Communication method and related apparatus

Abstract

The present application relates to the technical field of wireless communications, and particularly to a communication method and a related apparatus. The method comprises: sending a first message, wherein the first message comprises the identifier information of a terminal device; and receiving a second message, wherein the second message comprises positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are / is used for determining a sensing result. Use of the method can improve the sensing precision of the sensing technology.

Description

A communication method and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311866849.2 and application name “A communication method and related device”, the entire contents of which are incorporated by reference into this application. Technical Field

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

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

[0004] Existing perception technologies are mainly used to perceive non-communication devices between base stations and terminal devices. In the actual perception process, the perception device usually needs to first clarify the location of the base station and the terminal device, so that it can perform perception calculations based on the time delay or angle of the echo signal to determine the location, speed and other information of the non-communication device. In other words, the accuracy of the perception results obtained by the perception calculation is directly related to the accuracy of the acquired locations of the base station and terminal device. However, in some actual application scenarios, the terminal device may be in a mobile state with an unfixed position. In this case, the perception result obtained by the perception calculation based on the pre-acquired position of the terminal device is not accurate. Therefore, in scenarios where the position of the terminal device is not fixed, how to improve the perception accuracy has become one of the problems that need to be solved urgently. Summary of the Invention

[0005] In order to solve the above problems, the present application provides a communication method and related devices, which can improve the perception accuracy of perception technology.

[0006] The present application is introduced below from multiple aspects. It is easy to understand that the implementation methods of the following multiple aspects can refer to each other.

[0007] In a first aspect, an embodiment of the present application provides a communication method, applicable to a first device, comprising: sending a first message, wherein the first message includes identification information of a terminal device; and receiving a second message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device, wherein the positioning measurement information and / or the first perception measurement information are used to determine a perception result.

[0008] In an embodiment of the present application, the first device can interact with the second device to obtain appropriate and more accurate positioning measurement information and / or perception measurement information. The first device can then perform perception calculations based on the content it has obtained to obtain more accurate perception results, thereby improving the perception accuracy of the perception technology.

[0009] In a second aspect, an embodiment of the present application provides a communication method applicable to a second device, the method comprising: receiving a first message, wherein the first message includes identification information of a terminal device; sending a second message or a third message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device; and the third message includes positioning measurement information, wherein the positioning measurement information and / or the first perception measurement information are used to determine a perception result.

[0010] In combination with the first aspect or the second aspect, in a possible implementation manner, the second message includes the positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0011] In combination with the first aspect or the second aspect, in a possible implementation, the first message also includes indication information for indicating a target time period, and the target location information is location information of the terminal device within the target time period.

[0012] In the above implementation, the indication information included in the first message can be used by the second device to determine the location information of the terminal device within the target time period and report it to the first device, thereby reducing the amount of data reported by the second device. In addition, the location information of the terminal device reported by the second device is determined based on the time when the second perception measurement information is obtained. In other words, the time corresponding to the location information of the terminal device required by the first device for perception calculation is the same as the time corresponding to the location information of the terminal device determined by the second device, which is equivalent to obtaining the location information of the terminal device in real time. Therefore, the first device obtains the location information of the terminal device more accurately, and the perception result obtained by its perception calculation is also more accurate, which can improve the perception accuracy.

[0013] In combination with the first aspect or the second aspect, in one possible implementation, the indication information includes a target time and a time offset, the target time and the time offset are used to determine the target time period, the target time is determined by the acquisition time of the second perception measurement information, and the second perception measurement information and the target position information are used to determine the perception result.

[0014] In combination with the first aspect or the second aspect, in a possible implementation manner, the second perception measurement information includes a non-first path delay of a perception reference signal, a non-first path angle of arrival (angle of arrival, AOA), a non-first path angle of departure (angle of department, AOD), a non-first path reference signal received power (reference signal receiving power, RSRP), a point cloud, a Doppler velocity spectrum, a distance spectrum or an angle spectrum. One or more of the above.

[0015] In combination with the first aspect or the second aspect, in a possible implementation manner, the second message further includes the first perception measurement information and first time identifier information, where the first time identifier information is used to indicate a time moment for obtaining the first perception measurement information.

[0016] In combination with the first aspect or the second aspect, in a possible implementation manner, the second message further includes second time identifier information, where the second time identifier information is used to indicate a time moment for acquiring the positioning measurement information.

[0017] In combination with the first aspect or the second aspect, in a possible implementation manner, the first perception measurement information includes one or more of the non-first path delay, non-first path AOA, non-first path AOD, or non-first path RSRP of the target reference signal.

[0018] In the above implementation, the first device can determine the positioning measurement information and perception measurement information with the same acquisition time through the first time identification information and the second time identification information. That is to say, the time corresponding to the location information of the terminal device required by the first device when performing perception calculation is the same as the time corresponding to the location information of the terminal device determined by the second device. This is equivalent to obtaining the location information of the terminal device in real time, and the perception result obtained by the first device through perception calculation is more accurate, thereby improving the perception accuracy of the perception technology.

[0019] In combination with the first aspect, in a possible implementation method, the second message includes the positioning measurement information and second time identification information, the positioning measurement information includes the target location information of the terminal device, and the second time identification information is used to indicate the acquisition time of the target location information. The method also includes: receiving a fourth message, wherein the fourth message includes third perception measurement information and third time identification information, and the third time identification information is used to indicate the acquisition time of the third perception measurement information.

[0020] In combination with the first aspect, in a possible implementation manner, the third perception measurement information includes one or more of the non-first path delay, non-first path AOA, non-first path AOD, or non-first path RSRP of the target reference signal.

[0021] In the above implementation, the first device can determine the positioning measurement information and perception measurement information with the same acquisition time through the second time identification information and the third time identification information. That is to say, the time corresponding to the location information of the terminal device required by the first device when performing perception calculation is the same as the time corresponding to the location information of the terminal device determined by the second device. This is equivalent to obtaining the location information of the terminal device in real time, and the perception result obtained by the first device through perception calculation is more accurate, thereby improving the perception accuracy of the perception technology.

[0022] In combination with the first aspect, in a possible implementation manner, the second message includes the first perception measurement information, and the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0023] In combination with the first aspect, in a possible implementation, before sending the first message, the method further includes: receiving a fifth message, wherein the fifth message is used to request the first device to perform a perception service.

[0024] In conjunction with the first aspect, in a possible implementation, the method includes: determining the perception result according to the positioning measurement information and / or the first perception measurement information, and sending a sixth message, wherein the sixth message includes the perception result.

[0025] In a third aspect, the present application provides a communication method applicable to a perception device, the method comprising: receiving a third message from a second device, wherein the third message includes positioning measurement information of the terminal device; and sending a second message to the first device, wherein the second message includes the first perception measurement information.

[0026] In combination with the third aspect, in a possible implementation manner, the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0027] In combination with the third aspect, in a possible implementation, the third message also includes fourth time identification information, and the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0028] In combination with the third aspect, in a possible implementation, the positioning measurement information is determined by fourth perception measurement information, and the fourth perception measurement information includes one or more of the first path delay, first path AOA, first path AOD, first path RSRP, non-first path delay, non-first path AOA, non-first path AOD or non-first path RSRP of the target reference signal.

[0029] With reference to the third aspect, in a possible implementation manner, before sending the second message to the first device, the method further includes: determining the first perception measurement information according to the positioning measurement information and original perception measurement information.

[0030] In combination with the third aspect, in a possible implementation manner, the original perception measurement information includes one or more of the non-first path delay, non-first path AOA, non-first path AOD, or non-first path RSRP of the target reference signal.

[0031] In the above implementation, after receiving the terminal device's positioning measurement information from the second device, the sensing device can first perform a sensing calculation based on the original sensing measurement information to obtain first sensing measurement information, which is then sent to the first device for further sensing calculation. Because the amount of data in the first sensing measurement information is significantly smaller than that in the original sensing measurement information, this can reduce the pressure on the sensing device to transmit data. In other words, the amount of data transmitted is reduced during the data transmission process, thereby reducing data transmission latency.

[0032] In combination with at least one of the first to third aspects, in a possible implementation manner, the first device includes a sensing function (SF) network element.

[0033] In combination with the second aspect or the third aspect, in a possible implementation manner, the second device includes a location management function (LMF) network element.

[0034] In combination with the third aspect, in a possible implementation, the perception device includes the terminal device or the network device.

[0035] It should be understood that the communication methods provided in the second and third aspects are used to cooperate with the communication method provided in the first aspect, and thus can achieve the same beneficial effects. In order to avoid redundancy, they will not be repeated.

[0036] It should be understood that the communication method provided in the first aspect is also applicable to functional components within the first device, such as the processor, chip, chip system, circuit, etc. within the first device, and this application does not impose specific limitations on this. Similarly, the communication method provided in the second or third aspect is also applicable to functional components within the corresponding device. To avoid redundancy, the description will not be repeated here.

[0037] In a fourth aspect, the present application provides a communication device, which may be the first device mentioned in the first aspect. The communication device includes a processing unit and a transceiver unit. The processing unit is configured to generate a first message, wherein the first message includes identification information of a terminal device. The transceiver unit is configured to send the first message. The transceiver unit is further configured to receive a second message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device, wherein the positioning measurement information and / or the first perception measurement information are used to determine a perception result.

[0038] In a fifth aspect, the present application provides a communication device, which may be the second device mentioned in the second aspect. The communication device includes a processing unit and a transceiver unit. The transceiver unit is configured to receive a first message, wherein the first message includes identification information of a terminal device. The processing unit is configured to generate a second message or a third message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device, and the third message includes positioning measurement information, wherein the positioning measurement information and / or the first perception measurement information are used to determine a perception result. The transceiver unit is further configured to send the second message or the third message.

[0039] In combination with the fourth aspect or the fifth aspect, in a possible implementation manner, the second message includes the positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0040] In combination with the fourth aspect or the fifth aspect, in a possible implementation, the first message also includes indication information for indicating a target time period, and the target location information is location information of the terminal device within the target time period.

[0041] In combination with the fourth aspect or the fifth aspect, in a possible implementation method, the indication information includes a target time and a time offset, the target time and the time offset are used to determine the target time period, the target time is determined by the acquisition time of the second perception measurement information, and the second perception measurement information and the target position information are used to determine the perception result.

[0042] In combination with the fourth aspect or the fifth aspect, in a possible implementation method, the second perception measurement information includes one or more of the non-first path delay of the perception reference signal, the non-first path arrival angle AOA, the non-first path departure angle AOD, the non-first path reference signal received power RSRP, the point cloud, the Doppler velocity spectrum, the distance spectrum or the angle spectrum.

