereby saving signaling and reducing network resource overhead.

[0252] Optionally, the identifier of the candidate UE in the request message may be the SUPI of the candidate UE.

[0253] Step 804: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0254] The location information of the candidate UE obtained through the positioning process is more accurate and detailed than the location information of the candidate UE from the AF. Therefore, based on this location information, a UE that is more suitable for sensing and measuring the target object can be selected, thereby improving the sensing and measurement accuracy of the target object.

[0255] It should be understood that if the candidate UE is in a radio resource control (RRC) idle state, the candidate UE may be placed in an RRC connected state through a paging procedure.

[0256] It should be understood that this step is optional. In one possible implementation, if the request message sent by the SF in step 803 includes instruction information for instructing to obtain UE location information (or includes instruction information for triggering the positioning procedure), the AMF triggers the positioning procedure for the candidate UE; otherwise, the AMF does not initiate the positioning procedure by default.

[0257] Step 805a: The serving AMF of UE1 sends a request message to UE1 to request the sensing capability information of UE1.

[0258] Optionally, the request message may be a downlink NAS message, used to trigger a request to UE1 for sensing capability.

[0259] Step 805b: UE1 sends a response message to the serving AMF of UE1, which carries the sensing capability information of UE1, for example, including the sensing modes supported by UE1 and / or the sensing range of UE1.

[0260] Optionally, the response message may be an uplink NAS message, used to return perception capability information.

[0261] Step 806a: The serving AMF of UE2 sends a request message to UE2 to request the sensing capability information of UE2.

[0262] Optionally, the request message may be a downlink NAS message, used to trigger a request to UE2 for sensing capability.

[0263] Step 806b: UE2 sends a response message to the serving AMF of UE2, which carries the sensing capability information of UE2, for example, including the sensing modes supported by UE2 and / or the sensing range of UE2.

[0264] Optionally, the response message may be an uplink NAS message, used to return perception capability information.

[0265] Step 807: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the perception capability information of the candidate UE, and optionally the location information of the candidate UE.

[0266] In this step, UE1's serving AMF sends a response message to SF, which carries UE1's perception capability information and, optionally, UE1's location information; UE2's serving AMF sends a response message to SF, which carries UE2's perception capability information and, optionally, UE2's location information.

[0267] Optionally, if the serving AMF of UE1 and the serving AMF of UE2 are the same, the AMF may send a response message to the SF, which carries the perception capability information of UE1 and UE2, and optionally also carries the location information of UE1 and UE2, thereby saving signaling and reducing network resource overhead.

[0268] Step 808: The SF selects UE1 as the target sensing device from the candidate UEs in the first candidate UE list.

[0269] In one possible implementation, the SF may select a UE from the first candidate UE list as a sensing device for sensing and measuring the target object based on the sensing capability information of each candidate UE in the first candidate UE list. For example, if the sensing capability of UE1 is stronger than that of UE2 (for example, the sensing range of UE1 is greater than that of UE2, or UE1 supports the first sensing mode and UE2 does not support the first sensing mode), UE1 is selected as the target sensing device. For the relevant description of the first sensing mode, please refer to the relevant content above.

[0270] In another possible implementation, the SF may select one UE from the first candidate UE list as a sensing device for performing sensing measurements on the target object based on the sensing capability information of each candidate UE in the first candidate UE list and the distance between each candidate UE and the target object. For example, if UE1 and UE2 have the same sensing capability and the distance between UE1 and the target object is smaller than the distance between UE2 and the target object, UE1 may be selected as the target sensing device. For another example, if UE1 and UE2 have the same distance from the target object and UE1 has a stronger sensing capability than UE2, UE1 may be selected as the target sensing device.

[0271] Step 809: The SF sends a perception measurement request message to the serving AMF of UE1, which carries the identifier of UE1.

[0272] Optionally, the perception measurement request message may further include information of the target object, such as the current location information, size, shape, etc. of the target object. The target object information may be obtained from the perception service request message received by the SF in step 801 .

[0273] Optionally, the perception measurement request message may further include indication information, where the indication information is used to instruct UE1 to activate perception measurement in the entire area that the UE can perceive.

[0274] Optionally, the perception measurement request message may also include a perception measurement termination condition. For example, the condition may be: when UE1 performs perception measurement, the power of the perception signal reaching the target object is lower than a set threshold; or the condition may be: the target object moves out of or is about to move out of the perception range of UE1 (for example, the area where the target object is currently located is at the edge of the range that UE1 can perceive). UE1 may stop performing perception measurement on the target object when this condition is met.

