Communication method, apparatus and system

Abstract

A communication method, apparatus and system, which can be suitable for a sensing scenario, such as an integrated communication and sensing scenario. The communication method comprises: a first sensing apparatus determines a first identifier of a first sensing target, the first identifier being an identifier of the first sensing target at a first moment; the first sensing apparatus sends first indication information, the first indication information indicating the first identifier of the first sensing target, wherein the first sensing target is different from a second sensing target and the first identifier is the same as a second identifier, or the first sensing target is the same as the second sensing target and the first identifier is different from the second identifier, the second identifier is acquired before the first moment, and the second identifier indicates the second sensing target. The method efficiently realizes identification of a plurality of objects and an association relationship between a plurality of targets, thereby simultaneously detecting and tracking the plurality of objects.

Description

Communication method, device and system

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on February 27, 2024, with application number 202410216401.4 and invention name “Communication Method, Device and System”, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0003] Wireless communication perception fusion can be widely used in application scenarios such as smart transportation, smart low-altitude areas, and smart networks. Communication perception fusion achieves unified design of communication and perception functions through joint signal design and hardware sharing. Perception in communication perception fusion can be understood as wireless perception technology based on the communication system. For example, a base station transmits a wireless signal to a perception target area or object and receives the echo signal reflected by the object. The corresponding perception measurement results, such as the number, location, movement speed, and identification of the perception target objects, are obtained by analyzing the received signals. Current perception task scenarios generally require simultaneous detection and tracking of multiple perception targets. However, current perception technologies cannot efficiently support multi-target perception scenarios, especially the identification and management of multiple perception targets. Summary of the Invention

[0004] The present application provides a communication method, device and system, which can achieve efficient identification and management of perception targets.

[0005] In a first aspect, a communication method is provided. The method may be executed by a first sensing device, or may be executed by a module used in the first sensing device, such as a chip, circuit, or chip system, although this application does not limit this. For ease of description, the following description uses the first sensing device as an example.

[0006] The method includes: determining a first identifier of a first perception target, the first identifier being the identifier of the first perception target at a first moment; sending first indication information, the first indication information indicating the first identifier of the first perception target, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target.

[0007] In this method, the same perception target can be indicated by different identifiers at different times, or different perception targets can be indicated by the same identifier, which improves the flexibility of identifier use and eliminates the need to assign an identifier to a new target perceived and measured each time, facilitating identifier management.

[0008] In some implementations, if the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, the first indication information further indicates the first information,

[0009] The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

[0010] In this method, the first indication information carries a separate indication field for indicating whether the first perception target is a new target, or whether it is a target different from the second perception target, so as to facilitate the receiving end to determine the first perception target, especially when the first identifier is the same as the second identifier but the first perception target is a new target, it can help the receiving end (i.e., the second perception device) to quickly establish a connection between the target and the identifier.

[0011] In some implementations, the first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

[0012] This method further carries the probability that the first perception target is a new target, or the probability that it is different from the second perception target, in the indication information. The receiving end takes the probability into consideration when counting, analyzing, or determining the perception target, which can improve the accuracy of the analysis of the perception measurement results.

[0013] In some implementations, the method further includes: sending second indication information, where the second indication information indicates releasing the first identifier.

[0014] That is, the association between the identifier used in the previous perception measurement and the identified perception target is released, so as to prevent the receiving end from being unable to determine the indication meaning of the first identifier.

[0015] In some implementations, sending the second indication information includes:

[0016] The second indication information is sent in response to at least one of the following: determining that the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0017] It can be understood that the condition for sending the second indication information is that it is determined that the second perception target has moved out of the perception area, or the second perception target has not met the perception requirements, or the second perception target cannot be detected.

[0018] In this method, when a measured target no longer needs to be measured, the association between the target and the corresponding identifier can be released and the identifier can be released in time. In this way, the identifier will not be occupied all the time, which is conducive to saving memory and signaling overhead.

[0019] In some implementations, the second indication information further indicates a release reason, and the release reason includes at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0020] In some implementations, the second indication information may be indicated by an information element (IE), a flag, a cause value, etc., which is not limited in the embodiments of the present application. Taking the cause value as an example, the cause value may include at least one of the following: the second perception target moves out of the perception area, the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0021] In this manner, the second indication information may indicate the reason for the release, so that the receiving end can clearly understand the reason for the release, thereby facilitating the receiving end to perform unbinding and reasonably schedule resources.

[0022] In some implementations, the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, and the first indication information further indicates that the first identifier is associated with the second identifier.

[0023] In this manner, the receiving end can clearly understand through the first indication information that the perception target indicated by the first identifier is the same as the perception target indicated by the second identifier, so there is no need to design a display signaling to release or cover the identifier occupied by the perception target. On the one hand, it can avoid allocating a large number of identifiers to multiple targets, and on the other hand, it can save signaling.

[0024] In some implementations, the first indication information further indicates a probability that the first identifier and the second identifier indicate the same perception target.

[0025] In some implementations, the first indication information further indicates that the first identifier is associated with the second identifier, including:

[0026] The first indication information includes the first identifier and the second identifier, or,

[0027] The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

[0028] That is, the first indication information may indicate the second identifier explicitly or implicitly. The first indication information further indicates the association relationship between the first identifier and the second identifier, which may be replaced by the first indication information including the first identifier and the second identifier, or,

[0029] The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

[0030] In some implementations, the first indication information further indicates time information of the first moment.

[0031] In some implementations, the method further includes: sending update information of the first perception target, the update information of the first perception target including at least one of the following: the probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

[0032] In this approach, when the information of the first perception target changes, the receiving end can be notified in a timely manner. The receiving end can update the relevant information of the first perception target in a timely manner based on the updated information, facilitating further calculation and analysis, which is conducive to improving the accuracy of perception measurement.

[0033] In some implementations, the method further includes sending a first measurement result, where the first measurement result is associated with the first identifier.

[0034] That is, the first sensing device sends the sensing measurement results to the second sensing device, so that the second sensing device can collect and analyze the results.

[0035] In a second aspect, a communication method is provided. This method can be executed by a terminal device, or by a module in a receiving device, such as a chip, circuit, or chip system, although this application does not limit this. For ease of description, the following description uses execution by a receiving device as an example.

[0036] The method includes: receiving first indication information, the first indication information indicating a first identifier of a first perception target, the first identifier being the identifier of the first perception target at a first moment, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target; determining the first perception target based on the first indication information.

[0037] In some implementations, the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, and the first indication information further indicates the first information,

[0038] The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

[0039] In some implementations, the first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

[0040] In some implementations, determining the first perception target based on the first indication information includes: determining the first perception target based on the first identifier and the second information.

[0041] In some implementations, the method further includes: receiving second indication information, the second indication information indicating the release of the first identifier; and releasing the association between the first identifier and the second perception target according to the second indication information.

[0042] In some implementations, the second indication information is sent in response to at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirement, or the second perception target cannot be detected.

[0043] In some implementations, the second indication information further indicates a release reason, and the release reason includes at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0044] In some implementations, the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, and the first indication information further indicates that the first identifier is associated with the second identifier.

[0045] In some implementations, the first perception target is determined based on the first identifier and an association between the first identifier and the second identifier.

[0046] In some implementations, the first indication information further includes a probability that the first identifier and the second identifier indicate the same perception target.

[0047] In some implementations, determining the first perception target based on the first indication information includes: determining the first perception target based on the first identifier, the second identifier, and a probability that the first identifier and the second identifier indicate the same perception target.

[0048] In some implementations, the first indication information further indicates that the first identifier is associated with the second identifier, including: the first indication information includes the first identifier and the second identifier, or the first indication information includes the index of the perception measurement results of the first identifier and the second perception target in the perception measurement report, and the perception measurement report includes the perception measurement results of at least one perception target, and the at least one perception target includes the second perception target.

[0049] In some implementations, the first indication information further indicates time information of the first moment.

[0050] In some implementations, the method further includes: receiving update information of the first perception target, the update information of the first perception target including at least one of the following: the probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

[0051] In some implementations, the method further includes receiving a first measurement result, where the first measurement result is associated with the first identifier.