[0043] In combination with the fourth aspect or the fifth aspect, in a possible implementation manner, the second message also includes the first perception measurement information and first time identifier information, where the first time identifier information is used to indicate a time moment for obtaining the first perception measurement information.

[0044] In combination with the fourth aspect or the fifth aspect, in a possible implementation manner, the second message further includes second time identification information, where the second time identification information is used to indicate a time moment for acquiring the positioning measurement information.

[0045] In combination with the fourth aspect or the fifth aspect, in a possible implementation method, the first perception measurement information includes one or more of the non-first path delay of the target reference signal, the non-first path arrival angle AOA, the non-first path departure angle AOD, or the received power RSRP of the non-first path reference signal.

[0046] In combination with the fourth aspect, in a possible implementation method, the transceiver unit is also used to receive a fourth message, wherein the fourth message includes third perception measurement information and third time identification information, and the third time identification information is used to indicate the time when the third perception measurement information is obtained.

[0047] In combination with the fourth aspect, in a possible implementation method, the third perception measurement information includes one or more of the non-first path delay of the target reference signal, the non-first path arrival angle AOA, the non-first path departure angle AOD, or the received power RSRP of the non-first path reference signal.

[0048] In combination with the fourth aspect, in a possible implementation manner, the second message includes the first perception measurement information, and the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0049] In combination with the fourth aspect, in a possible implementation, the transceiver unit is further used to receive a fifth message, wherein the fifth message is used to request the first device to perform a perception service.

[0050] In conjunction with the fourth aspect, in one possible implementation, the processing unit is further configured to determine the perception result based on the positioning measurement information and / or the first perception measurement information. The processing unit is further configured to generate a sixth message, wherein the sixth message includes the perception result. The transceiver unit is further configured to send the sixth message.

[0051] In a sixth aspect, the present application provides a communication device, which may be the perception device mentioned in the third aspect. The device includes a transceiver unit and a processing unit. The transceiver unit is configured to receive a third message from a second device, wherein the third message includes positioning measurement information of the terminal device. The processing unit is configured to generate a second message, wherein the second message includes the first perception measurement information. The transceiver unit is further configured to send the second message.

[0052] In combination with the sixth aspect, in a possible implementation manner, the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0053] In combination with the sixth aspect, in a possible implementation, the third message also includes fourth time identification information, and the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0054] In combination with the sixth aspect, in a possible implementation method, the positioning measurement information is determined by fourth perception measurement information, and the fourth perception measurement information includes one or more of the first path delay, first path arrival angle AOA, first path departure angle AOD, first path reference signal received power RSRP, non-first path delay, non-first path AOA, non-first path AOD or non-first path RSRP of the target reference signal.

[0055] With reference to the sixth aspect, in a possible implementation manner, the processing unit is further configured to determine the first perception measurement information according to the positioning measurement information and the original perception measurement information.

[0056] In combination with the sixth aspect, in a possible implementation manner, the original perception measurement information includes one or more of the non-first path delay, non-first path AOA, non-first path AOD, or non-first path RSRP of the target reference signal.

[0057] In a seventh aspect, the present application provides a computer program product comprising instructions, which, when executed on a computer, cause the computer to execute any of the methods described in the first aspect or any possible implementation of the first aspect, or the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0058] In an eighth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed, it executes any one of the methods in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, and the third aspect or any possible implementation of the third aspect.

[0059] In a ninth aspect, the present application provides a communication device, at least one processor, and a memory. The memory is configured to store a computer program. The processor is configured to execute the computer program stored in the memory, so that the communication device performs any of the methods described in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0060] In a tenth aspect, the present application provides a chip, the chip comprising at least a processor. The processor is configured to execute computer-executable instructions to cause a device equipped with the chip to perform any of the methods described in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0061] In conjunction with the tenth aspect, in a possible implementation, the chip may further include an interface circuit configured to receive computer execution instructions and transmit the instructions to the processor.

[0062] In conjunction with the eleventh aspect, the present application provides a communication system. The communication system includes at least a first device, a second device, and a perception device, wherein the first device is configured to execute the communication method provided by the first aspect or any possible implementation of the first aspect, the second device is configured to execute the communication method provided by the second aspect or any possible implementation of the second aspect, and the perception device is configured to execute the communication method provided by the third aspect or any possible implementation of the third aspect.

[0063] In the twelfth aspect, the present application provides a communication system, which includes at least a first device and a second device, the first device is used to execute the communication method provided by the above-mentioned first aspect or any possible implementation of the first aspect, and the second device is used to execute the communication method provided by the above-mentioned second aspect or any possible implementation of the second aspect.

[0064] In summary, the communication method provided in this application can obtain appropriate and accurate location information of the terminal device, improve the accuracy of the perception results, and improve the perception accuracy of the perception technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] FIG1 is a schematic structural diagram of a communication system provided by the present application;

[0066] FIG2 is a schematic structural diagram of another communication system provided in an embodiment of the present application;

[0067] FIG3 is a schematic structural diagram of another communication system provided in an embodiment of the present application;

[0068] FIG4 is a flow chart of a communication method provided in an embodiment of the present application;

[0069] FIG5 is another flow chart of a communication method provided in an embodiment of the present application;

[0070] FIG6 is another flow chart of a communication method provided in an embodiment of the present application;

[0071] FIG7 is a flow chart of another communication method provided in an embodiment of the present application;

[0072] FIG8 is another flow chart of another communication method provided in an embodiment of the present application;

[0073] FIG9 is a flow chart of another communication method provided in an embodiment of the present application;

[0074] FIG10 is a flow chart of another communication method provided in an embodiment of the present application;

[0075] FIG11 is a flow chart of another communication method provided in an embodiment of the present application;

[0076] FIG12 is a flow chart of another communication method provided in an embodiment of the present application;

[0077] FIG13 is a flow chart of another communication method provided in an embodiment of the present application;

[0078] FIG14 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0079] FIG15 is a schematic structural diagram of another communication device provided in the present application. DETAILED DESCRIPTION

[0080] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings provided in the embodiments of the present application.

[0081] 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.

[0082] The technical solutions provided in the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, fifth generation (5G) system or new radio (NR). In addition, it can also be applicable to subsequent evolution systems, such as the sixth generation 6G communication system and even the more advanced seventh generation 7G communication system.

[0083] The following is an introduction to the system architecture used in the embodiments of this application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. Those skilled in the art will appreciate that, with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by this application will also be applicable to similar technical problems.

[0084] Please refer to Figure 1, which is a schematic diagram of the structure of a communication system provided by this application. As shown in Figure 1, the communication system 10 may include a first device and a second device. The first device and the second device cooperate with each other and can be used to implement the communication method provided by this application. Among them:

[0085] The first device can be used to obtain information such as the position and speed corresponding to the perceived object or the perceived target through perception capabilities. In other words, the first device is a device, network element or functional entity that provides a perception function. It should be understood that the network element can also be referred to as an entity, device, apparatus or module, etc., and this application does not specifically limit this. In some possible implementations, the first device can be an SF network element in a 5G network architecture. It should be understood that in future communication systems, the first device can still be an SF network element, or the first device can also be other network elements with perception functions, or the first device can also have other names, and this application does not limit this. It should be understood that this application does not limit the specific type of the first device.

[0086] The second device can be used to initiate a positioning process and obtain relevant information such as the position, speed, acceleration, etc. of the terminal device, and return this information to the relevant device or network element, which can be a specific device, network element or functional entity. In other words, the second device is a device, network element or functional entity that can provide a positioning function for the terminal device. It should be understood that the network element can also be referred to as an entity, device, device or module, etc., and this application does not specifically limit this. In some possible implementations, the second device can be an LMF network element in a 5G network architecture. It should be understood that in future communication systems, the second device can still be an LMF network element, or the second device can also be other network elements, or the second device can also have other names, and this application does not limit this. It should be understood that this application does not limit the specific type of the second device.

[0087] In some feasible implementations, see Figure 2, which is a schematic diagram of the structure of another communication system provided in an embodiment of the present application. As shown in Figure 2, the communication system 10 may also include a sensing device. The sensing device may cooperate with the first device and the second device to implement the communication method provided in this application.

[0088] A perception device is a device, equipment, or functional entity with perception computing capabilities. In some possible implementations, the perception device may be a terminal device or network device that participates in the perception process. It should be understood that in future communication systems, the perception device may still be a terminal device or a network device, or the perception device may also be other devices with perception computing capabilities, or the perception device may have other names, and this application does not impose specific restrictions on this. It should be understood that this application does not impose specific restrictions on the specific type of perception device.

[0089] The terminal device may also be referred to as user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile terminal, user terminal, terminal, wireless communication device, user agent, or user apparatus, etc. The terminal device may be a device that provides voice / data connectivity to a user, such as a handheld device or vehicle-mounted device with wireless connection capability. At present, some examples of terminals are: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (PLMNs). The terminal equipment in the network (PLMN), etc., is not limited to this in the embodiments of the present application.

[0090] A network device may be a device that can provide wireless communication functions for a terminal device. For example, a network device may be an evolutionary node B (eNB), a baseband unit (BBU), an open radio access network (ORAN), an access point (AP) in a wireless local area network (WLAN), a wireless relay node, a wireless backhaul node, a transmission point (TP) or a transmission reception point (TRP), etc. The network device may also be a gNB (next generation node B) in a 5G system, a TRP, a TP, or one or a group (including multiple antenna panels) of antenna panels of a base station in a 5G system. In addition, the network device may also constitute a network node of a gNB or TP, such as a BBU, or a distributed unit (DU), etc. Alternatively, the network device may also be a device-to-device (D2D) communication system, a machine-to-machine (M2M) communication system, an Internet of Things (IoT), an Internet of Vehicles communication system, or a device that performs network-side functions in other communication systems, and the embodiments of the present application are not limited to this.

[0091] In some feasible implementations, see Figure 3, which is a schematic diagram of the structure of another communication system provided in an embodiment of the present application. As shown in Figure 3, the communication system 10 may also include a third device. This third device may cooperate with the first device, the second device, and the sensing device to implement the communication method provided in an embodiment of the present application.

[0092] The third device can be used for mobility management and access management to implement other functions of the mobility management entity (MME) in addition to session management, such as lawful monitoring and access authorization / authentication. In other words, the third device is a device, network element or functional entity that provides access and mobility management functions. It should be understood that in future communication systems, the third device may be an access management function (AMF) network element in the 5G network architecture. It should be understood that in future communication systems, the third device may still be an AMF network element, or the third device may be other network elements, or the third device may have other names, and this application does not limit this. It should be understood that this application does not limit the specific type of the third device.

