Communication method and apparatus

Abstract

The present application belongs to the technical field of communications. Provided are a communication method and apparatus, which are used for improving the precision of sensing data. In the method, a sensing function can determine, on the basis of a sensing requirement corresponding to a sensing service, a first device and a second device for jointly executing the sensing service; and after the sensing function triggers the first device and the second device to execute the sensing service, the second device can enhance sensing data obtained by the first device executing the sensing service. In this way, the sparsity of sensing data can be ameliorated, thereby further improving precision of the sensing data, so as to meet the requirement of a sensing service.

Description

Communication method and apparatus

[0001] The present application claims priority to the Chinese Patent Application No. 202410875128.6, filed on June 29, 2024, and entitled "Communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication, and in particular to a communication method and apparatus. BACKGROUND

[0003] The core idea of integrated sensing and communication (ISAC) technology is to add sensing capability on a mobile communication network to build the ability of target detection, tracking and imaging, so that the communication and sensing capabilities are integrated in one network. Currently, a sensing function (SF) can receive a sensing service request from an application function (AF), and generate a corresponding sensing control request according to the sensing service request. The SF can send the sensing control request to a sensing device. The sensing device can perform a sensing operation according to the received sensing control request to obtain sensing data. For a sensing service, multiple sensing devices can be required to perform joint sensing, and the sensing data measured by the multiple sensing devices of the joint sensing can be integrated to obtain a sensing result.

[0004] However, how to improve the accuracy of the sensing data is a problem to be solved. SUMMARY

[0005] Embodiments of the present application provide a communication method and apparatus to improve the accuracy of sensing data.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a communication method is provided. The method can be performed by a sensing function, a module (such as a processor, a chip, or a chip system) applied to the sensing function, or a logic node, a logic module, or software that can implement all or part of the sensing function. For convenience of description, the method is introduced below by taking the sensing function as an example. The method includes: receiving, by the sensing function, a sensing service request, and determining, according to a sensing requirement corresponding to the sensing service, a first device and a second device that need to jointly perform the sensing service; and triggering, by the sensing function, the first device and the second device to perform the sensing service. The sensing service request includes the sensing requirement corresponding to the sensing service, and the second device is configured to enhance sensing data obtained by the first device performing the sensing service.

[0008] According to the method in the first aspect, the perception function can determine the first device and the second device to jointly perform the perception service according to the perception requirement corresponding to the perception service. After the perception function triggers the first device and the second device to perform the perception service, the second device can enhance the perception data obtained by the first device performing the perception service. In this way, the sparsity of the perception data can be improved, and the accuracy of the perception data can be further improved to meet the requirement of the perception service.

[0009] In a possible design, the perception function determines the first device and the second device to jointly perform the perception service according to the perception requirement corresponding to the perception service, including: the perception function determines the first device and the second device according to the perception capability of the first device and / or the perception capability of the second device, and the perception requirement corresponding to the perception service. The perception capability of the first device includes the perception requirement that can be met by the first device, and the perception capability of the second device includes the perception requirement that can be met by the second device. That is, the perception function can first determine the first device and the second device according to the perception capability of the first device and / or the perception capability of the second device, and the perception requirement corresponding to the perception service, so as to trigger the first device and the second device to jointly perform the perception service subsequently.

[0010] In a possible design, the method in the first aspect can further include: the perception function sends the first perception requirement or the perception requirement corresponding to the perception service to the first device; and the perception function sends the second perception requirement or the perception requirement corresponding to the perception service to the second device. The first perception requirement is determined according to the perception requirement corresponding to the perception service and the perception capability of the first device; and the second perception requirement is determined according to the perception requirement corresponding to the perception service and the perception capability of the second device.

[0011] That is, the perception function can determine the first requirement according to the perception requirement corresponding to the perception service and the perception capability of the first device, and determine the second requirement according to the perception requirement corresponding to the perception service and the perception capability of the second device. The first requirement belongs to the perception requirement that can be met by the first device, and the second requirement belongs to the perception requirement that can be met by the second device. In this way, the situation that the perception requirement allocated to the first device and the second device exceeds the perception capability of the first device and the second device can be avoided, so that the efficiency of perception can be improved. Alternatively, the perception function can directly send the perception requirement corresponding to the perception service to the first device and the second device, without calculation and processing, to save overhead.