[0052] It should be understood that the second aspect is an implementation method on the network device side corresponding to the first aspect. The explanations, supplements and descriptions of the beneficial effects of the first aspect are also applicable to the second aspect and will not be repeated here.

[0053] In a third aspect, a communication device is provided, comprising a transceiver unit and a processing unit, the processing unit being used to determine a first identifier of a first perception target, the first identifier being the identifier of the first perception target at a first moment; the transceiver unit being used to send first indication information, the first indication information indicating the first identifier of the first perception target, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target.

[0054] In some implementations, the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, and the first indication information further indicates the first information,

[0055] The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

[0056] In some implementations, the first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

[0057] In some implementations, the transceiver unit is further configured to send second indication information, where the second indication information indicates releasing the first identifier.

[0058] In some implementations, the transceiver unit is specifically configured to send the second indication information in response to at least one of the following: determining that the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0059] In some implementations, the second indication information further indicates a release reason, and the release reason includes at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0060] In some implementations, the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, and the first indication information further indicates that the first identifier is associated with the second identifier.

[0061] In some implementations, the first indication information further indicates a probability that the first identifier and the second identifier indicate the same perception target.

[0062] In some implementations, the first indication information further indicates that the first identifier is associated with the second identifier, including:

[0063] The first indication information includes the first identifier and the second identifier, or,

[0064] The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

[0065] In some implementations, the first indication information further indicates time information of the first moment.

[0066] In some implementations, the method further includes: sending update information of the first perception target, the update information of the first perception target including at least one of the following: the probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

[0067] In some implementations, the transceiver unit is further configured to send a first measurement result, where the first measurement result is associated with the first identifier.

[0068] In a fourth aspect, a communication device is provided, comprising a transceiver unit and a processing unit, the transceiver unit being used to receive first indication information, the first indication information indicating a first identifier of a first perception target, the first identifier being an identifier of the first perception target at a first moment, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target; the processing unit is used to determine the first perception target based on the first indication information.

[0069] In some implementations, the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, and the first indication information further indicates the first information,

[0070] The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

[0071] In some implementations, the first indication information further indicates second information,

[0072] The second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

[0073] In some implementations, determining the first perception target based on the first indication information includes: determining the first perception target based on the first identifier and the second information.

[0074] In some implementations, the transceiver unit is further used to receive second indication information, where the second indication information indicates to release the first identifier; and release the association between the first identifier and the second perception target according to the second indication information.

[0075] In some implementations, the second indication information is triggered in response to at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0076] In some implementations, the second indication information further indicates a release reason, and the release reason includes at least one of the following: the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

[0077] In some implementations, the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, and the first indication information further indicates that the first identifier is associated with the second identifier.

[0078] In some implementations, the processing unit is configured to determine the first perception target based on the first identifier and the first identifier and the second identifier.

[0079] In some implementations, the first indication information further includes a probability that the first identifier and the second identifier indicate the same perception target.

[0080] In some implementations, determining the first perception target based on the first indication information includes: determining the first perception target based on the first identifier, the second identifier, and a probability that the first identifier and the second identifier indicate the same perception target.

[0081] In some implementations, the first indication information further indicates that the first identifier is associated with the second identifier, including: the first indication information includes the first identifier and the second identifier, or the first indication information includes the index of the perception measurement results of the first identifier and the second perception target in the perception measurement report, and the perception measurement report includes the perception measurement results of at least one perception target, and the at least one perception target includes the second perception target.

[0082] In some implementations, the first indication information further indicates time information of the first moment.

[0083] In some implementations, the transceiver unit is also used to receive update information of the first perception target, and the update information of the first perception target includes at least one of the following: the probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

[0084] In some implementations, the transceiver unit is further configured to receive a first measurement result, where the first measurement result is associated with the first identifier.

[0085] It should be understood that the third aspect and the fourth aspect are implementation methods on the device side corresponding to the first aspect and the second aspect. The explanations, supplements and descriptions of the beneficial effects of the first aspect and the second aspect are also applicable to the third aspect and the fourth aspect and will not be repeated here.

[0086] In a fifth aspect, the present application provides a communication device, comprising an interface circuit and a processor, wherein the interface circuit is used to implement the function of the transceiver unit in the third aspect, and the processor is used to implement the function of the processing unit in the third aspect.

[0087] In a sixth aspect, the present application provides a communication device, comprising an interface circuit and a processor, wherein the interface circuit is used to implement the function of the transceiver unit in the fourth aspect, and the processor is used to implement the function of the processing unit in the fourth aspect.

[0088] In the seventh aspect, the present application provides a computer-readable medium storing a program code for execution on a terminal device, the program code comprising instructions for executing the method of the first aspect, or any possible manner in the first aspect, or all possible manners in the first aspect.

[0089] In an eighth aspect, an embodiment of the present application provides a computer-readable medium storing a program code for execution by a network device, the program code including instructions for executing the method of the second aspect, or the third aspect, or any possible manner in the second aspect, or any possible manner in the third aspect, or all possible manners in the second aspect, or all possible manners in the third aspect.

[0090] In the ninth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are executed on a computer, enables the computer to execute the method of the first aspect, or any possible method of the first aspect, or all possible methods of the first aspect.

[0091] In the tenth aspect, a computer program product storing computer-readable instructions is provided, which, when the computer-readable instructions are run on a computer, enables the computer to execute the method of the above-mentioned second aspect, or any possible method of the second aspect, or all possible methods of the second aspect.

[0092] In the eleventh aspect, a communication system is provided, which includes a device having functions of implementing the above-mentioned first aspect, or any possible manner in the first aspect, or all possible manners in the first aspect, the second aspect, or any possible manner in the second aspect, or all possible manners in the second aspect, and various possible designed functions.

[0093] In the twelfth aspect, a processor is provided, which is coupled to a memory and is used to execute the method of the above-mentioned first aspect, or any possible method of the first aspect, or all possible methods of the first aspect.

[0094] In a thirteenth aspect, a processor is provided, coupled to a memory, for executing the method of the second aspect, or any possible manner of the second aspect, or all possible manners of the second aspect.

[0095] In a fourteenth aspect, a chip system is provided, comprising a processor and a memory configured to execute computer programs or instructions stored in the memory, so that the chip system implements the method of any of the aforementioned first or second aspects, as well as any possible implementation of either aspect. The chip system may be composed of a chip alone, or may include a chip and other discrete components.

[0096] In a fifteenth aspect, a communication method is provided, the method being applicable to a first sensing device and a second sensing device, the method comprising: the first sensing device determining a first identifier of a first sensing target, the first identifier being an identifier of the first sensing target at a first moment;

[0097] The first perception device sends a first indication message to the second perception device, where the first indication message indicates a first identifier of the first perception target, wherein the first perception target is different from the second perception target and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target and the first identifier is different from the second identifier, the second identifier is obtained before a first moment, and the second identifier indicates the second perception target; the second perception device determines the first perception target based on the first indication message.

[0098] In the sixteenth aspect, a communication system is provided, which includes a first sensing device and a second sensing device, wherein the first sensing device and the second sensing device are used to execute the method described in the fifteenth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] FIG1 is a schematic diagram of several architectures of a communication system 1000 used in an embodiment of the present application.

[0100] FIG2 is a schematic diagram of several communication perception modes.

[0101] FIG3 is a schematic diagram of a communication method provided in an embodiment of the present application.

[0102] FIG4 is a schematic diagram of a perception measurement process provided in an embodiment of the present application.

[0103] FIG5 is a schematic block diagram of a communication device.

[0104] FIG6 is a schematic block diagram of yet another communication device.