[0093] Optionally, the core network (CN) in the communication system 10 may include the first device, the second device, and the third device described above. That is, the core network device may include the first device, the second device, and the third device described above. The devices in the core network may communicate with the terminal device through the network device. The core network device may also be referred to as a core network element, which is a network element deployed in the core network, for example, a core network control plane element or a core network user plane element.

[0094] It should be understood that in actual deployment or future communication systems, several of the above-mentioned core network devices may be co-located, or the functions of a core network device may be jointly implemented by several devices. When the core network device is co-located by several devices, the interactions between these devices involved in this application may be internal operations or may be omitted.

[0095] To facilitate understanding of the present application, some nouns or terms involved in the present application are explained below.

[0096] 1. Positioning technology

[0097] Positioning technology is a technology that obtains information such as the position and speed of the object to be located through the signals received and sent by the object itself.

[0098] It mainly adopts an architecture in which core network elements control, access network equipment and terminal equipment assist. Taking the downlink positioning process as an example, the core network elements mainly complete the following operations: (1) Cell information interaction with access network equipment, such as obtaining the configuration information of positioning reference signal (PRS), sounding reference signal (SRS), cell timing information, cell location information, etc. (2) Terminal equipment capability information transmission, auxiliary information transmission, measurement information transmission, etc. are completed with terminal equipment. (3) Measurement information transmission, etc. is completed with access network equipment. Accordingly, the terminal equipment and access network equipment assist the core network elements in completing the above operations. In actual implementation, the core network elements can determine the location, speed and other information of the terminal equipment based on cell information, the measurement report of the downlink signal of each cell by the terminal equipment, and the measurement report of the uplink signal of the terminal equipment by each cell.

[0099] It should be noted that the positioning process can be initiated by the terminal device or the core network element, or indirectly initiated by the gateway mobile location center (GMLC), and this application does not impose any specific restrictions on this. The core network element can specifically be an LMF element.

[0100] For example, the positioning process may be as follows:

[0101] S1: The location service client sends a location service request to the AMF. Specifically, when the location service request is initiated by the client, it sends the location service request to the GMLC, which then sends the location service request to the AMF. The location service client can be a UE.

[0102] S2: The AMF initiates a location service request. For example, the network needs to initiate an emergency call to the UE. If the AMF initiates the location service request, proceed directly to the next step.

[0103] S3: The UE sends a positioning service request to the AMF. Specifically, the UE may request positioning services from the AMF via non-access stratum (NAS) signaling.

[0104] S4, AMF sends a positioning service request to LMF.

[0105] S5: Interact with the gNB where the UE is located for related positioning procedures. Specifically, if the LMF determines that the gNB needs to participate in this positioning process, it interacts with the serving gNB where the target UE is located for related positioning procedures to obtain positioning measurement quantities or assistance data.

[0106] S6: Interact with the UE in the relevant positioning process. Specifically, if the LMF determines that the UE needs to participate in the positioning process, it interacts with the UE in the relevant positioning process through NAS messages, such as obtaining location information, obtaining positioning measurement quantities or auxiliary data, etc.

[0107] S7: LMF returns a location service response to AMF, where the location service response includes the location result.

[0108] S8, AMF sends the location service response to the location service client. Specifically, if the location service request is initiated by the location service client, AMF passes the positioning result to GMLC, and GMLC then sends the location information to the service client that initiated the positioning request.

[0109] S9: AMF obtains the location service response. Specifically, if the location request is initiated by the AMF, the AMF provides the location data to the location service requesting the location in the AMF.

[0110] S10: The AMF sends a positioning service response to the UE. Specifically, if the positioning request is initiated by the UE, the AMF returns the positioning result to the UE.

[0111] In this application, positioning technology mainly refers to the positioning technology provided by LTE and the 3rd Generation Partnership Project (3GPP). Among them, the 3GPP protocol defines a variety of positioning technologies, including cell ID positioning supported by LTE, enhanced cell identity (E-CID) positioning, assisted global positioning system (A-GPS) positioning, and observed time difference of arrival (OTDOA) positioning technology. 5G introduces some new positioning technologies, such as NR ECID positioning, uplink time difference of arrival (UL-TDOA) positioning, downlink time difference of arrival (DL-TDOA) positioning, signal strength-based positioning, uplink angle of arrival (UL-AoA), downlink angle of arrival (DL-AoA), multi-round trip time (Multi-RTT), and other positioning technologies.

[0112] For example, the principle of time difference of arrival (TDOA) positioning is to determine the position of the terminal device based on the intersection of two hyperbolas. Based on the propagation speed of electromagnetic waves and the time difference of arrival between each TRP and the terminal device, the distance difference between each TRP can be obtained. Then the terminal device must be located on a hyperbola with the two TRPs as the foci and a certain distance difference from the two foci. The distance difference between the two sets of TRPs and the terminal device can be used to obtain two sets of hyperbolas. According to the intersection of these two sets of hyperbolas, the position, speed and other information of the UE can be determined. Specifically, in UL-TDOA positioning, the terminal device sends an uplink SRS, and multiple TRPs receive the uplink SRS sent by the terminal device, and send the propagation delay (TOA) of the SRS to the LMF. The LMF calculates the position, speed, etc. of the terminal device based on the TDOA between each TRP and the known TRP position through geometric solution. DL-TDOA positioning sends PRS to the terminal device through TRP. The terminal device performs downlink reference signal time difference (RSTD) measurement on the PRS sent by each TRP, and then reports the DL RSTD measurement result to LMF. LMF uses the known TRP position and RSTD measurement result to calculate the specific position, speed, etc. of the terminal device.

[0113] It should be understood that the positioning technology involved in this application includes but is not limited to the positioning technology described above. Ordinary technicians in this field can know that with the evolution of system architecture and communication technology, newly emerging similar positioning technologies can also be used as one of the positioning technologies provided in this application.

[0114] 2. Perception Technology

[0115] Perception technology is a technology that uses signals reflected by objects to obtain information such as their position and speed. The core network part of the communication system is equipped with SF network elements, which can use network equipment and terminal equipment to send perception measurement signals and receive perception measurement signals reflected by the perceived objects, and then determine the position, speed, shape and other information of the perceived objects based on the signal parameters of the sent perception measurement signals and the received perception measurement signals reflected by the perceived objects. For example, the SF network element can send perception measurement signals through a base station, and then receive perception measurement signals reflected by a car on the road through the base station, and then obtain the position, moving speed and other information of the car based on the sent and reflected perception measurement signals. It should be understood that the present application does not limit the specific implementation process of the perception technology, and existing perception technologies and perception technologies evolved in the future can be used as a type of perception technology provided by the present application.

[0116] 3. First diameter and non-first diameter

[0117] The first path is also called the line of sight (LOS) path, which is the path along which a signal can travel directly from a first device to a second device in the absence of obstacles. Generally speaking, the LOS path is the path with the shortest delay between two devices.

[0118] The non-first path may also be called a non-line of sight (NLOS) path, that is, a path along which a signal propagates from a first device to a second device after multiple reflections, scattering, and diffraction in the presence of obstacles.

[0119] The following is an example of the process of determining the LOS path. After receiving the reference signal, device A can determine multiple paths, as well as the propagation delay, AOA, and AOD corresponding to each path. The propagation delay corresponding to a path can refer to an absolute propagation delay, that is, the time interval from the moment when device B sends the reference signal to the moment when device A receives the reference signal through this path, or the propagation delay can also be a relative propagation delay, for example, the relative propagation delay is the delay of the reception moment of this path relative to the starting time domain position or the ending time domain position of the time unit or time subunit where the reference signal is located. Since the LOS path is generally the path with the shortest delay between two devices, device A can determine the path with the earliest AOA from multiple paths as the LOS path.

[0120] Existing sensing technologies typically rely on the location of the terminal device to perform sensing calculations and obtain sensing results. Therefore, if the terminal device is in a mobile state during the sensing process, that is, its position is not fixed, the sensing results will be inaccurate, and the sensing technology's perception accuracy will be low. Therefore, the technical problem to be solved by this application is: how to improve the perception accuracy of sensing technology.

[0121] In combination with the above content, the communication method of the embodiment of the present application is exemplarily introduced below.

[0122] Please refer to Figure 4, which is a flow chart of a communication method provided in an embodiment of the present application. The method is applicable to the communication system 10 shown in Figure 1 above. As shown in Figure 4, the communication method may include the following steps:

[0123] S401: A first device sends a first message to a second device, and the second device receives the first message accordingly.

[0124] In some feasible implementations, the first device may generate and send a first message to the second device. The first message may include identification information of the terminal device. It should be understood that the terminal device is a terminal device that participates in the perception process, or in other words, a terminal device that has a perception requirement.

[0125] It should be noted that in the embodiments of the present application, there may be one or more terminal devices participating in perception. Accordingly, in the case where multiple terminal devices participate in perception, the identification information of the above-mentioned terminal device may include an identification list of the terminal devices. Specifically, the identification list of the terminal device may include the identification information of each terminal device in the multiple terminal devices participating in perception. Here, different terminal devices may correspond to different identification information. For the communication method provided in this application, whether there is one or more terminal devices, the execution process is similar. To avoid redundancy, this application takes the scenario where a single terminal device participates in perception as an example for explanation.

[0126] In a feasible implementation, the first device may first determine the terminal device participating in the sensing. Further, the first device may generate a first message according to the identification information corresponding to the determined terminal device, and send the first message to the second device.

[0127] Alternatively, a network device participating in the perception process (hereinafter referred to as a network device to avoid redundancy) may first determine the terminal device participating in the perception process and send the identification information of the terminal device to the first device. After receiving the identification information of the terminal device sent by the network device, the first device may generate a first message based on the identification information of the terminal device and send the first message to the second device.

[0128] In a feasible implementation, the first message may further include indication information for indicating the target time period. In other words, the indication information included in the first message may be used to indicate a time range.

[0129] Optionally, the indication information may include a target time and a time offset. The target time and time offset may be used to determine the target time period. For example, assuming the indication information includes a target time of 10:00 and a time offset of 10 minutes, the target time period may be determined to be 9:50-10:10 based on the target time and time offset.

[0130] Optionally, the target time may be determined by a time at which the second perception measurement information is acquired. The second perception measurement information may be used by the first device to determine a perception result.