[0275] Step 810: The serving AMF of UE1 sends a perception measurement request message to UE1 according to the identifier of UE1 in the received perception measurement request message.

[0276] It should be understood that in steps 809 to 810, the SF may interact directly with UE1 without going through the serving AMF of UE1.

[0277] Step 811: UE1 performs perception measurement on the target object.

[0278] Step 812: UE1 sends the measured perception data to the SF through UE1's serving AMF.

[0279] It should be understood that UE1 may also send the sensing data directly to the SF without going through the serving AMF of UE1.

[0280] It should be understood that steps 811 to 812 may be performed multiple times, that is, UE1 may perform multiple perception measurements and report perception data multiple times.

[0281] Step 813: SF determines that the target object moves to the first position, or UE1 meets the sensing measurement termination condition, or currently meets the condition for reselecting a sensing device for the target object, or determines to perform reselection of the sensing device.

[0282] Optionally, the SF may determine whether it is necessary to trigger reselection of the sensing device based on the sensing data from UE1.

[0283] Optionally, the SF may trigger reselection of the sensing device when it determines that one or more of the following conditions are met:

[0284] Condition 1: If the target object moves out of or is about to move out of the perception area of ​​UE1, for example, the target object is currently located at the edge of the perception area of ​​UE1.

[0285] Condition 2: The power of the sensing signal reaching the target object is lower than the set threshold.

[0286] Condition 3: The SF receives indication information from UE1, where the indication information is used to indicate that the UE1 meets the perception measurement termination condition. When the UE1 meets the perception measurement termination condition, the SF sends the indication information to the SF.

[0287] Step 814: The SF sends a request message to the AF, which carries the location information of the target object, requesting to obtain a candidate UE list for the target object.

[0288] The position information of the target object is the current position information of the target object, which is determined by the SF based on the perception data reported by the first perception device.

[0289] Optionally, the SF may send a request message to the AF through the NEF.

[0290] Step 815: After receiving the request message, the AF sends a response message to the SF, which carries a second candidate UE list. The second candidate UE list includes the identifiers of the candidate UEs that perform perception measurements on the target object.

[0291] This example describes the second UE list as including the identifiers of UE3 and UE4. UE3 and UE4 are candidate UEs for performing perception measurement on the target object. Optionally, the identifiers of UE3 and UE4 are GPSIs.

[0292] Optionally, the response message may also include location information of candidate UEs (including UE3 and UE4).

[0293] Optionally, the AF may send a service request message to the SF through the NEF.

[0294] Step 816: The SF obtains the sensing capability information of the candidate UE in the second candidate UE list, and optionally, may also obtain the location information of the candidate UE.

[0295] For the specific implementation of this step, please refer to steps 804 to 807.

[0296] Step 817: The SF selects UE3 as the sensing device from the candidate UEs in the second candidate UE list.

[0297] For the specific implementation of SF selection perception device, please refer to step 808.

[0298] Step 818: SF sends a perception measurement request message to UE3.

[0299] Optionally, the perception measurement request message may further include information of the target object, such as current location information, size, shape, etc. of the target object.

[0300] Optionally, the perception measurement request message may further include indication information, where the indication information is used to instruct the UE3 to activate perception measurement in the entire area that the UE can perceive.

[0301] Optionally, the perception measurement request message may further include a perception measurement termination condition.

[0302] It should be understood that the SF may send the perception measurement request message to the UE3 through the serving AMF of the UE3, or may directly send the perception measurement request message to the UE3.

[0303] Step 819: UE3 performs perception measurement on the target object.

[0304] Step 820: UE3 sends the measured perception data to SF via UE3's serving AMF.

[0305] It should be understood that UE3 may also send the perception data directly to the SF without going through the serving AMF of UE3.

[0306] It should be understood that steps 819 to 820 may be performed multiple times, that is, UE3 may perform multiple perception measurements and report perception data multiple times.

[0307] Step 821: SF aggregates the perception data received multiple times to generate a continuous movement trajectory of the target object.

[0308] Step 822: SF sends the moving trajectory of the target object to AF.

[0309] It should be understood that the timing relationship of each step in the process shown in FIG8 is only a possible example and is not limited in this application.

[0310] For the specific implementation of the above steps in the process shown in FIG8 , reference may be made to the relevant content in the process shown in FIG6 .

[0311] It should be understood that FIG8 is only an example of the process shown in FIG6 in the above scenario, and this application is not limited thereto.