[0105] FIG7 is a schematic block diagram of yet another communication device. DETAILED DESCRIPTION

[0106] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0107] FIG1 is a schematic diagram of several architectures of a communication system 1000 used in an embodiment of the present application. As shown in FIG1(a), the communication system includes a radio access network 100 and a core network 200. Optionally, the communication system 1000 may also include the Internet 300. The radio access network 100 may include at least one radio access network device (such as 110a and 110b in FIG1) and at least one terminal (such as 120a-120j in FIG1). The terminal is connected to the radio access network device wirelessly, and the radio access network device is connected to the core network via wireless or wired connections. The core network device and the radio access network device may be independent and different physical devices, or the functions of the core network device and the logical functions of the radio access network device may be integrated into the same physical device, or a physical device may integrate some of the functions of the core network device and some of the functions of the radio access network device. Terminals and radio access network devices may be connected to each other via wired or wireless connections. FIG1 is only a schematic diagram. The communication system may further include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in FIG1 .

[0108] The technical solutions provided in this application can be applied to various communication systems, such as: fifth generation (5G) or new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, wireless local area networks (WLAN) systems, satellite communication systems, future communication systems, such as sixth generation (6G) mobile communication systems, or a fusion system of multiple systems. The technical solutions provided in this application can also be applied to device to device (D2D) communication, vehicle-to-everything (V2X) communication, machine to machine (M2M) communication, machine type communication (MTC), and Internet of Things (IoT) communication systems or other communication systems.

[0109] A network element in a communication system can send a signal to another network element or receive a signal from another network element. The signal may include information, signaling, or data, etc. The network element can also be replaced by an entity, a network entity, a device, a communication device, a communication module, a node, a communication node, etc. The present disclosure uses the network element as an example for description. For example, the communication system may include at least one terminal device and at least one network device. The network device can send a downlink signal to the terminal device, and / or the terminal device can send an uplink signal to the network device. It is understandable that the terminal device in the present disclosure can be replaced by the first network element, and the network device can be replaced by the second network element, and the two perform the corresponding communication methods in the present disclosure.

[0110] In an embodiment of the present application, the terminal device may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device.

[0111] The terminal device may be a device that provides voice / data, such as a handheld device or vehicle-mounted device with a wireless connection function. 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, 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.

[0112] As an example and not a limitation, in the embodiment of the present application, the terminal device may also be a wearable device. Wearable devices may also be called wearable smart devices, which are a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0113] In the embodiments of the present application, the device for realizing the function of the terminal device can be a terminal device, or a device capable of supporting the terminal device to realize the function, such as a chip system, which can be installed in the terminal device or used in combination with the terminal device. In the embodiments of the present application, the chip system can be composed of a chip, or it can include a chip and other discrete devices. In the embodiments of the present application, only the terminal device is used as an example for description, and the embodiments of the present application are not limited to the solutions of the embodiments of the present application.

[0114] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A base station may broadly cover various names as follows, or replace the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master station, secondary station, multi-standard radio (motor slide retainer, MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), radio unit (RU), positioning node, etc. A base station may be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. The base station may also refer to a communication module, modem or chip that is set in the aforementioned equipment or device. The base station may also be a mobile switching center and a device that performs the base station function in D2D, V2X, and M2M communications, a network side device in a 6G network, a device that performs the base station function in future communication systems, etc. The base station can support networks with the same or different access technologies. Optionally, the RAN node may also be a server, a wearable device, a vehicle or an on-board device, etc. For example, the access network device in the vehicle to everything (V2X) technology may be a road side unit (RSU). The embodiments of the present application do not limit the specific technology and specific device form adopted by the network equipment.

[0115] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0116] The roles of base stations and terminals can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile base station. To terminals 120j accessing the wireless access network 100 via 120i, terminal 120i is a base station. However, to base station 110a, 120i is a terminal, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via a base station-to-base station interface protocol. In this case, 120i is also a base station relative to 110a. Therefore, base stations and terminals can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be referred to as communication devices with base station functionality, while 120a-120j in Figure 1 can be referred to as communication devices with terminal functionality.

[0117] Communication between base stations and terminals, between base stations, and between terminals can be carried out through authorized spectrum, unauthorized spectrum, or both; communication can be carried out through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0118] In some deployments, the network devices mentioned in the embodiments of the present application may include a CU, a DU, or both a CU and a DU, or a control plane CU node (central unit-control plane (CU-CP)), a user plane CU node (central unit-user plane (CU-UP)), and a DU node. For example, the network devices may include a gNB-CU-CP, a gNB-CU-UP, and a gNB-DU.

[0119] In some deployments, multiple RAN nodes collaborate to assist terminals in achieving wireless access, with different RAN nodes implementing portions of the base station's functionality. For example, a RAN node can be a CU, DU, CU-CP, CU-UP, or RU. The CU and DU can be separate or included in the same network element, such as the BBU. The RU can be included in a radio frequency device or radio unit, such as an RRU, AAU, or RRH.

[0120] The RAN node may support one or more types of fronthaul interfaces, with different fronthaul interfaces corresponding to DUs and RUs with different functions. If the fronthaul interface between the DU and the RU is a common public radio interface (CPRI), the DU is configured to implement one or more baseband functions, and the RU is configured to implement one or more radio frequency functions. If the fronthaul interface between the DU and the RU is another type of interface, relative to the CPRI, some of the downlink and / or uplink baseband functions, such as precoding, digital beamforming (BF), or one or more of inverse fast Fourier transform (IFFT) / cyclic prefix (CP) for downlink, are moved from the DU to the RU for implementation; and for uplink, one or more of digital beamforming (BF), or fast Fourier transform (FFT) / cyclic prefix (CP) removal, are moved from the DU to the RU for implementation. In one possible implementation, the interface may be an enhanced common public radio interface (eCPRI). In the eCPRI architecture, the division between the DU and RU is different, corresponding to different types (category, Cat) of eCPRI, such as eCPRI Cat A, B, C, D, E, and F.

[0121] Taking eCPRI Cat A as an example, for downlink transmission, based on layer mapping, the DU is configured to implement layer mapping and one or more functions preceding it (i.e., one or more of coding, rate matching, scrambling, modulation, and layer mapping). Other functions after layer mapping (e.g., resource element (RE) mapping, digital beamforming (BF), or one or more of inverse fast Fourier transform (IFFT) / cyclic prefix (CP) addition) are moved to the RU for implementation. For uplink transmission, based on RE demapping, the DU is configured to implement demapping and one or more functions preceding it (i.e., one or more of decoding, rate matching, descrambling, demodulation, inverse discrete Fourier transform (IDFT), channel equalization, and RE demapping). Other functions after demapping (e.g., one or more of digital BF or fast Fourier transform (FFT) / CP removal) are moved to the RU for implementation. It is understandable that for the functional description of DU and RU corresponding to various types of eCPRI, reference can be made to the eCPRI protocol, which will not be described in detail here.

[0122] In one possible design, the processing unit for implementing baseband functions in the BBU is called a baseband high layer (BBH) unit, and the processing unit for implementing baseband functions in the RRU / AAU / RRH is called a baseband low layer (BBL) unit.

[0123] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (open RAN, ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0124] In the embodiments of the present application, the device for implementing the functions of the network device can be a network device; it can also be a device that can support the network device to implement the functions, such as a chip system, a hardware circuit, a software module, or a hardware circuit and a software module. The device can be installed in the network device or used in conjunction with the network device. In the embodiments of the present application, only the device for implementing the functions of the network device is used as an example to illustrate, and does not constitute a limitation on the solutions of the embodiments of the present application.

[0125] The sensing function network element (SF) in this application is an example of a device or component deployed in the core network to provide sensing functions for the UE. SF is an example of the name of the device or component, and can also be other names, such as the sensing management network element, etc., which is not limited in this application. In addition, this application does not limit the deployment method of SF. For example, SF can be deployed independently, or SF can be co-located with the location management function (LMF). Furthermore, SF can be divided into two parts, SF-U and SF-C. SF-U is connected to the user plane function (UPF) network element, and SF-C is connected to the access and mobility management function (AMF) network element. For details, please refer to (b) in Figure 1. Of course, SF can also be directly connected to the base station, such as (c) in Figure 1. Among them, sensing control (SC) is just an exemplary name and is not limited to the name. SC represents a sensing-related network element deployed on the RAN side. The network element can be a base station, a network element deployed on a base station, or a network element deployed independently of the base station. This network element may have at least one of the following capabilities: receiving sensing requests from the SF, managing sensing nodes (base stations, terminals), coordinating sensing resources within the area, processing sensing measurement results, and directly receiving sensing requests (it has all the functions of the SF and can be understood as the SF being deployed on the RAN side). The SC can be independent of the base station, as shown in Figure 1 (d). The base station can also act as the SC, as shown in Figure 1 (c).