[0131] Optionally, the time offset may be a time empirical value preset by the second device. For example, the time offset may be 10 minutes, which is not specifically limited in the present embodiment.

[0132] It should be noted that the second perception measurement information can be obtained by the terminal device or the network device through a perception technology, or in other words, the second perception measurement information can be obtained by the terminal device or the network device based on a received perception reference signal. The perception reference signal can be sent by the terminal device and received by the network device, or can be sent by the network device and received by the terminal device.

[0133] Optionally, the second perception measurement information may include one or more of the non-first path delay, non-first path AOA, non-first path AOD, non-first path RSRP, point cloud, Doppler velocity spectrum, distance spectrum or angle spectrum of the perception reference signal.

[0134] Optionally, the perception reference signal used to measure and obtain the above-mentioned second perception measurement information may include a sounding reference signal (SRS), a positioning reference signal (PRS), or a channel state information reference signal (CSI-RS), etc. The embodiment of the present application does not limit the specific implementation of the perception reference signal.

[0135] It should be noted that, in a scenario where a perception reference signal is sent by a terminal device and received by a network device, the second perception measurement information may include one or more of the following: non-first path delay, non-first path AOA, non-first path RSRP, point cloud, Doppler velocity spectrum, range spectrum, or angle spectrum of the perception reference signal. The perception reference signal may include an SRS.

[0136] In a scenario where the perception reference signal is sent by a network device and received by a terminal device, the second perception measurement information may include one or more of a non-first path delay, a non-first path AOD, a non-first path RSRP, a point cloud, a Doppler velocity spectrum, a range spectrum, or an angle spectrum of the perception reference signal. The perception reference signal may include a PRS or a CSI-RS.

[0137] Correspondingly, the second device can receive the first message and obtain the content contained in the first message.

[0138] S402: The second device sends a second message to the first device. Correspondingly, the first device receives the second message.

[0139] In some feasible implementations, after receiving the first message, the second device may generate a second message based on the content of the first message. The second message may include positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device. The positioning measurement information and / or first perception measurement information may be used by the first device to determine a perception result.

[0140] In a first optional implementation, in the scenario where the first message includes the aforementioned indication information for indicating the target time period, the second message may include positioning measurement information. Optionally, in this case, the positioning measurement information may include the target location information of the terminal device. Thus, in this case, the first message is used to request the target location information of the terminal device. In this case, the first message may also be referred to as a terminal device location information request message, which includes the terminal device's identification information and the indication information for indicating the target time period.

[0141] In a specific implementation, after the second device receives the first message, it can first determine the target time period based on the indication information, then obtain the location information of the terminal device within the target time period and determine it as the target location information. Furthermore, the second device can generate a second message based on the target location information and send it to the first device.

[0142] Optionally, when the indication information includes a target time and a time offset, the second device may first determine the target time period according to the target time and the time offset.

[0143] For example, assume that the target time included in the indication information is 10:00 and the time offset is 10 minutes. After receiving the first message containing this indication information, the second device can determine that the target time period is 9:50-10:10. The second device can then obtain the location information of the terminal device within the target time period of 9:50-10:10 and determine it as the target location information. Furthermore, the second device can generate a second message based on this target location information and send it to the first device.

[0144] In the above implementation, the second device can receive the first message from the first device, and determine the location information of the terminal device within the target time period based on the indication information contained in the first message and report it to the first device, which can reduce the amount of data reported by the second device. In addition, the location information of the terminal device reported by the second device can be determined based on the time of acquisition of the second perception measurement information. In other words, the time corresponding to the location information of the terminal device required by the first device for perception calculation is the same as the time corresponding to the location information of the terminal device determined by the second device, which is equivalent to obtaining the location information of the terminal device in real time. Therefore, the location information of the terminal device obtained by the first device is more accurate, and the perception result obtained by its perception calculation is also more accurate, which can improve the perception accuracy.

[0145] In a second possible implementation, in the scenario where the first message does not include the aforementioned indication information for indicating the target time period, the second message may include positioning measurement information, first perception measurement information, and first time identifier information. In other words, the first device may obtain the positioning measurement information, first perception measurement information, and first time identifier information through interaction with the second device.

[0146] The positioning measurement information may include the target location information of the terminal device. Similar to the first possible implementation, in this case, the first message is used to request the second device to locate the participating terminal device to obtain the target location information of the terminal device. In this case, the first message can also be called a positioning service request message, except that the request message includes the identification information of the terminal device but does not include the indication information for indicating the target time period.

[0147] The first time identifier information may be used to indicate a time instant at which the first perception measurement information is acquired. It is understood that since the first perception measurement information may be obtained based on target reference signal measurement, that is, the time instant at which the target reference signal is received and the time instant at which the first perception measurement information is acquired may be the same, the first time identifier information may also be used to indicate a time instant at which the target reference signal is received.

[0148] Optionally, the second message may further include second time identifier information. The second time identifier information may be used to indicate the time at which the positioning measurement information was acquired. It will be appreciated that since the positioning measurement information may be determined based on the perception measurement information obtained by measuring the target reference signal, that is, the time at which the target reference signal is received and the time at which the target position information is acquired may be the same, the second time identifier information may also be used to indicate the time at which the target reference signal is received.

[0149] It should be understood that the first device may receive multiple second messages sent by the second device. That is, the first device may obtain multiple positioning measurement information and multiple perception measurement information, as well as the second time identifier information corresponding to each of the multiple positioning measurement information and the first time identifier information corresponding to each of the multiple perception measurement information. Furthermore, the first device may determine the first perception measurement information and the positioning measurement information with the same acquisition time based on the acquisition time of the first perception measurement information corresponding to the first time identifier information and the acquisition time of the positioning measurement information corresponding to the second time identifier information, thereby determining the perception result.

[0150] That is to say, the time corresponding to the terminal device's location information required by the first device when performing perception calculation is the same as the time corresponding to the terminal device's location information determined by the second device. This is equivalent to obtaining the terminal device's location information in real time, and the perception result obtained by the first device through perception calculation is more accurate, thereby improving the perception accuracy of the perception technology.

[0151] It should be noted that the first perception measurement information may be obtained by the terminal device or the network device through a perception technology, or in other words, the first perception measurement information may be obtained by the terminal device or the network device based on a received target reference signal. The target reference signal may be sent by the terminal device to the network device for measurement to obtain the first perception measurement information, and the target reference signal may also be sent by the network device to the terminal device for measurement to obtain the first perception measurement information.

[0152] It should be understood that in existing positioning technologies, a terminal device or a network device can send a target reference signal for positioning, thereby obtaining the location information of the terminal device. It should be supplemented that the target reference signal can also be used for perception to obtain its perception measurement information. Specifically, the first-path measurement quantity of the target reference signal (which may include delay, AOA, RSRP, etc., and may also be referred to as perception measurement information) can be used to obtain location information through positioning technology, while the non-first-path measurement quantity of the target reference signal (which may include delay, AOA, RSRP, etc., and may also be referred to as perception measurement information) can be used to obtain perception results through perception technology.

[0153] Optionally, in this scenario, the first perception measurement information may include one or more of the non-first path delay, non-first path AOA, non-first path AOD, and non-first path RSRP of the target reference signal.

[0154] Optionally, the target reference signal may include SRS, PRS, or CSI-RS, etc. The embodiment of the present application does not specifically limit the type of the target reference signal.

[0155] It should be understood that in a scenario where the target reference signal is sent by a terminal device and received by a network device, the first perception measurement information may include one or more of the non-first path delay, non-first path AOA, and non-first path RSRP of the target reference signal. The target reference signal may include an SRS.

[0156] In a scenario where a target reference signal is sent by a network device and received by a terminal device, the first perception measurement information may include one or more of the non-first path delay, non-first path AOD, and non-first path RSRP of the target reference signal. The target reference signal may include a PRS or a CSI-RS.

[0157] It should be noted that the above content describes a way for the first device to obtain perception measurement information, that is, the first device interacts with the second device to obtain the perception measurement information measured by the network device or terminal device (that is, the perception device shown in Figure 2 above) to perform perception calculation. It should be understood that the second device can also obtain the perception measurement information measured by the perception device in other ways, and this application does not impose specific restrictions on the way the second device obtains the perception measurement information. The following introduces another way for the first device to obtain perception measurement information, that is, the first device can directly interact with the perception device to obtain the perception measurement information measured by the perception device to perform perception calculation.

[0158] In a third feasible implementation, in a scenario where the first message does not include the indication information for indicating the target time period described above, the second message may include positioning measurement information and second time identifier information. The positioning measurement information may include the target location information of the terminal device, and the second time identifier information may be used to indicate the time when the target location information was acquired. Optionally, since the positioning measurement information may be determined based on the perception measurement information obtained by measuring the target reference signal, that is, the time when the target reference signal is received and the time when the target location information is acquired may be the same, the second time identifier information may also be used to indicate the time when the target reference signal is received.

[0159] In this case, the first device may also receive a fourth message sent by the sensing device, that is, the sensing device may send a fourth message to the first device. The fourth message may include third sensing measurement information and third time identifier information indicating a time when the third sensing measurement information was acquired.

[0160] Specifically, the perception device can generate a fourth message based on the acquired third perception measurement information and the time at which the third perception measurement information is acquired, and send the fourth message to the first device. That is, when the first device receives the second message containing positioning measurement information, the first device can also receive the fourth message from the perception device to obtain the third perception measurement information and the third time identifier information through the fourth message. In other words, when the first device obtains the positioning measurement information by interacting with the second device, the first device can also obtain the perception measurement information by interacting with the perception device to perform perception calculation.

[0161] It can be understood that since the above-mentioned third perception measurement information can be obtained based on the target reference signal measurement, that is, the reception time of the target reference signal and the acquisition time of the third perception measurement information can be the same, therefore, the third time identification information can also be used to indicate the reception time of the target reference signal.

[0162] Optionally, the perception device can perform perception measurement based on the target reference signal to obtain third perception measurement information. At the same time, the perception device can determine third time identification information based on the reception time of the target reference signal (or the acquisition time of the third perception measurement information).

[0163] It should be understood that the first device can receive multiple second messages sent by the second device, and the first device can receive multiple fourth messages sent by the sensing device. In other words, the first device can obtain multiple positioning measurement information and multiple third sensing measurement information, as well as the second time identifier information corresponding to each of the multiple positioning measurement information and the third time identifier information corresponding to each of the multiple third sensing measurement information. Furthermore, the first device can determine the third sensing measurement information and the positioning measurement information with the same acquisition time based on the acquisition time of the positioning measurement information corresponding to the second time identifier information and the acquisition time of the third sensing measurement information corresponding to the third time identifier information, so as to determine the sensing result through the sensing technology.