[0312] Example 2

[0313] Example 2 takes the system architecture shown in Figure 4 or Figure 5 as an example to describe another specific implementation process of the method shown in Figure 6. In which, the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0314] As shown in FIG9 , the process may include the following steps:

[0315] Step 901: UE1 sends a registration request message to the serving AMF, which carries the identity of UE1 and the perception capability information of UE1.

[0316] Step 902: The AMF stores the sensing capability information of UE1 in the context of UE1.

[0317] Step 903: AMF sends a registration accept message to UE1.

[0318] UE2, UE3, and UE4 each send a registration request message. The AMF stores the sensing capability information of UE2, UE3, and UE4 in the UE context. For the specific implementation process, refer to the registration process of UE1.

[0319] Step 904: The AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes the identifiers of candidate UEs that perform sensing measurements on the target object. The first sensing requirement information may include information about the target object (e.g., location, shape, size, etc.) and / or sensing measurement accuracy information. For the specific implementation of this step, see step 801 in Figure 8.

[0320] Step 905: The SF obtains the serving AMF information of the candidate UE from the UDM. For the specific implementation of this step, please refer to step 802 in Figure 8.

[0321] Step 906: The SF sends a request message to the candidate UE's AMF, which carries the candidate UE's identifier. For the specific implementation of this step, please refer to step 803 in Figure 8.

[0322] Step 907: After receiving the request message, the AMF obtains the perception capability information of the candidate UE from the context of the corresponding UE according to the identifier of the candidate UE carried in the request message.

[0323] Step 908: After receiving the request message, the AMF triggers a positioning process for the candidate UE based on the candidate UE identifier carried in the request message to obtain the location information of the candidate UE. The specific implementation of this step can be referred to step 804 in Figure 8.

[0324] It should be understood that this step is optional. In one possible implementation, if the request message sent by the SF in step 906 includes instruction information for instructing to obtain UE location information (or includes instruction information for triggering the positioning procedure), the AMF triggers the positioning procedure for the candidate UE; otherwise, the AMF does not initiate the positioning procedure by default.

[0325] Step 909: The AMF sends a response message to the SF, which carries the candidate UE's identifier, the candidate UE's sensing capability information, and optionally the candidate UE's location information. For the specific implementation of this step, please refer to step 807 in Figure 8.

[0326] Step 910: The SF selects UE1 from the candidate UEs in the first candidate UE list as the target sensing device. For the specific implementation of this step, please refer to step 808 in Figure 8.

[0327] Step 911: The SF sends a perception measurement request message to the serving AMF of UE1, which carries the identifier of UE1. For the specific implementation of this step, please refer to step 809 in Figure 8.

[0328] Step 912: The serving AMF of UE1 sends the perception measurement request message to UE1 according to the identifier of UE1 in the received perception measurement request message.

[0329] It should be understood that in steps 809 to 810, the SF may interact directly with UE1 without going through the serving AMF of UE1.

[0330] Step 913: UE1 performs perception measurement on the target object.

[0331] Step 914: UE1 sends the measured perception data to the SF through UE1's serving AMF.

[0332] It should be understood that UE1 may also send the sensing data directly to the SF without going through the serving AMF of UE1.

[0333] It should be understood that steps 811 to 812 may be performed multiple times, that is, UE1 may perform multiple perception measurements and report perception data multiple times.

[0334] Step 915: SF determines that the target object moves to the first position, or UE1 meets the sensing measurement termination condition, or currently meets the condition for reselecting a sensing device for the target object, or determines to perform reselection of the sensing device.

[0335] Step 916: The SF sends a request message to the AF, which carries the location information of the target object, requesting to obtain a candidate UE list for the target object. The location information of the target object is the current location information of the target object, which is determined by the SF based on the sensing data reported by the first sensing device.

[0336] Optionally, the SF may send a request message to the AF through the NEF.

[0337] Step 917: After receiving the request message, the AF sends a response message to the SF, which carries a second candidate UE list. The second candidate UE list includes the identifiers of the candidate UEs that perform perception measurements on the target object.

[0338] Step 918: The SF obtains the sensing capability information of the candidate UE in the second candidate UE list, and optionally, may also obtain the location information of the candidate UE.

[0339] Step 919: The SF selects UE3 as the sensing device from the candidate UEs in the second candidate UE list.

[0340] Step 920: SF sends a perception measurement request message to UE3.

[0341] Step 921: UE3 performs perception measurement on the target object.