[0126] The network device and / or terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on the water surface; it can also be deployed on aircraft, balloons and satellites in the air. The embodiments of this application do not limit the scenarios in which the network device and the terminal device are located. In addition, the terminal device and the network device can be hardware devices, or they can be software functions running on dedicated hardware, software functions running on general-purpose hardware, such as virtualization functions instantiated on a platform (e.g., a cloud platform), or entities including dedicated or general-purpose hardware devices and software functions. This application does not limit the specific forms of the terminal device and the network device.

[0127] The technical solutions provided in the embodiments of the present application can be applied to wireless communications between communication devices. Wireless communications between communication devices may include: wireless communications between network devices and terminals, wireless communications between network devices, and wireless communications between terminal devices. In the embodiments of the present application, the term "wireless communications" may also be referred to as "communication," and the term "communication" may also be described as "data transmission," "information transmission," or "transmission." For example, the solutions provided in the embodiments of the present application can be applied in wireless communications perception fusion scenarios.

[0128] Wireless communication perception fusion can be widely used in typical application scenarios such as smart transportation, smart low-altitude areas, and smart networks. Communication perception fusion achieves unified design of communication and perception functions through joint signal design and hardware sharing. Perception in communication perception fusion can be understood as wireless perception technology based on the communication system. For example, a base station transmits wireless signals to a target area or object and receives echo signals reflected by the object. By analyzing the received signals, corresponding perception measurements are obtained, such as the number, location, movement speed, and identity of the target objects.

[0129] According to whether the need of perception is regional or specific perception target, perception can be divided into regional (per area) and per-object synaesthesia scenes. Regional perception is for a certain area, such as scenes such as urban low altitude, road, factory, and typical application scenarios are such as: locating and tracking the drone intruding into the supervision range at urban low altitude, and then realizing drone intrusion detection for fixed areas; Real-time detection of the moving trajectory and moving speed of the vehicle on urban roads and uploading the perception data to the positioning processing center, perceiving the running state of the highway; Breathing detection, fitness monitoring, gesture / gesture recognition, etc. are carried out by perceiving channel changes; By signal link attenuation in the communication link, and then utilizing the relationship analysis between signal attenuation and weather index to obtain corresponding weather index, carry out weather detection, etc. The perception area in the embodiment of the present application can be understood as a preset area physically, geographically or logically, and the area is detected by the mode of wireless communication perception. That is, the perception area is the perception range in the regional synaesthesia scene.

[0130] Target-oriented detection is when the target has an identifier (a subscriber identity module (SIM) card that can establish an air interface connection with the network), and uses synaesthesia technology to perceive and track the target object to obtain a dynamic detection scenario of the perceived object.

[0131] There are currently six modes of perception, as shown in Figure 2.

[0132] The base station sends the sensing signal: (a) in Figure 2 shows the base station sending and receiving the signal itself; (b) in Figure 2 shows base station 1 sending and base station 2 receiving; (c) in Figure 2 shows the base station sending and UE receiving the signal.

[0133] UE sends perception signal: (d) in Figure 2 is sent by UE and received by base station; (e) in Figure 2 is sent and received by UE itself; (f) in Figure 2 is sent by UE1 and received by UE2.

[0134] It's generally believed that one identity (ID) identifies a target. When reporting a detected target to the sensing function (SF), a base station can assign a specific ID to the target and include the target ID in the measurement results (herein referred to as sensing results or sensing measurement results). The measurement results reported by the base station to the SF may include coordinate information, angle of arrival (AOA), time of arrival (TOA), and so on.

[0135] Scenarios involving object detection and / or tracking within certain areas, such as unmanned aerial vehicle (UAV) scenarios, where drones are detected and tracked in real time within no-fly zones; smart city applications, where vehicles and pedestrians are detected within a specific area; and speeding vehicles within a speed-limited zone, where speeding vehicles are detected and tracked, generally require simultaneous detection and tracking of multiple sensing targets, requiring the association of objects detected across multiple measurements. Current technologies, however, are unable to efficiently support this requirement. For example, the identification and management of multiple sensing targets is inefficient.

[0136] In view of this, the present application provides a communication method that supports efficient management in the perception process by improving the flexibility of the association relationship between the ID and the perception target. The following describes the method by taking the first perception device and the second perception device as the transmitting and receiving ends of the perception signal as an example. It should be understood that the first perception device can be a network device or a terminal device, and the second perception device can be a network device or a terminal device. The perception device in this article can also be referred to as a perception node. The type of perception node is not limited in this application. It can be a network device, a terminal device, or a part or component in a network device. For example, the first perception device can be an SF, and the second perception device can be a base station. Alternatively, the first perception device can be a UE, and the second perception device can be an SF.

[0137] The six perception modes introduced above are all applicable to the communication method provided in the embodiments of this application.

[0138] As shown in FIG3 , the method includes the following steps:

[0139] S310, the first perception device determines a first identifier of a first perception target.

[0140] The function of the identifier in the embodiments of the present application is to indicate or distinguish the perceived target. The first identifier is the identifier of the first perceived target at the first moment. In other words, in the perception measurement corresponding to the first moment, the first identifier is used to uniquely identify the first perceived target. If there are other perceived targets, for example, there are N perceived targets in total, these N perceived targets correspond to N identifiers, and these N identifiers are different from each other. Where N is a positive integer.

[0141] The first moment may be the moment of perception measurement, or the moment when the first perception device determines the first perception target, or the moment when the first perception device sends the measurement result to the second perception device. In short, the first moment is a certain moment in a perception process, or in other words, the first identifier is only used to identify the first perception target in a single perception measurement process. In other perception measurement processes, the identifier corresponding to the first perception target is variable.

[0142] The sensing target in the embodiments of the present application can be a network device, a terminal device, or any target to be sensed. For example, the sensing target can be a base station, a vehicle, a pedestrian, a drone, etc.

[0143] A possible way for the first sensing device to determine the first identifier of the first sensing target is that the first sensing device autonomously determines the first identifier. For example, the first sensing device measures the first sensing target, generates the first identifier, and binds the first identifier to the first sensing target.

[0144] Another possible way for the first perception device to determine the first identifier of the first perception target is that the first identifier is external. For example, the identifier is preset. For another example, the identifier is assigned by the second perception device. For example, when there are multiple perception devices that perform perception measurements (hereinafter referred to as Class A perception devices), the device that receives the perception measurement results (hereinafter referred to as Class B perception devices) can assign identifiers to Class A perception devices to distinguish different perception targets in order to avoid conflicts between identifiers reported by different Class A perception devices.

[0145] It should be understood that the above two possible methods are only examples and not limitations. For example, other methods that can obtain (or determine) identifiers for distinguishing different perception targets in the same measurement should be within the scope of protection of this application.

[0146] S320, the first sensing device sends first indication information to the second sensing device, and correspondingly, the second sensing device receives the first indication information.

[0147] The first indication information indicates the first identifier of the first perception target. At different moments, the correspondence between the perception target and the identifier may be variable. The first perception target is different from the second perception target, but the first identifier corresponding to the two perception targets is the same as the second identifier, or the first perception target is the same as the second perception target, but the first identifier corresponding to the two perception targets is different from the second identifier. The second identifier is obtained before the first moment, and the second identifier indicates the second perception target. In other words, the second identifier and the first identifier are identifiers in different perception measurement processes, for example, the second identifier is sent earlier than the first identifier in terms of timing.