[0164] That is to say, the time when the first device needs the location information of the terminal device when performing perception calculation is the same as the time when the second device determines the location information of the terminal device. This is equivalent to obtaining the location information of the terminal device in real time, and the perception result obtained by the first device for perception calculation is more accurate, thereby improving the perception accuracy of the perception technology.

[0165] Optionally, the third perception measurement information may include one or more of the non-first path delay, non-first path AOA, non-first path AOD, and non-first path RSRP of the target reference signal.

[0166] Optionally, the target reference signal may include an SRS, a PRS, or a CSI-RS, etc. The embodiment of the present application does not limit the specific implementation of the target reference signal.

[0167] It should be understood that in a scenario where the target reference signal is sent by a terminal device and received by a network device, the third perception measurement information may include one or more of the non-first path delay, non-first path AOA, and non-first path RSRP of the target reference signal. The target reference signal may include an SRS.

[0168] In a scenario where the target reference signal is sent by a network device and received by a terminal device, the third perception measurement information may include one or more of the non-first path delay, non-first path AOD, and non-first path RSRP of the target reference signal. The target reference signal may include a PRS or a CSI-RS.

[0169] In the above implementation, the perception device can directly report the perception measurement information and time identification information obtained based on the target reference signal measurement to the first device, without the need for the second device to obtain the perception measurement information reported by the perception device and then report the perception measurement information and positioning measurement information and time identification information to the first device at the same time. That is, the second device only needs to report the positioning measurement information and time identification information to the first device, thereby reducing the amount of data reported by the second device and improving the efficiency of data transmission.

[0170] In a fourth feasible implementation, in a scenario where the first message does not include the aforementioned indication information for indicating the target time period, the second message may include the first perception measurement information. It should be noted that the first perception measurement information may be obtained by the perception device using perception technology. Optionally, the first perception measurement information may be determined by the perception device using perception technology based on the non-first path delay, non-first path AOA, and non-first path RSRP of the target reference signal and the location information of the terminal device.

[0171] Optionally, the first perception measurement information may include one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum or an angle spectrum of a target reference signal.

[0172] In an embodiment of the present application, the first device can interact with the second device to obtain appropriate and more accurate positioning measurement information and / or perception measurement information. The first device can then perform perception calculations based on the acquired content to obtain more accurate perception results, thereby improving the perception accuracy of the perception technology.

[0173] In some feasible implementations, please refer to FIG5 , which is another flow chart of a communication method provided in an embodiment of the present application. This method is applicable to the communication system shown in FIG1 above. As shown in FIG5 , in combination with the steps of the method shown in FIG4 , the communication method may further include the following steps:

[0174] S403: The first device determines a perception result according to the positioning measurement information and / or the first perception measurement information.

[0175] In some feasible implementations, after the first device receives the second message from the second device, the first device may determine a perception result through a perception technology according to the positioning measurement information and / or the first perception measurement information included in the second message.

[0176] In the scenario where the second message includes positioning measurement information, the first device can also obtain the original perception measurement information sent by the terminal device or network device. Furthermore, the first device can obtain a perception result based on the positioning measurement information and the original perception measurement information using a target detection algorithm such as clustering.

[0177] In a scenario where the second message includes positioning measurement information and first perception measurement information, the first device may perform Fourier transform and / or threshold detection based on the positioning measurement information and the first perception measurement information, and further obtain a perception result through a target detection algorithm such as clustering.

[0178] In a scenario where the second message includes the first perception measurement information, the first device may obtain a perception result by using a target detection algorithm such as clustering.

[0179] In some feasible implementations, please refer to FIG6 , which is another flow chart of a communication method provided in an embodiment of the present application. This method is applicable to the communication system 10 shown in FIG1 above. It should be understood that step S404 should be performed before step S401, and step S405 should be performed after step S403. As shown in FIG6 , the communication method may also include the following steps:

[0180] S404: The terminal device sends a fifth message to the first device. Correspondingly, the first device receives the fifth message.

[0181] In some feasible implementations, when the terminal device has a perception requirement, the terminal device may generate a fifth message and send the fifth message to the first device, wherein the fifth message may be used to request the first device to perform a perception service.

[0182] Optionally, the terminal device may first send the generated fifth message to the fourth device, and then the fourth device may send the fifth message to the first device. In other words, the fourth device may forward the fifth message generated by the terminal device.

[0183] S405: The first device sends a sixth message to the terminal device. Correspondingly, the terminal device receives the sixth message.

[0184] In some feasible implementations, after the first device determines a perception result based on the positioning measurement information and / or the first perception measurement information, the first device may generate a sixth message based on the perception result and send the sixth message to the terminal device.

[0185] In some possible scenarios, other third-party entities with perception needs may also send the fifth message mentioned above to the first device. Accordingly, after receiving the fifth message and determining the perception result through perception technology, the first device may send the perception result to the third-party entity. It should be noted that the third-party entity with perception needs can directly communicate with the network function in the mobile communication network where the first device and the second device are located, and cooperate with the first device and the second device to implement the communication method provided in this application. In some possible implementations, the third-party entity may be an application server equipped with a positioning client (i.e., client). It should be understood that this application does not limit the specific type of the third-party entity.

[0186] Please refer to Figure 7, which is a flow chart of another communication method provided in an embodiment of the present application. This method can be applied to the communication system 10 shown in Figure 2 above. As shown in Figure 7, the communication method can also include the following steps:

[0187] S701: A first device sends a first message to a second device, and the second device receives the first message accordingly.

[0188] The specific process of the first device sending the first message to the second device can be found in the specific process described in step S401 above, and will not be repeated here.

[0189] S702: The sensing device sends fourth sensing measurement information to the second device. Correspondingly, the second device receives the fourth sensing measurement information.

[0190] In some feasible implementations, after the sensing device receives the target reference signal, the sensing device may obtain fourth sensing measurement information based on the target reference signal measurement, and send the fourth sensing measurement information to the second device. The target reference signal may be sent by the terminal device and received by the network device, or may be sent by the network device and received by the terminal device.

[0191] In some feasible implementations, the fourth perception measurement information may include one or more of the first path delay, first path AOA, first path AOD, first path RSRP, non-first path delay, non-first path AOA, non-first path AOD or non-first path RSRP of the target reference signal.

[0192] Optionally, the target reference signal may include an SRS, a PRS, or a CSI-RS, etc. The embodiment of the present application does not limit the specific implementation of the target reference signal.

[0193] It should be understood that in a scenario where the target reference signal is sent by a terminal device and received by a network device, the fourth perception measurement information may include one or more of the following: first path delay, first path AOA, first path RSRP, non-first path delay, non-first path AOA, or non-first path RSRP of the target reference signal. The target reference signal may include an SRS.

[0194] For example, assuming that the target reference signal is SRS, in a scenario where the target reference signal is sent by a terminal device and received by a network device, after receiving the SRS, the perception device can measure the RSRP, AOA and path delay of the SRS and other fourth perception measurement information, such as first-path AOA and first-path delay.

[0195] In a scenario where the target reference signal is sent by a network device and received by a terminal device, the fourth perception measurement information may include one or more of the following: first path delay, first path AOD, first path RSRP, non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. The target reference signal may include a PRS or a CSI-RS.

[0196] For example, assuming the target reference signal is a PRS, in a scenario where the target reference signal is transmitted by a network device and received by a terminal device, after receiving the PRS, the non-first-path measurement quantity obtained by the sensing device based on the PRS measurement includes RSRP. Furthermore, the sensing device can calculate the AOD of the PRS based on the RSRP. Furthermore, in this scenario, to implement the sensing function, the sensing device can also measure the path delay based on the target reference signal to obtain path delay, such as non-first-path delay. It should be understood that this path delay can correspond one-to-one with the AOD.

[0197] S703: The second device sends a third message to the sensing device. Correspondingly, the sensing device receives the third message.

[0198] In some feasible implementations, after the second device receives the fourth sensing measurement information sent by the sensing device, it can generate a third message based on the fourth sensing measurement information and send the third message to the sensing device. The third message may include the positioning measurement information of the terminal device.

[0199] Optionally, the second device may determine the positioning measurement information of the terminal device based on the fourth perception measurement information using positioning technology. Further, the second device may generate a third message based on the positioning measurement information and send the third message to the perception device.

[0200] In one possible implementation, the third message may further include fourth time identifier information, which may be used to indicate a time instant for acquiring the positioning measurement information. It is understood that since the positioning measurement information may be determined based on fourth perception measurement information obtained based on target reference signal measurement, that is, the time instant for receiving the target reference signal and the time instant for acquiring the third perception measurement information may be the same, the fourth time identifier information may also be used to indicate a time instant for receiving the target reference signal.

[0201] Optionally, the positioning measurement information may include target location information of the terminal device.

[0202] S704: The sensing device sends a second message to the first device. Correspondingly, the first device receives the second message.

[0203] In some feasible implementations, after receiving the third message sent by the second device, the sensing device may generate a second message based on the content of the third message and send the second message to the first device. The second message may include the first sensing measurement information.

[0204] In an optional implementation, after obtaining the target location information of the terminal device included in the third message, the perception device may use perception technology to obtain first perception measurement information based on the target location information and original measurement information of the target reference signal, such as non-first path delay, non-first path AOA, and non-first path RSRP, obtained by the perception device based on the target reference signal. Furthermore, the perception device may generate a second message based on the first perception measurement information and send it to the first device.

[0205] Optionally, the perception device may perform Fourier transform and / or threshold detection based on the target location information of the terminal device included in the third message and the original measurement information of the target reference signal, such as non-first-path delay, non-first-path AOA, and non-first-path RSRP, to obtain first perception measurement information, such as a point cloud, Doppler velocity spectrum, range spectrum, and angle spectrum. Furthermore, the perception device may generate a second message based on this first perception measurement information and send it to the first device.

[0206] Optionally, in this scenario, the first perception measurement information may include one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of the target reference signal.

[0207] Optionally, the target reference signal may include SRS, PRS or CSI-RS, etc. It should be understood that the target reference signal may also be other signals as long as the solution can be implemented. The embodiment of the present application does not specifically limit the type of the target reference signal.