[0342] Step 922: UE3 sends the measured perception data to SF via UE3's serving AMF.

[0343] Step 923: SF aggregates the perception data received multiple times to generate a continuous movement trajectory of the target object.

[0344] Step 924: SF sends the moving trajectory of the target object to AF.

[0345] In the process shown in FIG. 9 , the specific implementation of steps 915 to 924 may refer to steps 813 to 822 in the process shown in FIG. 8 .

[0346] In this process, the UE can register the perception capability information into the UE context through the registration process. In this way, when the AMF obtains the perception capability of the candidate UE, it can directly obtain the perception capability information from the UE context without interacting with the candidate UE, thereby saving signaling overhead.

[0347] It should be understood that the timing relationship of each step in the process shown in FIG9 is only a possible example and is not limited in this application.

[0348] For the specific implementation of the above steps in the process shown in FIG9 , reference may be made to the relevant content in the process shown in FIG6 .

[0349] It should be understood that FIG9 is only an example of the process shown in FIG6 in the above scenario, and this application is not limited thereto.

[0350] Example 3

[0351] Example 3 Taking the system architecture shown in Figure 4 or Figure 5 as an example, a specific implementation process of the method shown in Figure 7 is described. In which, the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0352] As shown in Figure 10, the process may include the following steps:

[0353] Step 1001: The AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of a target object. The first candidate UE list includes identifiers of candidate UEs that perform sensing measurements on the target object. The first sensing requirement information may include target object information (e.g., location, shape, size, etc.) and / or sensing measurement accuracy information.

[0354] Step 1002: The SF obtains the serving AMF information of the candidate UE from the UDM.

[0355] Step 1003: The SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE.

[0356] Step 1004: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0357] Step 1005a: The serving AMF of UE1 sends a request message to UE1 to request the sensing capability information of UE1.

[0358] Step 1005b: UE1 sends a response message to UE1's serving AMF, which carries UE1's sensing capability information, such as the sensing modes supported by UE1 and / or the sensing range of UE1.

[0359] Step 1006a: The serving AMF of UE2 sends a request message to UE2 to request the sensing capability information of UE2.

[0360] Step 1006b: UE2 sends a response message to the serving AMF of UE2, which carries the sensing capability information of UE2, for example, including the sensing modes supported by UE2 and / or the sensing range of UE2.

[0361] Step 1007: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the perception capability information of the candidate UE, and optionally the location information of the candidate UE.

[0362] Step 1008: The SF selects UE1 as the target sensing device from the candidate UEs in the first candidate UE list.

[0363] Step 1009: The SF sends a perception measurement request message to the serving AMF of UE1, which carries the identifier of UE1.

[0364] Step 1010: The serving AMF of UE1 sends a perception measurement request message to UE1 according to the identifier of UE1 in the received perception measurement request message.

[0365] Step 1011: UE1 performs perception measurement on the target object.

[0366] Step 1012: UE1 sends the measured perception data to the SF through UE1's serving AMF.

[0367] For the specific implementation of the above steps 1001 to 1012, please refer to steps 801 to 812 in Figure 8.

[0368] Step 1013: UE1 determines that the target object moves to the first position, or that UE1 meets the sensing measurement termination condition, or that the condition for reselecting a sensing device for the target object is currently met, or that UE1 determines to perform reselection of the sensing device.

[0369] Optionally, UE1 may determine whether it is necessary to trigger reselection of the perception device based on perception measurements of the target object.

[0370] Optionally, UE1 may trigger reselection of the sensing device when determining that one or more of the following conditions are met:

[0371] Condition 1: If the target object moves out of or is about to move out of the perception area of ​​UE1, for example, the target object is currently located at the edge of the perception area of ​​UE1.

[0372] Condition 2: The power of the sensing signal reaching the target object is lower than the set threshold.

[0373] Step 1014: UE1 sends a first message including second sensing requirement information of the target object, wherein the second sensing requirement information includes location information of the target object. Optionally, the second sensing requirement information also includes sensing capability requirement information and / or sensing measurement accuracy information.

[0374] Optionally, the first message is a broadcast message, for example, the first message is a discovery request message (discovery request message), and UEs around UE1 (such as UE3 and UE4) can receive the message.

[0375] Step 1015: UE3 and UE4 send first response messages to UE1 respectively.

[0376] Optionally, the UE (such as UE3 and UE4) that receives the first message determines that the target object is within the sensing area of ​​the UE according to the location information of the target object, and then sends a first response message.