[0012] In a possible design, the perception function determines the first device and the second device that need to jointly execute the perception service according to the perception requirement corresponding to the perception service, including: the perception function determines the first device according to the perception requirement corresponding to the perception service, and determines the second device according to the first perception data and the perception requirement corresponding to the perception service. The first perception data is obtained by the first device executing the perception service. In other words, the perception function can first determine the first device that executes the perception service, and according to the first perception data obtained by the first device executing the perception service and the perception requirement corresponding to the perception service, when the first perception data cannot meet the perception requirement corresponding to the perception service, the second device is determined to improve the accuracy of the first perception data and better meet the requirement of the perception service.

[0013] In a possible design, after the perception function determines the first device according to the perception requirement corresponding to the perception service, the method in the first aspect can further include: the perception function sends the first perception requirement or the perception requirement corresponding to the perception service to the first device. The first perception requirement is determined according to the perception requirement corresponding to the perception service and the perception capability of the first device. After the perception function determines the second device according to the first perception data and the perception requirement corresponding to the perception service, the method in the first aspect can further include: the perception function sends the second perception requirement or the perception requirement corresponding to the perception service to the second device. The second perception requirement is determined according to the perception requirement corresponding to the perception service and the perception capability of the second device.

[0014] That is, the perception function can first determine the first requirement according to the perception requirement corresponding to the perception service and the perception capability of the first device, and then determine the second requirement according to the perception requirement corresponding to the perception service and the perception capability of the second device after the perception function determines that the second device is needed to jointly execute the perception service. The first requirement belongs to the perception requirement range that can be met by the first device, and the second requirement belongs to the perception requirement range that can be met by the second device. In this way, it can be avoided that the perception requirement allocated to the first device and the second device exceeds the perception capability of the first device and the second device, so that the efficiency of perception can be improved; or the perception function can directly send the perception requirement of the perception service to the first device and the second device without calculation and processing, so as to save the cost.

[0015] In a possible design, the method of the first aspect can further include: the perception function obtaining the perception capability of the first device and the perception capability of the second device, for determining that the first device and the second device jointly perform the perception service, and the first perception requirement and the second perception requirement, and the like. It can be understood that the perception function can obtain the perception capability of the first device from the first device (forwarded by other network elements) or a data management network element, without limitation; the perception function can obtain the perception capability of the second device from the second device (forwarded by other network elements) or a data management network element, without limitation.

[0016] In a possible design, the method of the first aspect can further include: the perception function sending first indication information to the second device. The first indication information is used to instruct the second device to enhance the perception data obtained by the first device performing the perception service. That is, the perception function can trigger the second device to enhance the perception data obtained by the first device performing the perception service through the first indication information, so as to achieve on-demand indication and flexibility.

[0017] In a possible design, the method of the first aspect can further include: the perception function receiving the perception data obtained by the first device performing the perception service, and receiving the perception data obtained by the second device performing the perception service. The perception function performs data fusion on the perception data obtained by the first device performing the perception service and the perception data obtained by the second device performing the perception service, to obtain fused perception data. That is, the perception function can be used to perform data enhancement, at this time, the requirement on the data processing capability of the first device and the second device is relatively low.

[0018] In a possible design, the perception requirement corresponding to the perception service includes at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missed detection rate, false alarm rate, confidence, or perception time, to meet the requirements of different perception scenarios and perception services.

[0019] In a second aspect, a communication method is provided. The method can be performed by a first device, a module (e.g., a processor, a chip, or a chip system) applied to the first device, or a logic node, a logic module, or software that can implement all or part of the functions of the first device. For the convenience of description, the method performed by the first device is taken as an example in the following description. The method includes: determining, by the first device, second indication information according to a first condition, and sending the second indication information to a sensing function. The first condition includes at least one of: a sensing capability of the first device, a sensing requirement corresponding to a sensing service, a first sensing requirement, or first sensing data. The first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service. The second indication information is used to indicate that the sensing service needs to be jointly performed by other devices and the first device, or the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0020] According to the method of the second aspect, the first device can determine that the sensing service needs to be jointly performed by other devices and the first device, or the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement, according to one or more of the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data. At this time, the first device can send the second indication information to the sensing function, so as to trigger the sensing function to determine the devices jointly performing the sensing service with the first device in the future, so as to improve the accuracy of the sensing data and meet the requirement of the sensing service.