[0208] In the above implementation, after receiving the terminal device's positioning measurement information from the second device, the sensing device can first perform a sensing calculation based on the original sensing measurement information to obtain first sensing measurement information, which is then sent to the first device for further sensing calculation. Because the amount of data in the first sensing measurement information is significantly smaller than that in the original sensing measurement information, this can reduce the pressure on the sensing device to transmit data. In other words, the amount of data transmitted is reduced during the data transmission process, thereby reducing data transmission latency.

[0209] In some feasible implementations, please refer to Figure 8, which is another flow chart of another communication method provided by an embodiment of the present application. The method is applicable to the communication system 10 shown in Figure 2 above, and the sensing device may include a terminal device or a network device. It should be understood that in a scenario where the target reference signal is sent by the terminal device and received by the network device, steps S702 and S703 shown in Figure 7 can be performed by the network device. In a scenario where the target reference signal is sent by the network device and received by the terminal device, steps S702 and S703 shown in Figure 7 can be performed by the terminal device.

[0210] As shown in FIG8 , the method may further include the following steps:

[0211] S705: The terminal device sends a fifth message to the first device. Correspondingly, the first device receives the fifth message.

[0212] Among them, the specific process of the terminal device sending the fifth message to the first device can refer to the specific process described in step S404 above, which will not be repeated here.

[0213] S706: The first device determines a perception result according to the first perception measurement information.

[0214] The specific process of the first device determining the perception result according to the first perception measurement information can refer to the specific process described in step S403 above, which will not be repeated here.

[0215] S707: The first device sends a sixth message to the terminal device. Correspondingly, the terminal device receives the sixth message.

[0216] Among them, the specific process of the first device sending the sixth message to the terminal device can be found in the specific process described in step S405 above, and will not be repeated here.

[0217] The foregoing provides a variety of possible implementations. The following further illustrates the specific implementation of the communication method provided in the embodiment of the present application in conjunction with Figures 9 to 13. It should be understood that the logic and terminology not explained below can be referred to the introduction of the foregoing embodiments and will not be repeated here.

[0218] In one possible implementation, after receiving a perception service request message from a terminal device, the first device may send a perception measurement request to a network device to obtain perception measurement information associated with the terminal device. The first device may also send a first message to a second device to obtain location information of the terminal device participating in the perception. Furthermore, after receiving a second message from the second device, the first device may perform a perception calculation based on the obtained perception measurement information to determine a perception result, and send the perception result to the terminal device.

[0219] Please refer to Figure 9, which is a flow chart of another communication method provided in an embodiment of the present application. As shown in Figure 9, the communication method may include one or more steps from step S901 to step S906, as follows:

[0220] S901: The terminal device sends a fifth message to the third device.

[0221] S902: The third device sends a fifth message to the first device.

[0222] S903: The first device sends a first message to the second device.

[0223] Optionally, the first message may include a location request message to obtain positioning measurement information of terminal devices participating in the perception.

[0224] S904: The second device sends a second message to the first device.

[0225] The second message includes positioning measurement information of the terminal device.

[0226] S905: The first device determines a perception result according to the positioning measurement information and the first perception measurement information.

[0227] Optionally, the first device may receive first perception measurement information sent by the perception device.

[0228] S906: The first device sends a sixth message to the terminal device.

[0229] In the embodiment shown in Figure 9, the second device can determine the location information of the terminal device within the target time period based on the indication information contained in the received first message and report it to the first device, thereby reducing the amount of reporting required by the second device. Furthermore, the first device is equivalent to obtaining the location information of the terminal device in real time. Therefore, the location information of the terminal device obtained by the first device is more accurate, and the perception results obtained by the perception calculation are also more precise, thereby improving the perception accuracy of the perception technology.

[0230] In one possible implementation, in a scenario where a target reference signal is sent by a terminal device and received by a network device, after the first device receives a perception service request message from the terminal device through a third device, the first device may send a first message to the second device to obtain the location information of the terminal device participating in the perception. The second device may obtain the perception measurement information such as the delay, AOA, and RSRP of the target reference signal reported by the network device, and may perform positioning calculations based on the perception measurement information to obtain the location information of the terminal device. Furthermore, the second device may send the location information and perception measurement information of the terminal device to the first device for perception calculation to determine the perception result.

[0231] Please refer to Figure 10, which is a flow chart of another communication method provided in an embodiment of the present application. As shown in Figure 10, the communication method may include one or more steps from step S1001 to step S1008, as follows:

[0232] S1001: The terminal device sends a fifth message to the third device.

[0233] S1002: The third device sends a fifth message to the first device.

[0234] S1003: The first device sends a first message to the second device.

[0235] Optionally, the first message may include a positioning service request message to request the second device to perform positioning service.

[0236] S1004: The network device sends fourth perception measurement information to the second device.

[0237] The fourth perception measurement information may include one or more of the following: first-path delay, first-path AOA, first-path RSRP, non-first-path delay, non-first-path AOA, or non-first-path RSRP of the target reference signal. The target reference signal may include an SRS.

[0238] S1005: The second device sends a second message to the first device.

[0239] The second message may include positioning measurement information, or the second message may include positioning measurement information and first perception measurement information.

[0240] Optionally, after receiving the fourth perception measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device based on the fourth perception measurement information.

[0241] Optionally, in a scenario where the second message includes positioning measurement information and the first perception measurement information, the first perception measurement information may include one or more of the non-first-path AOA or non-first-path RSRP of the target reference signal. Specifically, after receiving the fourth perception measurement information, the second device may obtain the non-first-path measurement quantities contained therein, i.e., one or more of the non-first-path delay, non-first-path AOA, or non-first-path RSRP, and determine the obtained non-first-path measurement quantities as the first perception measurement information.

[0242] That is, the second device may report the acquired positioning measurement information and the non-first-path measurement value of the target reference signal to the first device.

[0243] Optionally, in a scenario where the second message includes positioning measurement information, FIG10 may further include step S1006.

[0244] S1006. The network device may send a fourth message to the first device.

[0245] The fourth message may include third perception measurement information. The third perception measurement information may include one or more of non-first-path RSRP, non-first-path AOA, or non-first-path RSRP of the target reference signal. Specifically, the network device may determine the non-first-path measurement quantity in the fourth perception measurement information, i.e., one or more of non-first-path AOA, non-first-path delay, or non-first-path RSRP, as the third perception measurement information, and further generate a fourth message to send to the first device.

[0246] That is to say, in a scenario where the second message sent by the second device to the first device only includes positioning measurement information, that is, in a scenario where the second device reports the positioning measurement information to the first device, the network device can directly report the non-first-path measurement amount of the target reference signal obtained based on the target reference signal measurement to the first device, without the need for the second device to report the non-first-path measurement amount of the target reference signal to the first device.

[0247] S1007: The first device determines a perception result according to the positioning measurement information and the first perception measurement information.

[0248] S1008. The first device sends a sixth message to the terminal device.

[0249] In the embodiment shown in Figure 10, the communication system 10 can simultaneously realize the positioning and perception of the terminal device by transmitting an uplink positioning reference signal. That is to say, the time corresponding to the location information of the terminal device required by the first device when performing perception calculation is consistent with the time corresponding to the location information of the terminal device determined by the second device. Therefore, it is equivalent to obtaining the location information of the terminal device in real time, and then the perception result obtained by the first device through perception calculation is more accurate, which effectively improves the perception accuracy of the perception technology.

[0250] In a possible implementation, in a scenario where a target reference signal is sent by a terminal device and received by a network device, after the first device receives a request message from the terminal device through a third device, the first device may send a first message to the second device to request the second device to locate the terminal device participating in the perception. After the second device obtains the perception measurement information such as the delay, AOA, and RSRP of the target reference signal reported by the network device and determines the location information of the terminal device based on the perception measurement information, the second device may send the location information of the terminal device to the network device. Furthermore, the network device may perform perception calculation based on the location information of the terminal device to obtain perception measurement information such as point cloud and Doppler velocity spectrum, and send it to the first device for perception calculation to determine the perception result.

[0251] Please refer to Figure 11, which is a flow chart of another communication method provided in an embodiment of the present application. As shown in Figure 11, the communication method may include one or more steps from step S1101 to step S1108, as follows:

[0252] S1101, the terminal device sends a fifth message to the third device.

[0253] S1102: The third device sends a fifth message to the first device.

[0254] S1103: The first device sends a first message to the second device.

[0255] Optionally, the first message may include a positioning service request to request the second device to perform positioning service.

[0256] S1104: The network device sends fourth perception measurement information to the second device.

[0257] The fourth perception measurement information may include one or more of the following: first-path delay, first-path AOA, first-path RSRP, non-first-path delay, non-first-path AOA, or non-first-path RSRP of the target reference signal. The target reference signal may include an SRS.

[0258] S1105. The second device sends a third message to the network device.

[0259] The third message may include positioning measurement information of the terminal device. Optionally, the third message may also include fourth time identifier information, where the fourth time identifier information may be used to indicate a time at which the positioning measurement information is acquired.

[0260] Optionally, after receiving the fourth perception measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device according to the fourth perception measurement information.

[0261] S1106: The network device sends a second message to the first device.

[0262] The second message may include first perception measurement information. The first perception measurement information may include one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0263] Optionally, the network device may use perception technology to obtain the above-mentioned first perception measurement information based on the positioning measurement information, the fourth time identifier information, and one or more of the non-first path measurement quantities (i.e., non-first path delay, non-first path AOA, non-first path RSRP) in the fourth perception measurement information.

[0264] S1107: The first device determines a perception result according to the first perception measurement information.

[0265] S1108. The first device sends a sixth message to the terminal device.

[0266] In the embodiment shown in FIG11 , the communication system 10 can simultaneously realize the positioning and perception of the terminal device by transmitting an uplink positioning reference signal. That is, the time corresponding to the location information of the terminal device required by the first device during the perception calculation is consistent with the time corresponding to the location information of the terminal device determined by the second device. Therefore, it is equivalent to obtaining the location information of the terminal device in real time, and the perception result obtained by the first device through perception calculation is more accurate, effectively improving the perception accuracy of the perception technology. In addition, the network device can obtain the location information of the terminal device and perform a perception calculation in combination with the original perception measurement information such as non-first path delay, AOA, RSRP, etc. to obtain perception measurement information such as point cloud and Doppler velocity spectrum and report it to the first device. Compared with the original perception measurement information, the data volume of these perception measurement information is greatly reduced, which reduces the pressure on network device data transmission and reduces the data transmission delay.