[0377] Optionally, the UE (such as UE3 and UE4) that receives the first message determines whether it meets the corresponding requirements based on the perception capability requirement information and / or perception measurement accuracy information in the first message. If it does, and the target object is within the perception area of ​​the UE, it sends a first response message to UE1. Otherwise, it does not send a response message to the first perception device.

[0378] In this example, UE3 and UE4 respectively determine that they meet the requirements indicated by the sensing capability requirement information and / or the sensing measurement accuracy information, and the target object is within the sensing area, and respectively return a first response message to UE1.

[0379] Optionally, the first response message sent by UE3 may further include the perception capability information and / or location information of UE3, and the first response message sent by UE4 may include the perception capability information and / or location information of UE4.

[0380] Step 1016: UE1 selects UE3 as the target sensing device.

[0381] Optionally, UE1 may select a target sensing device based on sensing capability information and / or location information of UE3 and UE4. This example takes UE1 selecting UE3 as an example.

[0382] Step 1017: UE1 sends a notification message to SF, which carries the identification information of UE3, to notify SF of the newly selected sensing device.

[0383] This step is optional.

[0384] Step 1018: UE1 sends a perception measurement request message to UE3.

[0385] Step 1019: UE3 sends a notification message to SF, which carries the identification information of UE3, to notify SF of the newly selected sensing device.

[0386] This step is optional.

[0387] It should be understood that if step 1017 is performed, step 1019 may be omitted; or if step 1019 is performed, step 1017 may be omitted.

[0388] Step 1020: UE3 performs perception measurement on the target object.

[0389] Step 1021: UE3 sends the measured perception data to SF through UE3's serving AMF.

[0390] Step 1022: SF aggregates the perception data received multiple times to generate a continuous movement trajectory of the target object.

[0391] Step 1023: SF sends the moving trajectory of the target object to AF.

[0392] It should be understood that the timing relationship of each step in the process shown in FIG10 is only a possible example and is not limited in this application.

[0393] For the specific implementation of the above steps in the process shown in FIG10 , reference may be made to the relevant content in the process shown in FIG7 .

[0394] It should be understood that FIG10 is only an example of the process shown in FIG7 in the above scenario, and this application is not limited thereto.

[0395] Example 4

[0396] Example 2 takes the system architecture shown in Figure 4 or Figure 5 as an example to describe another specific implementation process of the method shown in Figure 7. In which, the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0397] As shown in Figure 11, the process may include the following steps:

[0398] Step 1101: UE1 sends a registration request message to the serving AMF, which carries the identity of UE1 and the perception capability information of UE1.

[0399] Step 1102: The AMF stores the sensing capability information of UE1 in the context of UE1.

[0400] Step 1103: AMF sends a registration accept message to UE1.

[0401] UE2, UE3, and UE4 each send a registration request message. The AMF stores the sensing capability information of UE2, UE3, and UE4 in the UE context. For the specific implementation process, refer to the registration process of UE1.

[0402] Step 1104: The AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes identifiers of candidate UEs that perform sensing measurements on the target object. The first sensing requirement information may include information about the target object (e.g., location, shape, size, etc.) and / or sensing measurement accuracy information.

[0403] Step 1105: The SF obtains the serving AMF information of the candidate UE from the UDM.

[0404] Step 1106: The SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE.

[0405] Step 1107: After receiving the request message, the AMF obtains the perception capability information of the candidate UE from the context of the corresponding UE according to the identifier of the candidate UE carried in the request message.

[0406] Step 1108: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0407] Step 1109: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the perception capability information of the candidate UE, and optionally the location information of the candidate UE.

[0408] Step 1110: The SF selects UE1 as the target sensing device from the candidate UEs in the first candidate UE list.

[0409] Step 1111: The SF sends a perception measurement request message to the serving AMF of UE1, which carries the identifier of UE1.

[0410] Step 1112: The serving AMF of UE1 sends the perception measurement request message to UE1 according to the identifier of UE1 in the received perception measurement request message.

[0411] Step 1113: UE1 performs perception measurement on the target object.

[0412] Step 1114: UE1 sends the measured perception data to SF through UE1's serving AMF.

[0413] For the specific implementation of the above steps 1101 to 1114, please refer to steps 901 to 914 in Figure 9.

[0414] Step 1115: UE1 determines that the target object moves to the first position, or that UE1 meets the sensing measurement termination condition, or that the condition for reselecting a sensing device for the target object is currently met, or that UE1 determines to perform reselection of the sensing device.