[0148] It is understood that the same identifier can be used to identify different perception targets at different times, or the same perception target can be identified using different identifiers at different times;

[0149] For example, the first perception device sends an indication message A to the second perception device at moment A, and the indication message A carries identifier A (an example of the second identifier); the first perception device sends an indication message B to the second perception device at moment B, and the indication message B carries identifier B (an example of the first identifier), and moment A is before moment B. In one case, identifier A is the same as identifier B, but the perception targets they indicate are different. Identifier A indicates perception target A (an example of the second perception target), and identifier B indicates perception target B (an example of the first perception target). In another case, identifier A is different from identifier B, but the perception targets they indicate are the same. Identifier A indicates perception target A, and identifier B indicates perception target B.

[0150] It should be understood that the above-mentioned first moment can be a time point or a time period, and this application does not limit this.

[0151] The following describes these two possible situations.

[0152] Case 1: The first perceived target and the second perceived target are different, but the first identifier and the second identifier corresponding to the two perceived targets are the same.

[0153] In this case, the following implementations are possible:

[0154] Implementation method 1: The first sensing device sends a second instruction message to the second sensing device, which instructs the second sensing device to release the first identifier. The second sensing device releases the first identifier according to the second instruction message, that is, it disassociates the first identifier from the sensing target previously identified (for example, during the previous sensing measurement process).

[0155] Specifically, the first sensing device performs a first sensing measurement, measuring an object X, and reports the detected object X to the second sensing device, along with the corresponding ID X. The first sensing device performs a second sensing measurement, sending an instruction message C to the second sensing device. The second sensing device releases the binding between ID X and object X based on instruction message C. The first sensing device measures object Y and sends ID X to the second sensing device. ID X identifies object Y in this measurement.

[0156] In one possible implementation, the first perception device sends a second indication message in response to at least one of the following: determining that the second perception target has moved out of the perception area, or that the second perception target has not met the perception requirements, or that the second perception target can no longer be detected. That is, the target measured in the last perception measurement process is no longer in the perception area in this perception measurement process, or has failed to meet the perception requirements. In this case, the first perception device instructs the second perception device to release the association between the perception target and the identifier in the last measurement. Among them, the perception area can refer to the previous description and will not be repeated. The perception requirement can be understood as a perception condition, or the perception measurement parameter of the target does not meet the perception measurement threshold. For example, the perception task is to detect an object in a preset perception area, and a speed measurement threshold is preset. If the speed of the target does not meet the standard starting from a certain moment, that is, the speed of the object detected is lower than the speed measurement threshold, then the object is no longer a target detection object, so the association with the identifier can be released, and the identifier can be released for use by other target detection objects.

[0157] Furthermore, the second indication information may also indicate a release reason, which may include that the second sensing target moves out of the sensing area and / or the second sensing target does not meet the sensing requirements or cannot be detected. That is, the second indication information carries a release reason value while indicating the release.

[0158] In some possible implementations, the second indication information may be indicated by an information element (IE), a flag, a cause value, etc., which is not limited in the embodiments of the present application.

[0159] Implementation method 2: The first indication information also indicates the first information, and the first information indicates that the first perception target is different from the second perception target, or the first perception target is the perception target perceived for the first time.

[0160] For example, the first information is 1 bit, indicating whether the target measured in this perception measurement is a target that appeared in the previous perception measurement. When the value of this bit is 1, it indicates that the target measured in this perception measurement is a target that appeared in the previous perception measurement, that is, an old target. When the value of this bit is 0, it indicates that the target measured in this perception measurement did not appear in the previous perception measurement, that is, a new target.

[0161] In another example, the first information is 1 bit, indicating whether the target measured in this perception is the same as the target identified by ID X in the last perception. When the value of this bit is 1, it indicates that the target measured in this perception is the same as the target identified by ID X in the last perception, that is, the first perception target is the same as the second perception target. When the value of this bit is 0, it indicates that the target measured in this perception is different from the target identified by ID X in the last perception, that is, the first perception target is different from the second perception target.

[0162] It should be understood that the correspondence between the number of bits occupied by the first information, the bit values ​​and the meanings represented by the values ​​are only examples and not limitations.

[0163] For example, a first sensing device performs a first sensing measurement, measuring an object X, and reports the detected object X to a second sensing device, along with its corresponding ID X. The first sensing device performs a second sensing measurement, measuring object Y, and sends an indication message D to the second sensing device. Indication message D carries ID X and first information indicating that the object indicated by ID X is a new object. In other words, ID X identifies object Y in this measurement.

[0164] Optionally, the first indication information also indicates second information, and the second information indicates the probability that the second perception target is different from the first perception target, or the probability that the first perception target is the first perception target. For example, the value of the probability can be between 0 and 1. The second perception device can use the probability value as a consideration for perception measurement statistics. For example, the first perception device performs a first perception measurement, measures an object X, reports the detected object X to the second perception device, and carries the corresponding ID X. The first perception device performs a second perception measurement and measures object Y, and sends an indication message D to the second perception device. The indication message D carries ID X and also carries the first information, which indicates the probability that the target indicated by ID X is a new target. The probability value is beneficial for the comprehensive decision-making of the perception results of multiple nodes in the scenario of multi-node collaborative perception. At the same time, if the probability of the current target being a new target is low, the system can make a comprehensive decision based on the detection results of multiple subsequent time points, which is beneficial to reducing the false alarm rate.

[0165] For example, the first sensing device performs the first sensing measurement and detects the presence of object X in the target area. It then reports ID X to the second sensing device to identify object X. The first sensing device performs the second sensing measurement and detects objects Y1 and Y2 in the target area. The first sensing device determines that there is a 90% probability that Y1 and X are different objects. Therefore, ID Y is used to identify Y1, with a probability value of 0.9.

[0166] Case 2: The first perception target and the second perception target are the same, but the first identifier and the second identifier corresponding to the two perception targets are different.

[0167] In this case, the first indication information further indicates that the first identifier is associated with the second identifier. In other words, the first indication information further indicates that the first identifier and the second identifier indicate the same perception target.

[0168] For example, the first indication information includes a first identifier and a second identifier. That is, the first indication information carries different identifiers of the same target in different perception measurement processes to indicate the association between the first identifier and the second identifier, or to determine that the perception targets indicated by the first identifier and the second identifier are the same.

[0169] For example, the first sensing device performs a first sensing measurement of an object X and reports the detected object X to the second sensing device, along with the corresponding ID X. The first sensing device performs a second sensing measurement and also measures object X, and sends an indication message E to the second sensing device. Indication message E carries both ID Y and ID X. That is, ID Y is associated with ID X, indicating that ID Y and ID X identify the same object.

[0170] It should be understood that the current ID information may be indicated explicitly or implicitly.

[0171] As another example, implicit indication is to indicate the ID by sorting the indexes in the multiple measurement quantities sent. In other words, the first indication information includes the first identifier and the index of the perception measurement result of the second perception target in the perception measurement report, and the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target. For example, after the first perception measurement, the first perception device sends a perception measurement report, which includes the perception measurement results of 10 perception targets, and the perception measurement result of object Y is indexed as 3 in the perception measurement report. The first perception device perceives object Y again in the second perception measurement, and the determined ID is ID 2. The index 3 is also carried in the first indication information, indicating that the object identified by ID2 is the same as the object corresponding to index 3, that is, both are object Y.

[0172] In one possible implementation, if the first indication information sent by the first perception device carries only one ID, and the ID is the ID determined during this perception measurement process, it means that the target identified by the ID is a new target.

[0173] Another possible implementation is that if the first indication information sent by the first perception device carries only one ID, and the ID is the ID determined during this perception measurement process, it means that the target identified by the ID is the same as the target identified by the ID during the previous perception measurement process. For a new target, the first indication information can also indicate whether the target measured this time is a new target. For details, please refer to the implementation of the aforementioned first information and will not be repeated here.

[0174] Optionally, the first indication information further indicates a probability that the first identifier and the second identifier indicate the same perceived target. Alternatively, the first indication information further indicates a probability that the perceived target indicated by the first identifier is a new target. For details, reference may be made to the implementation of the aforementioned second information, which will not be described in detail.