[0267] In some possible implementations, in a scenario where a target reference signal is sent by a network device and received by a terminal device, after receiving a request message from the terminal device via a third device, the first device may send a first message to a second device to obtain the location information of the terminal device participating in the perception. The second device may obtain the perception measurement information such as the delay, AOD, and RSRP of the downlink positioning signal reported by the terminal device, and may perform positioning calculations based on the perception measurement information to obtain the location information of the terminal device. Furthermore, the second device may send the location information and perception measurement information of the terminal device to the first device for perception calculation to determine the perception result.

[0268] Please refer to Figure 12, which is a flow chart of another communication method provided in an embodiment of the present application. As shown in Figure 12, the communication method may include one or more steps from step S1201 to step S1208, as follows:

[0269] S1201: The terminal device sends a fifth message to the third device.

[0270] S1202: The third device sends a fifth message to the first device.

[0271] S1203: The first device sends a first message to the second device.

[0272] Optionally, the first message may include a positioning service request to request the second device to perform positioning service.

[0273] S1204: The terminal device sends fourth perception measurement information to the second device.

[0274] The fourth perception measurement information may include one or more of the following: first path delay, first path AOD, first path RSRP, non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. The target reference signal may include a PRS or a CSI-RS.

[0275] For example, assuming the target reference signal is a PRS, in this scenario, after receiving the PRS, the terminal device obtains non-first-path measurements based on the PRS, including RSRP. Furthermore, the terminal device can calculate the AOD of the target reference signal based on RSRP. Furthermore, to implement perception, the terminal device can also measure path delay, such as non-first-path delay, based on the target reference signal. It should be understood that this path delay can correspond one-to-one with the AOD.

[0276] S1205: The second device sends a second message to the first device.

[0277] The second message may include positioning measurement information, or the second message may include positioning measurement information and first perception measurement information.

[0278] Optionally, after receiving the fourth perception measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device based on the fourth perception measurement information.

[0279] Optionally, in a scenario where the second message includes positioning measurement information and first perception measurement information, the first perception measurement information may include one or more of the non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. Specifically, after receiving the fourth perception measurement information, the second device may obtain the non-first path measurement quantity contained therein, i.e., one or more of the non-first path delay, non-first path AOD, or non-first path RSRP, and determine the obtained non-first path measurement quantity as the above-mentioned first perception measurement information.

[0280] That is, the second device may report the acquired positioning measurement information and the non-first-path measurement value of the target reference signal to the first device.

[0281] Optionally, in a scenario where the second message includes positioning measurement information, FIG12 may further include step S1206.

[0282] S1206: The terminal device may send a fourth message to the first device.

[0283] The fourth message may include third perception measurement information. The third perception measurement information may include one or more of the non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. Specifically, the terminal device may determine the non-first path measurement quantity in the fourth perception measurement information, i.e., one or more of the non-first path delay, non-first path AOD, or non-first path RSRP, as the third perception measurement information, and further generate a fourth message to send to the first device.

[0284] That is to say, in a scenario where the second message sent by the second device to the first device only includes positioning measurement information, that is, in a scenario where the second device reports the positioning measurement information to the first device, the network device can directly report the non-first-path measurement amount of the target reference signal obtained based on the target reference signal measurement to the first device, without the need for the second device to report the non-first-path measurement amount of the target reference signal to the first device.

[0285] S1207: The first device determines a perception result according to the positioning measurement information and the first perception measurement information.

[0286] S1208. The first device sends a sixth message to the terminal device.

[0287] In the embodiment shown in Figure 12, the communication system 10 can simultaneously realize the positioning and perception of the terminal device by transmitting a downlink positioning reference signal. That is to say, the time corresponding to the location information of the terminal device required by the first device when performing perception calculation is consistent with the time corresponding to the location information of the terminal device determined by the second device. Therefore, it is equivalent to obtaining the location information of the terminal device in real time, and then the perception result obtained by the first device through perception calculation is more accurate, which effectively improves the perception accuracy of the perception technology.

[0288] In a possible implementation, in a scenario where a target reference signal is sent by a network device and received by a terminal device, after the first device receives a request message from the terminal device through a fourth device, the first device may send a first message to the second device to request the second device to locate the terminal device participating in the perception. After the second device obtains the perception measurement information such as the delay, AOD, RSRP, etc. of the downlink positioning signal reported by the terminal device and determines the location information of the terminal device based on the perception measurement information, the second device may send the location information of the terminal device to the terminal device. Furthermore, the terminal device may perform perception calculation based on the location information of the terminal device to obtain perception measurement information such as point cloud and Doppler velocity spectrum, and send it to the first device for perception calculation to determine the perception result.

[0289] Please refer to Figure 13, which is a flow chart of another communication method provided by an embodiment of the present application. As shown in Figure 13, the communication method may include one or more steps from step S1301 to step S1308, as follows:

[0290] S1301. The terminal device sends a fifth message to the third device.

[0291] S1302: The third device sends a fifth message to the first device.

[0292] S1303: The first device sends a first message to the second device.

[0293] Optionally, the first message may include a positioning service request to request the second device to perform positioning service.

[0294] S1304: The terminal device sends fourth perception measurement information to the second device.

[0295] The fourth perception measurement information may include one or more of the following: first path delay, first path AOD, first path RSRP, non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. The target reference signal may include a PRS or a CSI-RS.

[0296] S1305: The second device sends a third message to the terminal device.

[0297] The third message may include positioning measurement information of the terminal device. Optionally, the third message may also include fourth time identifier information, where the fourth time identifier information may be used to indicate a time at which the positioning measurement information is acquired.

[0298] Optionally, after receiving the fourth perception measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device according to the fourth perception measurement information.

[0299] S1306: The terminal device sends a second message to the first device.

[0300] The second message may include first perception measurement information. The first perception measurement information may include one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0301] Optionally, the terminal device may use perception technology to obtain the above-mentioned first perception measurement information based on the positioning measurement information, the fourth time identifier information, and one or more of the non-first path measurement quantities (i.e., non-first path delay, non-first path AOD, non-first path RSRP) in the fourth perception measurement information.

[0302] S1307: The first device determines a perception result according to the first perception measurement information.

[0303] S1308. The first device sends a sixth message to the terminal device.

[0304] In the embodiment shown in FIG13 , the communication system 10 can simultaneously realize the positioning and perception of the terminal device by transmitting a downlink positioning reference signal. That is, the time corresponding to the location information of the terminal device required by the first device during the perception calculation is consistent with the time corresponding to the location information of the terminal device determined by the second device. Therefore, it is equivalent to obtaining the location information of the terminal device in real time, and the perception result obtained by the first device through perception calculation is more accurate, which effectively improves the perception accuracy of the perception technology. In addition, the terminal device can obtain the location information of the terminal device and perform a perception calculation in combination with the original perception measurement information such as non-first path delay, AOD, and RSRP to obtain perception measurement information such as point cloud and Doppler velocity spectrum and report it to the first device. Compared with the original perception measurement information, the data volume of these perception measurement information is greatly reduced, which reduces the pressure on network device data transmission and reduces the data transmission delay.

[0305] The communication method provided in the embodiments of the present application is described in detail above with reference to Figures 4 to 13. The communication device provided in the embodiments of the present application will be described in detail below with reference to Figures 14 and 15. It should be understood that the description of the embodiment of the communication device corresponds to the description of the embodiment of the communication method. Therefore, for portions not described in detail, reference can be made to the method embodiment described above.

[0306] Please refer to Figure 14, which is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. As shown in Figure 14, the communication device 140 may include a transceiver unit 141 and a processing unit 142.

[0307] In some feasible implementations, the communication device 140 may correspond to the first device mentioned above, or a component (such as a circuit, a chip, or a chip system) configured in the first device.

[0308] In a specific implementation, processing unit 142 is configured to generate a first message, wherein the first message includes identification information of a terminal device. Transceiver unit 141 is configured to send the first message. Transceiver unit 141 is further configured to receive a second message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device. The positioning measurement information and / or the first perception measurement information are used to determine a perception result.

[0309] In a possible implementation, the second message includes positioning measurement information, and the positioning measurement information includes target location information of the terminal device.

[0310] In a possible implementation, the first message further includes indication information for indicating a target time period, and the target location information is location information of the terminal device within the target time period.

[0311] In one possible implementation, the indication information includes a target time and a time offset, the target time and the time offset are used to determine a target period, the target time is determined by the time of obtaining the second perception measurement information, and the second perception measurement information and the target position information are used to determine the perception result.

[0312] In one possible implementation, the second perception measurement information includes one or more of the non-first path delay, non-first path arrival angle AOA, non-first path departure angle AOD, non-first path reference signal received power RSRP, point cloud, Doppler velocity spectrum, distance spectrum or angle spectrum of the perception reference signal.

[0313] In a possible implementation, the second message further includes first perception measurement information and first time identifier information, where the first time identifier information is used to indicate a time point for obtaining the first perception measurement information.

[0314] In a possible implementation, the second message further includes second time identifier information, where the second time identifier information is used to indicate a time for acquiring the positioning measurement information.

[0315] In a possible implementation, the first perception measurement information includes one or more of a non-first path delay of a target reference signal, a non-first path angle of arrival AOA, a non-first path angle of departure AOD, or a received power RSRP of a non-first path reference signal.

[0316] In a possible implementation, the transceiver unit 141 is further used to receive a fourth message, where the fourth message includes third perception measurement information and third time identifier information, and the third time identifier information is used to indicate a time point for obtaining the third perception measurement information.

[0317] In a possible implementation, the third perception measurement information includes one or more of the non-first path delay, non-first path arrival angle AOA, non-first path departure angle AOD, or non-first path reference signal received power RSRP of the target reference signal.

[0318] In a possible implementation, the second message includes first perception measurement information, where the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0319] In a possible implementation, the transceiver unit 141 is further configured to receive a fifth message, where the fifth message is used to request the first device to perform a perception service.

[0320] In one possible implementation, the processing unit 142 is further configured to determine a perception result based on the positioning measurement information and / or the first perception measurement information. The processing unit 142 is further configured to generate a sixth message, wherein the sixth message includes the perception result. The transceiver unit 141 is further configured to send the sixth message.

[0321] In some feasible implementations, the communication device 140 may correspond to the second device mentioned above, or a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0322] In a specific implementation, transceiver unit 141 is configured to receive a first message, wherein the first message includes identification information of a terminal device. Processing unit 142 is configured to generate a second message or a third message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device, and the third message includes positioning measurement information, where the positioning measurement information and / or the first perception measurement information are used to determine a perception result. Transceiver unit 141 is further configured to send the second message or the third message.