[0415] Step 1116: UE1 sends a first message including second sensing requirement information of the target object, wherein the second sensing requirement information includes location information of the target object. Optionally, the second sensing requirement information also includes sensing capability requirement information and / or sensing measurement accuracy information.

[0416] Step 1117: UE3 and UE4 send first response messages to UE1 respectively.

[0417] Step 1118: UE1 selects UE3 as the target sensing device.

[0418] Step 1119: UE1 sends a notification message to SF, which carries the identification information of UE3, to notify SF of the newly selected sensing device.

[0419] Step 1120: UE1 sends a perception measurement request message to UE3.

[0420] Step 1121: UE3 sends a notification message to SF, which carries the identification information of UE3, to notify SF of the newly selected sensing device.

[0421] Step 1122: UE3 performs perception measurement on the target object.

[0422] Step 1123: UE3 sends the measured perception data to SF through UE3's serving AMF.

[0423] Step 1124: SF aggregates the perception data received multiple times to generate a continuous movement trajectory of the target object.

[0424] Step 1125: SF sends the moving trajectory of the target object to AF.

[0425] For the specific implementation of the above steps 1115 to 1125, please refer to steps 1013 to 1023 in Figure 10.

[0426] It should be understood that the timing relationship of each step in the process shown in Figure 11 is only a possible example and this application does not limit it.

[0427] For the specific implementation of the above steps in the process shown in FIG11 , reference may be made to the relevant content in the process shown in FIG7 .

[0428] It should be understood that FIG11 is only an example of the process shown in FIG7 in the above scenario, and this application is not limited thereto.

[0429] It is understandable that in order to implement the functions in the above embodiments, the sensing device and the network device include hardware structures and / or software modules corresponding to the execution of each function. It should be readily apparent to those skilled in the art that, in combination with the units and method steps of the various examples described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether the first function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0430] Figures 12 and 13 are schematic diagrams of the structures of possible communication devices provided in the embodiments of the present application. These communication devices can be used to implement the functions of the network device or the sensing device in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments. In the embodiments of the present application, the communication device can be a terminal device or a network device, or a module (such as a chip) applied to a terminal device or a network device.

[0431] As shown in Figure 12, the communication device 1200 includes a processing unit 1210 and a transceiver unit 1220. The communication device 1200 is used to implement the functions of a network device (such as a first core network element) or a sensing device in the method embodiment shown in any of Figures 6 to 11 above.

[0432] For example, when the communication device 1200 is used to implement the function of the network device in the method embodiment shown in Figure 6, Figure 8 or Figure 9: the transceiver unit 1220 receives first information from the second core network network element, and the first information includes identification information of a first candidate perception device for perceiving the target object and first perception requirement information of the target object; the processing unit 1210 is used to select a first perception device from the first candidate perception devices according to the first perception requirement information of the target object; the processing unit 1210 sends a first perception measurement request message to the first perception device through the transceiver unit 1220, and the first perception measurement request message is used to request the first perception device to perform perception measurement on the target object.

[0433] For another example, when the communication device 1200 is used to implement the function of the perception device in the method embodiment shown in Figure 7, Figure 10 or Figure 11: the transceiver unit 1220 is used to receive a first perception measurement request message, and the first perception measurement request message is used to request perception measurement of the target object; the processing unit 1210 is used to perform perception measurement on the target object according to the first perception measurement request message; when the target object moves to a first position, the processing unit 1210 sends a first message through the transceiver unit 1220, and the first message includes second perception requirement information of the target object, and the second perception requirement information includes the position information of the target object; the transceiver unit 1220 receives a first response message from N perception devices used to perceive the target object, where N is an integer greater than or equal to 1; the processing unit 1210 selects a second perception device from the N perception devices, and sends a second perception measurement request message to the second perception device through the transceiver unit 1220, and the second perception measurement request message is used to request the second perception device to perform perception measurement on the target object.

[0434] A more detailed description of the processing unit 1210 and the transceiver unit 1220 can be directly obtained by referring to the relevant descriptions in the method embodiments shown in Figures 6 to 11, and will not be repeated here.

[0435] As shown in Figure 13, communication device 1300 includes a processor 1310 and an interface circuit 1320. Processor 1310 and interface circuit 1320 are coupled to each other. It is understood that interface circuit 1320 can be a transceiver or an input / output interface. Optionally, communication device 1300 may also include a memory 1330 for storing instructions executed by processor 1310, input data required by processor 1310 to execute instructions, or data generated by processor 1310 after executing instructions.