[0175] It is understandable that there are cases where the first perceived target and the second perceived target are different and have different identifiers. Alternatively, there are cases where the first identifier and the second identifier are the same. In these cases, the first indication information may also indicate the probability that the first perceived target and the second perceived target are different, or the probability that the first identifier and the second identifier are the same.

[0176] In case 2, one identifier can indicate multiple targets, which can efficiently realize the identification of multiple objects and the association relationship between multiple objects, thereby realizing the simultaneous detection and tracking of multiple objects to improve the efficiency of perception measurement.

[0177] For example, the first indication information may further indicate time information of the first moment, and the time information may be used to establish an association relationship (or binding relationship) between the perception measurement result of the perception target corresponding to the first identifier and the first moment.

[0178] Case 3: In different perception measurements, the perceived target is the same and the identification is also the same.

[0179] Optionally, the first perception device perceives and measures the same target, and the first indication information further indicates the probability that the target corresponding to the first identifier and the target corresponding to the second identifier are the same object.

[0180] For example, a first sensing device performs a first sensing measurement, measuring an object X, and reports the detected object X to a second sensing device, along with the corresponding ID X. The first sensing device performs a second sensing measurement, again measuring object X, and sends an indication message D to the second sensing device. Indication message D carries ID X and information A, indicating that the object indicated by ID X is the same as the object indicated in the first sensing measurement. That is, ID X identifies object X in this measurement. The first indication message also carries a probability, such as 1, that ID X indicates the same object in the two sensing measurements. It should be understood that indication message D may also carry information A and / or the probability that ID X indicates the same object in the two sensing measurements.

[0181] To facilitate understanding of the above method, a detailed perception process example is given below.

[0182] As shown in FIG4 , the connecting line represents the motion trajectory of the target object, where two objects are detected at time t3.

[0183] At time t1, the first sensing device sends a measurement value (also called a sensing measurement result, which in this application may be a parameter value obtained by measurement, point cloud information, or a sensing result), identified as ID1;

[0184] At time t2, the first sensing device sends a measurement value, identified as ID1, carrying a probability value of 1.0, indicating that the probability that the detected target corresponds to the object corresponding to ID1 at time t1 is 1.0, that is, the probability that the target perceived at time t1 is the same as the target perceived at time t2 is 100%.

[0185] At time t3, the first sensing device sends two measurements. One measurement is identified by ID1 and carries a 0.4 probability that the target is a new object. This indicates a 0.6 probability that the target is the same object identified by ID1 at both time t1 and time t2. This leaves a certain probability of misjudgment and a 0.4 probability of misjudging another object.

[0186] Among the various implementations described above, enhanced ID management mechanisms support simultaneous detection and tracking of multiple targets. Furthermore, a probability value indicates the probability of new object appearance, providing more accurate perception results. Furthermore, it enables tracking of detected objects and correlation between different detected objects, improving the efficiency of the perception and measurement process.

[0187] S330: The second perception device determines a first perception target based on the first indication information.

[0188] For example, the second perception device determines the first perception target based on the first identifier and the second information.

[0189] In another example, the second perception device determines the first perception target based on the first identifier and the association relationship between the first identifier and the second identifier.

[0190] For example, the second perception device distinguishes different objects based on identification. For example, when the perception task is to track a target object, the measurement quantity of the target object can be determined based on the identification of the object or the association between the identifications, thereby generating a motion trajectory corresponding to the target object.

[0191] Furthermore, a probability may be provided. For example, if identifier A is used to identify a target object in multiple consecutive reports, and the probability of the object being detected for the first time in the Nth report is greater than 0.5, the second sensing device may determine that the object is likely to be new. The second sensing device may then determine that the object identified by identifier A is a new object starting from the Nth report, or make a comprehensive judgment based on subsequent reports.

[0192] Alternatively, for example, identifier A is used to identify a target object in multiple consecutive reports, and each report carries a probability value, which is the probability that identifier A identifies the same object, and the probability value carried in the Nth report is less than 0.5.

[0193] In another example, the second sensing device determines the first sensing target based on probability. For example, if the first sensing device #1 (or base station #1 under the first sensing device) detects a target object at time T and position P, with a probability of 0.6 that the object is the first detected object. Simultaneously, the second sensing device #2 also detects a target object at time T and position P, with a probability of 0.7 that the object is the first detected object. In this case, the second sensing device comprehensively determines that the target object is a new object.

[0194] For example, the second perception device receives identifier A and identifier B, or identifier A and index 2 (i.e., the index of identifier B in the measurement result report), and the second perception device determines that the perception target indicated by identifier A is the same as the perception target corresponding to identifier B or index 2 in the previous perception measurement process.

[0195] Furthermore, the second perception device determines the first perception target based on the first identifier, the association between the first identifier and the second identifier, and the probability that the first identifier and the second identifier indicate the same perception target.

[0196] Optionally, the first sensing device may further send update information of the first sensing target to the second sensing device, where the update information of the first sensing target includes at least one of the following:

[0197] The probability that the first perceived target is different from the second perceived target, the probability that the first perceived target is the perceived target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perceived target, or the association relationship between the first identifier and the second identifier.

[0198] In other words, the update information of the first perception target is used to update the relevant information of the first perception target, such as whether the first perception target and the second perception target are the same or different, and / or whether the first perception target is a new target, so as to facilitate timely adjustment of the tracking results of the perception target during the continuous perception measurement process.

[0199] Optionally, the first perception device sends a first measurement result to the second perception device, where the first measurement result is associated with the first identifier. That is, the first measurement result is a perception measurement result of the first perception target. The first measurement result may be sent as part of other information, as part of the first indication information, or separately, and this application does not limit this.

[0200] The various implementations described in this document may be independent solutions or may be combined according to internal logic, and all of these solutions fall within the scope of protection of this application.

[0201] In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of interaction between various devices. In order to implement the various functions in the methods provided in the embodiments of the present application, the network device or terminal device may include a hardware structure and / or a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0202] The division of modules in the embodiments of the present application is illustrative and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of the present application may be integrated into a single processor, or may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0203] Similar to the above concept, as shown in FIG5 , an embodiment of the present application further provides an apparatus 1000 for implementing the functions of the transmitting device or receiving device in the above method. For example, the apparatus may be a software module or a chip system. In the embodiment of the present application, the chip system may be composed of a chip or may include a chip and other discrete components. The apparatus 1000 may include: a processing unit 510 and a communication unit 520.

[0204] In the embodiment of the present application, the communication unit may also be referred to as a transceiver unit, and may include a sending unit and / or a receiving unit, which are respectively used to execute the sending and receiving steps of the sending device or the receiving device in the above method embodiment.

[0205] The communication device provided in the embodiment of the present application is described in detail below with reference to Figures 5 to 7. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above. For the sake of brevity, they will not be repeated here.

[0206] A communication unit may also be referred to as a transceiver, transceiver, or transceiver device. A processing unit may also be referred to as a processor, processing board, processing module, or processing device. Optionally, the device in communication unit 520 that implements the receiving function may be considered a receiving unit, and the device in communication unit 520 that implements the transmitting function may be considered a transmitting unit. That is, communication unit 520 includes both a receiving unit and a transmitting unit. A communication unit may also be referred to as a transceiver, transceiver, or interface circuit. A receiving unit may also be referred to as a receiver, receiver, or receiving circuit. A transmitting unit may also be referred to as a transmitter, transmitter, or transmitting circuit.

[0207] When the communication device 1000 performs the function of the first sensing device in the process shown in FIG. 3 in the above embodiment:

[0208] The communication unit is used to send and receive information, such as sending the first indication information, the second indication information, the update information of the first sensing target, the first measurement result, etc.

[0209] A processing unit is used to determine a first identifier of a first perception target.

[0210] When the communication device 1000 performs the function of the second sensing device in any of the processes shown in FIG. 3 in the above embodiments:

[0211] A processing unit is configured to determine the first perception target based on the first indication information, collect statistics and / or analyze perception measurement results, etc.