[0323] In a possible implementation, the second message includes positioning measurement information, and the positioning measurement information includes target location information of the terminal device.

[0324] In a possible implementation, the first message further includes indication information for indicating a target time period, and the target location information is location information of the terminal device within the target time period.

[0325] In one possible implementation, the indication information includes a target time and a time offset, the target time and the time offset are used to determine a target period, the target time is determined by the time of obtaining the second perception measurement information, and the second perception measurement information and the target position information are used to determine the perception result.

[0326] In one possible implementation, the second perception measurement information includes one or more of the non-first path delay, non-first path arrival angle AOA, non-first path departure angle AOD, non-first path reference signal received power RSRP, point cloud, Doppler velocity spectrum, distance spectrum or angle spectrum of the perception reference signal.

[0327] In a possible implementation, the second message further includes first perception measurement information and first time identifier information, where the first time identifier information is used to indicate a time point for obtaining the first perception measurement information.

[0328] In a possible implementation, the second message further includes second time identifier information, where the second time identifier information is used to indicate a time for acquiring the positioning measurement information.

[0329] In a possible implementation, the first perception measurement information includes one or more of a non-first path delay of a target reference signal, a non-first path angle of arrival AOA, a non-first path angle of departure AOD, or a received power RSRP of a non-first path reference signal.

[0330] In some feasible implementations, the communication device 140 may correspond to the aforementioned sensing device, or a component configured in the sensing device (such as a circuit, a chip, or a chip system).

[0331] In a specific implementation, the transceiver unit 141 is configured to receive a third message from the second device, wherein the third message includes positioning measurement information of the terminal device. The processing unit 142 is configured to generate a second message, wherein the second message includes the first perception measurement information. The transceiver unit 141 is further configured to send the second message.

[0332] In a possible implementation manner, the first perception measurement information includes one or more of a point cloud, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum of a target reference signal.

[0333] In a possible implementation, the third message further includes fourth time identifier information, where the fourth time identifier information is used to indicate a time point for acquiring positioning measurement information, where the positioning measurement information includes target location information of the terminal device.

[0334] In one possible implementation, the positioning measurement information is determined by fourth perception measurement information, and the fourth perception measurement information includes one or more of the first path delay, first path arrival angle AOA, first path departure angle AOD, first path reference signal received power RSRP, non-first path delay, non-first path AOA, non-first path AOD or non-first path RSRP of the target reference signal.

[0335] In a possible implementation, the processing unit 142 is further configured to determine first perception measurement information according to the positioning measurement information and the original perception measurement information.

[0336] In a possible implementation, the original sensing measurement information includes one or more of the non-first path delay, non-first path AOA, non-first path AOD, or non-first path RSRP of the target reference signal.

[0337] Please refer to Figure 15, which is a schematic diagram of the structure of another communication device provided in this application. This communication device 150 can be used to implement the operations performed by the first device, second device, or sensing device in the above embodiments. Alternatively, this communication device 150 can be the first device, second device, or sensing device described above. This communication device 150 includes: a processor 151, a memory 152, and a bus system 153.

[0338] The memory 152 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM). The memory 152 is used to store relevant instructions and data. The memory 152 stores the following elements, executable modules, or data structures, or a subset or extension of these:

[0339] Operation instructions: include various operation instructions, used to implement various operations.

[0340] Operating system: includes various system programs used to implement various basic services and process hardware-based tasks.

[0341] FIG15 shows only one memory. Of course, the number of memories may also be multiple as needed.

[0342] The communication device 150 may further include a transceiver 154. The transceiver 154 may be a communication module or a transceiver circuit. In the embodiments of the present application, the transceiver 154 is used to perform the message sending and receiving operations described in the above embodiments.

[0343] The processor 151 may be a controller, a CPU, a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 151 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0344] In a specific application, the various components of the communication device 150 are coupled together via a bus system 153. In addition to a data bus, the bus system 153 may also include a power bus, a control bus, and a status signal bus. However, for clarity, all of the various buses are labeled as the bus system 153 in FIG15 . For ease of illustration, FIG15 is merely schematically drawn.

[0345] In a specific implementation, the communication device 150 may execute the steps of the method performed by the first device, the second device, or the sensing device in the above-mentioned embodiment. Specifically, when the communication device 150 is used to implement the steps performed by the first device, the second device, or the sensing device in the communication method provided in the embodiment, the processor 151 may implement the functions of the above-mentioned processing unit 142, and the transceiver 154 may implement the functions of the above-mentioned transceiver unit 141.

[0346] It should be noted that in practical applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-mentioned method embodiment can be completed by hardware integrated logic circuits in the processor or by software instructions. The above-mentioned processor can be a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above-mentioned method.

[0347] It is understood that the memory in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Wherein, the non-volatile memory can be a ROM, a programmable read-only memory (programmable ROM, PROM), EPROM, an electrically erasable programmable read-only memory (electrically EPROM, EEPROM) or a flash memory. The volatile memory can be a RAM, which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct rambus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory described in the embodiment of the present application is intended to include but is not limited to these and any other suitable types of memories.

[0348] The present application also provides a computer-readable medium having a computer program stored thereon. When the computer program is executed by a computer, the method steps performed by the first device, the second device or the perception device in the above embodiment are implemented.

[0349] The present application also provides a computer program product, which, when executed by a computer, implements the method steps performed by the first device, the second device or the sensing device in the above embodiment.

[0350] The present application also provides a chip, comprising at least a processor, wherein the processor is configured to execute computer-executable instructions so that a device equipped with the chip implements the method steps performed by the first device, the second device, or the sensing device in the above-mentioned embodiment.

[0351] Optionally, the chip may further include an interface circuit for receiving computer execution instructions and transmitting the instructions to the processor.

[0352] The present application also provides a chip system, which includes a processor for supporting a device in which the chip system is installed to implement the method steps performed by the first device, the second device, or the sensing device in the above embodiment, such as generating or processing the data and / or information involved in the above method. In one possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for the data sending device. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

[0353] The present application also provides a communication system. The communication system includes at least the first device, the second device, and the sensing device described above. The first device, the second device, and the sensing device work together to implement the communication method described in the above embodiment.

[0354] The present application also provides a communication system, which includes at least the first device and the second device described above. The first device and the second device work together to implement the communication method described in the above embodiment.

[0355] The present application also provides a communication system. The communication system includes at least the first device, the second device, the sensing device, and the third device described above. The first device, the second device, the sensing device, and the third device work together to implement the communication method described in the above embodiment.

[0356] In the above method embodiments, all or part of the methods can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0357] 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.

[0358] 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.

[0359] The above description is only a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the scope of protection of this application.

Claims

1. A communication method, characterized in that, Applied to a first device, the method includes: Sending a first message, where the first message includes identification information of a terminal device; Receiving a second message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

2. A communication method, characterized in that, Applied to a second device, the method includes: Receiving a first message, where the first message includes identification information of a terminal device; Sending a second message or a third message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the third message includes the positioning measurement information, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

3. The method according to claim 1 or 2, characterized in that, The second message includes the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

4. The method according to claim 3, characterized in that, The first message further includes indication information for indicating a target time period, and the target position information is the position information of the terminal device within the target time period.

5. The method according to claim 4, wherein The indication information includes a target time and a time offset amount, the target time and the time offset amount are used to determine the target time period, the target time is determined by the acquisition time of second sensing measurement information, and the second sensing measurement information and the target position information are used to determine the sensing result.

6. The method according to claim 5, characterized in that, The second sensing measurement information includes one or more of non-first-path delay of a sensing reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, non-first-path reference signal received power RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum.

7. The method according to claim 3, characterized in that, The second message further includes the first sensing measurement information and first time identification information, and the first time identification information is used to indicate the acquisition time of the first sensing measurement information.

8. The method according to claim 7, wherein The first sensing measurement information includes one or more of non-first-path delay of a target reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, or non-first-path reference signal received power RSRP.

9. The method according to claim 1, wherein The second message includes the positioning measurement information and second time identification information, the positioning measurement information includes target position information of the terminal device, and the second time identification information is used to indicate the acquisition time of the target position information; The method further includes: Receiving a fourth message, where the fourth message includes third sensing measurement information and third time identification information, and the third time identification information is used to indicate the acquisition time of the third sensing measurement information.

10. The method according to claim 9, characterized in that, The third sensing measurement information includes one or more of non-first-path delay of a target reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, or non-first-path reference signal received power RSRP.

11. The method according to claim 1, wherein The second message includes the first sensing measurement information, and the first sensing measurement information includes one or more of a point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of a target reference signal.

12. The method according to claim 1, wherein Before sending the first message, the method further includes: Receive a fifth message, where the fifth message is used to request the first device to perform a sensing service.

13. The method according to claim 12, wherein The method further includes: Determine the sensing result according to the positioning measurement information and / or the first sensing measurement information; Send a sixth message, where the sixth message includes the sensing result.

14. A communication method, characterized in that, Applied to a sensing device, the method includes: Receive a third message from a second device, where the third message includes positioning measurement information of a terminal device; Send a second message to the first device, where the second message includes first sensing measurement information.

15. The method according to claim 14, wherein The first sensing measurement information includes one or more of a point cloud of a target reference signal, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum.

16. The method according to claim 14 or 15, characterized in that, The third message further includes fourth time identification information, where the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

17. The method according to any one of claims 14 - 16, characterized in that, The positioning measurement information is determined by fourth sensing measurement information, and the fourth sensing measurement information includes one or more of a first-path delay of a target reference signal, a first-path angle of arrival AOA, a first-path angle of departure AOD, a first-path reference signal received power RSRP, a non-first-path delay, a non-first-path AOA, a non-first-path AOD, or a non-first-path RSRP.

18. The method according to any one of claims 1 or 3 - 17, characterized in that The first device includes a sensing function SF network element.

19. The method according to any one of claims 2-17, characterized in that, The second device includes a positioning management function LMF network element.

20. The method according to any one of claims 14 - 19, characterized in that The sensing device includes the terminal device or a network device.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is run, it implements the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

22. A chip, characterized in that, Includes a processor; The processor is used to execute computer execution instructions so that the device installed with the chip executes the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

23. A computer program product, where the computer program product is executed by a computer to perform the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

24. A communication device, characterized in that, Includes: At least one processor and a memory; The memory is used to store a computer program; The processor is used to execute the computer program stored in the memory so that the communication device executes the communication method according to any one of claims 1, 3-13, or 18, or the communication method according to any one of claims 2-13, or 19, or the communication method according to any one of claims 14 to 20.

Images