[0436] When the communication device 1300 is used to implement the methods shown in FIG. 6 to FIG. 11 , the processor 1310 is used to implement the functions of the processing unit 1210 , and the interface circuit 1320 is used to implement the functions of the transceiver unit 1220 .

[0437] When the communication device is a chip used in a device, the chip implements the functions of the device in the above method embodiment. The chip receives information from other modules in the device; or the chip sends information to other modules in the device.

[0438] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0439] The present application provides another example of a communication device, which includes at least one processor and at least one memory, the at least one processor and the at least one memory being coupled, the at least one memory being used to store instructions. When the instructions are executed by the at least one processor, the communication device performs the method in the above-described embodiment. For example, as shown in FIG13 , a communication device 1300 includes a processor 1310 and a memory 1330. The processor 1310 and the memory 1330 are coupled, and the memory 1330 stores instructions. When the instructions stored in the memory 1330 are executed by the processor 1310, the communication device 1300 performs the method performed by the sensing device or network device in the above-described embodiment.

[0440] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. The processor and storage medium can also exist in a network device or a terminal as discrete components.

[0441] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. 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 integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0442] 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.

[0443] 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.

[0444] 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.

Claims

1. A perception measurement method, characterized in that: include: The first core network element receives first information from the second core network element, where the first information includes identification information of a first candidate sensing device for sensing a target object and first sensing requirement information of the target object; The first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information of the target object; The first core network element sends a first perception measurement request message to the first perception device, where the first perception measurement request message is used to request the first perception device to perform perception measurement on the target object.

2. The method according to claim 1, characterized in that The first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information, including: The first core network element selects the first perception device from the first candidate perception devices according to the first perception requirement information, and according to the perception capability information of the first candidate perception device and / or the location information of the first candidate perception device.

3. The method according to claim 2, characterized in that Also includes: The first core network network element obtains the perception capability information of the first candidate perception device from a third core network network element serving the first candidate perception device.

4. The method according to claim 2 or 3, characterized in that Also includes: The first core network element obtains the location information of the first candidate perception device from a third core network element serving the first candidate perception device.

5. The method according to claim 2 or 3, characterized in that: The first information also includes location information of the first candidate sensing device.

6. The method according to any one of claims 1 to 5, characterized in that: Also includes: When the target object moves to a first position, the first core network element sends a request message to the second core network element, where the request message includes the position information of the target object; The first core network element receives a response message from the second core network element, where the response message includes second information, and the second information includes identification information of a second candidate sensing device for sensing the target object; The first core network element selects a second sensing device from the second candidate sensing devices; The first core network network element sends a second perception measurement request message to the second perception device, where the second perception measurement request message is used to request the second perception device to perform perception measurement on the target object.

7. The method according to claim 6, characterized in that When the target object moves to a first position, the first core network element sends a request message to the second core network element, including: When the first core network element receives indication information from the first perception device, the first core network element sends a request message to the second core network element, where the indication information indicates that the first perception device meets a perception measurement termination condition.

8. The method according to claim 7, characterized in that The first perception measurement request message includes the perception measurement termination condition, and the perception measurement termination condition is used to trigger the first perception device to send the indication information when the target object meets the perception measurement termination condition.

9. The method according to claim 7 or 8, characterized in that The sensing measurement termination condition includes one or more of the following: It is detected that the received power of the target object to the sensing signal is lower than the threshold; or, The target object has moved out of or is about to move out of the sensing area of ​​the sensing device.

10. The method according to claim 6, characterized in that When the target object moves to a first position, the first core network element sends a request message to the second core network element, including: When the first core network determines that the first perception device meets the perception measurement termination condition based on the perception data obtained from the first perception device through perception detection of the target object, the first core network network element sends a request message to the second core network network element.

11. The method according to claim 10, characterized in that The determining that the first sensing device satisfies a sensing measurement termination condition includes: If the first core network element determines that the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device, it is determined that the first sensing device meets the sensing measurement termination condition; or, If the first core network network element determines that the reception power of the target object to the perception signal sent by the first perception device is lower than a threshold, it is determined that the first perception device meets the perception measurement termination condition.

12. The method according to any one of claims 6 to 11, characterized in that: The first core network element selects a second sensing device from the second candidate sensing devices, including: The first core network element selects the second perception device from the second candidate perception devices according to the perception capability information of the second candidate perception device and / or the location information of the second perception device.