[0021] In a possible design, the method of the second aspect can further include: sending, by the first device, third indication information to the sensing function, and receiving third sensing data from a second device. The third indication information is used to indicate that the sensing data obtained by the first device performing the sensing service needs to be enhanced by other devices. The second device is the device determined by the sensing function to jointly perform the sensing service with the first device. The third sensing data is obtained by the second device performing data fusion on the first sensing data and second sensing data. The first sensing data is obtained by the first device performing the sensing service, and the second sensing data is obtained by the second device performing the sensing service. That is, the first device can indicate to the sensing function, through the third indication information, that the sensing data obtained by the first device performing the sensing service needs to be enhanced by other devices. The sensing function can directly determine the second device with data processing capability according to the third indication information, and instruct the second device to enhance the sensing data obtained by the first device performing the sensing service.

[0022] In a possible design, before the first device receives the third perception data from the second device, the method of the second aspect can further include: the first device sending the first perception data to the second device. That is, the first device can send the first perception data to the second device first, and then the second device can directly enhance the first perception data without requesting the first device to obtain the first perception data again, so as to realize enhancement of the first perception data by the second device.

[0023] In a possible design, the method of the second aspect can further include: the first device sending fourth indication information to the perception function and receiving second perception data from the second device. The first device performs data fusion on the second perception data and the first perception data to obtain the third perception data. The fourth indication information is used to indicate that the first device has data processing capability. The second device is a device determined by the perception function to jointly perform the perception service with the first device, and the second perception data is obtained by the second device performing the perception service. The first perception data is obtained by the first device performing the perception service. That is, the first device reports to the perception function that it has data processing capability, so that the perception function can instruct the second device to send corresponding second perception data to the first device, so as to realize enhancement of the second perception data by the first device.

[0024] In a possible design, the method of the second aspect can further include: the first device receiving a first perception requirement or a perception requirement corresponding to a perception service from the perception function. That is, the perception service can be triggered by an application function, and the application function sends the perception requirement corresponding to the perception service to the perception function. The perception function can directly send the perception requirement corresponding to the perception service to the first device, so as to realize simplicity and reduce overhead. Alternatively, the perception function can send a first requirement within a perception requirement range that can be met by the first device to the first device according to the perception requirement corresponding to the perception service and the perception capability of the first device, so as to avoid a case that the perception requirement allocated to the first device exceeds the perception capability of the first device, thereby improving the efficiency of perception. It can be understood that the perception service can also be triggered by the first device itself, which is not limited.

[0025] In a possible design, the method of the second aspect further includes: determining, by the first device, a third sensing requirement according to a second condition, and sending the third sensing requirement to the sensing function. The second condition includes at least one of the following: the sensing requirement corresponding to the sensing service, the first sensing data, or the sensing capability of the first device. The third sensing requirement can be a sensing requirement (which can be equal to the sensing requirement corresponding to the sensing service) that the first device needs other devices to provide, so that the subsequent sensing function can directly instruct the second device to perform the sensing service according to the third sensing requirement, or the sensing function can further determine a sensing requirement (such as a fourth sensing requirement) according to the third sensing requirement and the sensing capability of the second device, and instruct the second device to perform the sensing service according to the fourth sensing requirement, without limitation.

[0026] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of the following: sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missing detection rate, false alarm rate, confidence level, or sensing time.

[0027] In addition, the technical effects of the method of the second aspect can also refer to the technical effects of the method of the first aspect, which are not described herein again.

[0028] In a third aspect, a communication method is provided. The method can be executed by a first device, a module (for example, a processor, a chip, or a chip system) applied to the first device, or a logic node, a logic module, or software that can implement all or part of the functions of the first device. For convenience of description, the method is described below by taking the first device as an example. The method includes: determining, by the first device, fifth indication information according to a third condition, and sending the fifth indication information to a second device. The third condition includes at least one of the following: a sensing capability of the first device, a sensing requirement corresponding to a sensing service, a first sensing requirement, or first sensing data. The first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service. The fifth indication information is used to indicate that the second device needs to jointly perform the sensing service with the first device, or the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0029] According to the method of the third aspect, the first device can determine that the second device needs to jointly perform the perception service according to one or more of the perception capability of the first device, the perception requirement corresponding to the perception service, the first perception requirement, or the first perception data, or that the perception capability of the first device or the first perception data cannot meet the perception requirement corresponding to the perception service or the first perception requirement. At this time, the first device can trigger the sending of the fifth indication information to the second device for subsequent triggering of the second device to determine the device jointly performing the perception service with the first device, so as to improve the accuracy of the perception data and meet the requirement of the perception service.