[0212] The communication unit is used to send and receive information, for example, to receive the first indication information, the second indication information, the update information of the first sensing target, the first measurement result, etc.

[0213] The above are just examples. The processing unit 510 and the communication unit 520 can also perform other functions. For more detailed descriptions, please refer to the method embodiment shown in Figure 3 or related descriptions in other method embodiments, which are not repeated here.

[0214] As another possible product form, the sending device and receiving device described in the embodiment of the present application can be implemented by a general bus architecture. For ease of explanation, refer to Figure 6, which is a structural diagram of a communication device 600 provided in an embodiment of the present application, and the communication device 600 includes a processor 601 and a transceiver 602. The communication device 600 can be a first terminal device, or a chip or chip system therein; or, the communication device 600 can be a second terminal device, or a chip or module therein; or, the communication device 600 can be a third terminal device, or a chip or module therein; or, the communication device 600 can be a fourth terminal device, or a chip or module therein; or, the communication device 600 can be a fifth terminal device, or a chip or module therein; or, the communication device 600 can be a sixth terminal device, or a chip or module therein. Figure 6 only shows the main components of the communication device 600. In addition to the processor 601 and the transceiver 602, the communication device 600 can further include a memory 603, and an input and output device (not shown in the figure).

[0215] Optionally, the processor 601 is primarily used to process communication protocols and communication data, as well as control the entire communication device, execute software programs, and process software program data. The memory 603 is primarily used to store software programs and data. The transceiver 602 may include a radio frequency circuit and an antenna. The radio frequency circuit is primarily used to convert baseband signals into radio frequency signals and process radio frequency signals. The antenna is primarily used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as a touch screen, display, and keyboard, are primarily used to receive user input and output data to the user.

[0216] Optionally, the processor 601 , the transceiver 602 , and the memory 603 may be connected via a communication bus.

[0217] When the communication device is powered on, the processor 601 can read the software program in the memory 603, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 601 performs baseband processing on the data to be sent and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then transmits the radio frequency signal to the outside in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 601. The processor 601 converts the baseband signal into data and processes the data.

[0218] In another implementation, the RF circuit and antenna may be provided independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be remotely arranged independent of the communication device.

[0219] In some embodiments, in terms of hardware implementation, those skilled in the art may conceive that the communication device 60 may take the form of the communication device 600 shown in FIG. 6 .

[0220] As an example, the functions / implementation process of the processing module 520 in FIG6 can be implemented by the processor 601 in the communication device 600 shown in FIG6 calling the computer-executable instructions stored in the memory 603. The functions / implementation process of the transceiver module 510 in FIG6 can be implemented by the transceiver 602 in the communication device 600 shown in FIG6.

[0221] As another possible product form, the first sensing device and the second sensing device in the present application may adopt the structure shown in Figure 7, or include the components shown in Figure 7. Figure 7 is a schematic diagram of the structure of a communication device 700 provided in the present application.

[0222] As shown in Figure 7, a communication device 700 includes a processor 701. Optionally, the communication device also includes a communication interface 702. It should be understood that a communication device may include multiple processors.

[0223] When the program instructions are executed in the at least one processor 701, the apparatus 700 can implement the method provided in any of the aforementioned embodiments and any possible designs thereof. Alternatively, the processor 701 implements the method provided in any of the aforementioned embodiments and any possible designs thereof through logic circuits or by executing code instructions.

[0224] The communication interface 702 may be used to receive program instructions and transmit them to the processor. Alternatively, the communication interface 702 may be used for the communication device 700 to communicate with other communication devices, such as exchanging control signaling and / or service data. Exemplarily, the communication interface 702 may be used to receive signals from devices other than the communication device 700 and transmit them to the processor 701, or to send signals from the processor 701 to other communication devices other than the communication device 700.

[0225] Optionally, the communication interface 702 may be a code and / or data read / write interface circuit, or the communication interface 702 may be a signal transmission interface circuit between a communication processor and a transceiver, or a pin of a chip.

[0226] Optionally, the communication device 700 may further include a memory 703, which may be used to store required program instructions and / or data. It should be noted that the memory 703 may exist independently of the processor 701 or may be integrated with the processor 701. The memory 703 may be located within the communication device 700 or external to the communication device 700, without limitation. It should be understood that a communication device may include multiple memories.

[0227] Optionally, the communication device 700 may further include a power supply circuit 704, which may be used to supply power to the processor 701. The power supply circuit 704 may be located in the same chip as the processor 701, or in another chip other than the chip where the processor 701 is located.

[0228] Optionally, the communication device 700 may further include a bus 705 , and various parts of the communication device 700 may be interconnected via the bus 705 .

[0229] In some embodiments, in terms of hardware implementation, those skilled in the art may conceive that the communication device 60 shown in FIG. 6 may take the form of the communication device 700 shown in FIG. 7 .

[0230] As an example, the functions / implementation process of the processing module 520 in FIG6 can be implemented by the processor 701 in the communication device 700 shown in FIG7 calling the computer-executable instructions stored in the memory 703. The functions / implementation process of the transceiver module 510 in FIG6 can be implemented by the communication interface 702 in the communication device 700 shown in FIG7.

[0231] It should be noted that the structure shown in FIG7 does not constitute a specific limitation on the transmitting device and the receiving device. For example, in other embodiments of the present application, the transmitting device and the second terminal device may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0232] When the communication device is a chip used in a terminal device, the terminal device chip implements the functions of the terminal device in the above method embodiments. The terminal device chip receives information from other modules in the terminal device (such as a radio frequency module or antenna), and the information is sent by the network device to the terminal device; or the terminal device chip sends information to other modules in the terminal device (such as a radio frequency module or antenna), and the information is sent by the terminal device to the network device.

[0233] When the communication device is a chip used in a network device, the network device chip implements the network device functions of the above method embodiments. The network device chip receives information from other modules in the network device (such as a radio frequency module or antenna), and the information is sent by the terminal device to the network device; or the network device chip sends information to other modules in the network device (such as a radio frequency module or antenna), and the information is sent by the network device to the terminal device.

[0234] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0235] In the embodiments of the present application, the processor can be a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also exist in a network device or a terminal device as discrete components.

[0236] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, optical storage, etc.) that contain computer-usable program code.

[0237] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0238] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0239] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

[0240] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: include: Determine a first identifier of a first perception target, where the first identifier is an identifier of the first perception target at a first moment; Send a first indication message, wherein the first indication message indicates a first identifier of the first perception target, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target.

2. The method according to claim 1, characterized in that The first perception target is different from the second perception target, and the first identifier is the same as the second identifier. The first indication information further indicates first information, The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

3. The method according to claim 1 or 2, characterized in that The first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Send second indication information, where the second indication information indicates releasing the first identifier.

5. The method according to claim 4, characterized in that The sending of the second indication information includes: The second indication information is sent in response to at least one of the following: It is determined that the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

6. The method according to claim 5, characterized in that The second indication information further indicates a release reason, where the release reason includes at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

7. The method according to claim 1, characterized in that The first perception target is the same as the second perception target, and the first identifier is different from the second identifier. The first indication information further indicates that the first identifier is associated with the second identifier.

8. The method according to claim 7, characterized in that The first indication information further indicates a probability that the first identifier and the second identifier indicate the same perception target.

9. The method according to claim 7 or 8, characterized in that The first indication information further indicates that the first identifier is associated with the second identifier, including: The first indication information includes the first identifier and the second identifier, or, The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

10. The method according to any one of claims 1 to 9, characterized in that The first indication information further indicates time information of the first moment.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: Sending update information of the first sensing target, where the update information of the first sensing target includes at least one of the following: The probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

12. The method according to any one of claims 1 to 11, characterized in that The method further comprises: A first measurement result is sent, where the first measurement result is associated with the first identifier.

13. A communication method, characterized in that: include: Receive first indication information, where the first indication information indicates a first identifier of a first perception target, where the first identifier is an identifier of the first perception target at a first moment, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target; The first perception target is determined based on the first indication information.