13. The method according to any one of claims 1 to 12, characterized in that: The first core network network element receiving first information from the second core network network element includes: The first core network element receives a perception service request message from the second core network element, where the perception service request message includes the first information.

14. The method according to any one of claims 2 to 13, characterized in that: The perception capability information includes one or more of the following information: information on supported perception modes and information on perception areas.

15. The method according to any one of claims 1 to 14, characterized in that: The first sensing requirement information includes one or more of the following: information of the target object, sensing measurement accuracy information; The information of the target object includes one or more of the following: location information of the target object, shape of the target object, and size of the target object.

16. A perception measurement method, characterized in that: include: The first perception device receives a first perception measurement request message, where the first perception measurement request message is used to request a perception measurement of a target object; The first perception device performs perception measurement on the target object according to the first perception measurement request message; When the target object moves to a first position, the first sensing device sends a first message, wherein the first message includes second sensing requirement information of the target object, and the second sensing requirement information includes position information of the target object; The first sensing device receives a first response message from N sensing devices for sensing the target object, where N is an integer greater than or equal to 1; The first sensing device selects a second sensing device from the N sensing devices; The first perception device sends a second perception measurement request message to the second perception device, where the second perception measurement request message is used to request the second perception device to perform perception measurement on the target object.

17. The method according to claim 16, characterized in that The second sensing requirement information further includes one or more of the following: sensing capability requirement information for indicating sensing capability requirement, or sensing measurement accuracy information for indicating sensing measurement accuracy requirement; The N sensing devices meet the sensing capability requirement indicated by the sensing capability requirement information, and / or meet the sensing measurement accuracy requirement indicated by the sensing measurement accuracy information.

18. The method according to claim 17, characterized in that The sensing capability requirement information includes: information for indicating sensing capability type requirements, and / or information for indicating sensing area size requirements.

19. The method according to claim 17 or 18, characterized in that The sensing measurement accuracy information includes: a distance threshold between the sensing device and the target object, and / or a signal strength threshold.

20. The method according to any one of claims 17 to 19, characterized in that: The first perception measurement request message includes the perception capability requirement information and / or the perception measurement accuracy information.

21. The method according to any one of claims 16 to 20, characterized in that: The first sensing device selects a second sensing device from the N sensing devices, comprising: The first sensing device selects the second sensing device from the N sensing devices according to the sensing capability information of the N sensing devices and / or the location information of the N sensing devices.

22. The method according to claim 21, characterized in that The first response message sent by each of the N sensing devices includes sensing capability information of the sensing device and / or location information of the sensing device.

23. The method according to claim 21 or 22, characterized in that The perception capability information includes one or more of the following information: information on supported perception modes and information on perception areas.

24. The method according to any one of claims 16 to 23, characterized in that: When the target object moves to a first position, the first sensing device sends a first message, including: When the first perception device determines, based on the perception measurement of the target object, that the first perception device meets the perception measurement termination condition, the first perception device sends the first message.

25. The method of claim 24, wherein: The first perception measurement request message also includes the perception measurement termination condition.

26. The method according to claim 24 or 25, characterized in that The sensing measurement termination condition includes one or more of the following: The received power of the sensing signal of the target object is lower than the threshold; or, The target object has moved out of the sensing area or is about to move out of the sensing area.

27. The method according to any one of claims 16 to 26, characterized in that: After the first sensing device selects the second sensing device from the N sensing devices, the method further includes: The first perception device sends a notification message to a first core network element, where the notification message includes an identifier of the second perception device, and the first core network element is used to receive perception data of the second perception device.

28. A communication device, characterized in that: The method comprises a unit or a module for executing the method according to any one of claims 1 to 15, or comprises a unit or a module for executing the method according to any one of claims 16 to 27.

29. A communication device, characterized in that: include: The one or more processors are configured to execute the method of any one of claims 1-15, or to execute the method of any one of claims 16-27.

30. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is executed by the communication device, the method according to any one of claims 1 to 15 is implemented, or the method according to any one of claims 16 to 27 is implemented.

31. A chip system, characterized in that: include: a memory for storing computer programs; a processor; When the processor calls and runs the computer program from the memory, the communication device equipped with the chip system executes the method described in any one of claims 1 to 15, or executes the method described in any one of claims 16 to 27.

32. A computer program product, characterized in that When the computer program product is called by a computer, the computer executes the method according to any one of claims 1 to 15, or executes the method according to any one of claims 16 to 27.

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