14. The method according to claim 13, characterized in that The first perception target is different from the second perception target, and the first identifier is the same as the second identifier. The first indication information further indicates first information, The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

15. The method according to claim 13 or 14, characterized in that The first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

16. The method according to claim 15, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier and the second information.

17. The method according to any one of claims 13 to 16, characterized in that The method further comprises: receiving second indication information, where the second indication information indicates releasing the first identifier; Release the association between the first identifier and the second perception target according to the second indication information.

18. The method according to claim 17, characterized in that The second indication information is sent in response to at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

19. The method according to claim 18, characterized in that The second indication information further indicates a release reason, where the release reason includes at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

20. The method according to claim 13, wherein The first perception target is the same as the second perception target, and the first identifier is different from the second identifier. The first indication information further indicates that the first identifier is associated with the second identifier.

21. The method according to claim 20, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier and the second identifier.

22. The method according to claim 20 or 21, characterized in that The first indication information further includes a probability that the first identifier and the second identifier indicate the same perception target.

23. The method according to claim 22, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier, the second identifier, and a probability that the first identifier and the second identifier indicate the same perception target.

24. The method according to any one of claims 20 to 23, characterized in that The first indication information further indicates that the first identifier is associated with the second identifier, including: The first indication information includes the first identifier and the second identifier, or, The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

25. The method according to any one of claims 13 to 24, characterized in that The first indication information further indicates time information of the first moment.

26. The method according to any one of claims 13 to 25, characterized in that The method further comprises: Receive update information of the first sensing target, where the update information of the first sensing target includes at least one of the following: The probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

27. The method according to any one of claims 13 to 26, characterized in that The method further comprises: A first measurement result is received, where the first measurement result is associated with the first identifier.

28. A communication device, characterized in that: The method comprises modules or units for executing the method according to any one of claims 1 to 12.

29. A communication device, characterized in that: The method comprises modules or units for performing the method according to any one of claims 13 to 26.

30. A communication system, characterized in that: Comprising the communication device as claimed in claim 28 and claim 29.

31. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or instructions, which, when executed on a communication device, causes the communication device to execute the method according to any one of claims 1 to 12, or the method according to any one of claims 13 to 26.

32. A computer program product, characterized in that The computer program product comprises a computer program or instructions for performing the method of any one of claims 1 to 12 or the method of any one of claims 13 to 26.

33. A chip system, characterized in that: The chip system includes a processor and a communication interface. The processor reads instructions stored in a memory through the communication interface to execute the method as described in any one of claims 1 to 12, or the method as described in any one of claims 13 to 26.

34. A communication method, characterized in that: include: The first sensing device determines a first identifier of a first sensing target, where the first identifier is an identifier of the first sensing target at a first moment; The first sensing device sends first indication information to the second sensing device, where the first indication information indicates a first identifier of the first sensing target, wherein the first sensing target is different from the second sensing target and the first identifier is the same as the second identifier, or the first sensing target is the same as the second sensing target and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second sensing target; The second perception device determines the first perception target based on the first indication information.

35. A communication system, characterized in that: It includes a first sensing device and a second sensing device, and the first sensing device and the second sensing device are used to perform the method as claimed in claim 34.

36. A communication device, characterized in that include: a processing unit, configured to determine a first identifier of a first perception target, where the first identifier is an identifier of the first perception target at a first moment; A transceiver unit is used to send a first indication message, where the first indication message indicates a first identifier of the first perception target, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target.

37. The device according to claim 36, characterized in that The first perception target is different from the second perception target, and the first identifier is the same as the second identifier. The first indication information further indicates first information, The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

38. The device according to claim 36 or 37, characterized in that The first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

39. The device according to any one of claims 36 to 38, characterized in that The transceiver unit is also used for: Send second indication information, where the second indication information indicates releasing the first identifier.

40. The device according to claim 39, characterized in that The sending of the second indication information includes: The second indication information is sent in response to at least one of the following: It is determined that the second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

41. The device according to claim 40, characterized in that The second indication information further indicates a release reason, where the release reason includes at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

42. The device according to claim 36, characterized in that The first perception target is the same as the second perception target, and the first identifier is different from the second identifier. The first indication information further indicates that the first identifier is associated with the second identifier.

43. The device according to claim 42, characterized in that The first indication information further indicates a probability that the first identifier and the second identifier indicate the same perception target.

44. The device according to claim 42 or 43, characterized in that The first indication information further indicates that the first identifier is associated with the second identifier, including: The first indication information includes the first identifier and the second identifier, or, The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

45. The device according to any one of claims 36 to 44, characterized in that The first indication information further indicates time information of the first moment.

46. ​​The device according to any one of claims 36 to 45, characterized in that The transceiver unit is further configured to: Sending update information of the first sensing target, where the update information of the first sensing target includes at least one of the following: The probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

47. The device according to any one of claims 36 to 46, characterized in that The transceiver unit is further configured to: A first measurement result is sent, where the first measurement result is associated with the first identifier.

48. A communication device, characterized in that include: A transceiver unit, configured to receive first indication information, where the first indication information indicates a first identifier of a first perception target, where the first identifier is an identifier of the first perception target at a first moment, wherein the first perception target is different from the second perception target, and the first identifier is the same as the second identifier, or the first perception target is the same as the second perception target, and the first identifier is different from the second identifier, the second identifier is obtained before the first moment, and the second identifier indicates the second perception target; A processing unit is used to determine the first perception target based on the first indication information.

49. The device according to claim 48, characterized in that The first perception target is different from the second perception target, and the first identifier is the same as the second identifier. The first indication information further indicates first information, The first information indicates that the first perceived target is different from the second perceived target, or that the first perceived target is a perceived target perceived for the first time.

50. The device according to claim 48 or 49, characterized in that The first indication information further indicates second information, where the second information indicates a probability that the second perceived target is different from the first perceived target, or a probability that the first perceived target is a perceived target perceived for the first time.

51. The device according to claim 50, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier and the second information.

52. The device according to any one of claims 48 to 51, characterized in that The transceiver unit is further configured to: receive second indication information, where the second indication information indicates releasing the first identifier; The processing unit is further used to release the association between the first identifier and the second perception target according to the second indication information.

53. The device according to claim 52, characterized in that The second indication information is sent in response to at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

54. The device according to claim 53, characterized in that The second indication information further indicates a release reason, where the release reason includes at least one of the following: The second perception target moves out of the perception area, or the second perception target does not meet the perception requirements, or the second perception target cannot be detected.

55. The device according to claim 48, wherein The first perception target is the same as the second perception target, and the first identifier is different from the second identifier. The first indication information further indicates that the first identifier is associated with the second identifier.

56. The device according to claim 55, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier and the second identifier.

57. The device according to claim 55 or 56, characterized in that The first indication information further includes a probability that the first identifier and the second identifier indicate the same perception target.

58. The device according to claim 57, characterized in that The determining the first perception target based on the first indication information includes: The first perception target is determined based on the first identifier, the second identifier, and a probability that the first identifier and the second identifier indicate the same perception target.

59. The device according to any one of claims 55 to 58, characterized in that The first indication information further indicates that the first identifier is associated with the second identifier, including: The first indication information includes the first identifier and the second identifier, or, The first indication information includes the first identifier and an index of the perception measurement result of the second perception target in a perception measurement report, the perception measurement report includes the perception measurement result of at least one perception target, and the at least one perception target includes the second perception target.

60. The device according to any one of claims 48 to 59, characterized in that The first indication information further indicates time information of the first moment.

61. The device according to any one of claims 48 to 60, characterized in that The transceiver unit is further configured to: Receive update information of the first sensing target, where the update information of the first sensing target includes at least one of the following: The probability that the first perception target is different from the second perception target, the probability that the first perception target is the perception target perceived for the first time, the probability that the first identifier and the second identifier indicate the same perception target, or the association relationship between the first identifier and the second identifier.

62. The device according to any one of claims 48 to 61, characterized in that The transceiver unit is further configured to: A first measurement result is received, where the first measurement result is associated with the first identifier.

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