[0030] In a possible design, the method of the third aspect can further include that the first device sends sixth indication information to the second device and receives third perception data from the second device. The sixth indication information is used to indicate that the second device needs to enhance the perception data obtained by the first device performing the perception service. The third perception data is obtained by the second device performing data fusion on the first perception data and second perception data. The first perception data is obtained by the first device performing the perception service, and the second perception data is obtained by the second device performing the perception service. That is, the first device can send the fifth indication information to the second device, indicating that the second device needs to enhance the perception data obtained by the first device performing the perception service. Subsequently, the second device can determine to enhance the perception data obtained by the first device performing the perception service.

[0031] In a possible design, the method of the third aspect can further include that before the first device receives the third perception data from the second device, the method of the third aspect can further include that the first device sends the first perception data to the second device.

[0032] In a possible design, the method of the third aspect can further include that the first device sends seventh indication information to the second device and receives second perception data from the second device. The first device performs data fusion on the second perception data and the first perception data to obtain the third perception data. The first perception data is obtained by the first device performing the perception service. The seventh indication information is used to indicate that the first device has data processing capability. The second perception data is obtained by the second device performing the perception service. The first perception data is obtained by the first device performing the perception service. That is, the first device reports to the second device that it has data processing capability, so that the second device can subsequently send corresponding second perception data to the first device to enable the first device to enhance the second perception data.

[0033] In a possible design, the perception requirement corresponding to the perception service includes at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missed detection rate, false alarm rate, confidence, or perception time.

[0034] In addition, the technical effects of the method of the third aspect can also refer to the technical effects of the method of the first aspect and the second aspect, which will not be repeated here.

[0035] In a fourth aspect, a communication method is provided. The method can be executed by a second device, or by a module (e.g., a processor, a chip, or a chip system) applied to the second device, or by a logic node, a logic module, or software that can realize all or part of the functions of the second device. For the convenience of description, the method is introduced below by taking the example of being executed by the second device. The method includes: receiving, by the second device, first indication information from a sensing function, and obtaining third sensing data according to the first indication information. The first indication information is used to indicate that the second device enhances sensing data obtained by the first device performing a sensing service. The third sensing data is obtained by the second device performing data fusion on first sensing data and second sensing data. The first sensing data is obtained by the first device performing the sensing service, and the second sensing data is obtained by the second device performing the sensing service.

[0036] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of the following: sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missed detection rate, false alarm rate, confidence, or sensing time.

[0037] In addition, the technical effects of the method of the fourth aspect can also refer to the technical effects of the method of the first aspect, which will not be repeated here.

[0038] In a fifth aspect, a communication method is provided. The method can be executed by a second device, or by a module (e.g., a processor, a chip, or a chip system) applied to the second device, or by a logic node, a logic module, or software that can realize all or part of the functions of the second device. For the convenience of description, the method is introduced below by taking the example of being executed by the second device. The method includes: receiving, by the second device, fifth indication information from a first device, and performing a sensing service according to the fifth indication information. The fifth indication information is used to indicate that the second device jointly performs the sensing service with the first device, or that a sensing capability of the first device or first sensing data obtained by the first device performing the sensing service cannot meet a sensing requirement corresponding to the sensing service or a first sensing requirement determined according to the sensing requirement corresponding to the sensing service.

[0039] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of the following: sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missed detection rate, false alarm rate, confidence, or sensing time.

[0040] In addition, the technical effects of the method of the fifth aspect can also refer to the technical effects of the methods of the first aspect and the third aspect, which will not be repeated here.

[0041] In a sixth aspect, a communication apparatus is provided. The communication apparatus includes means for performing the method of the first aspect. For example, a transceiver module and a processing module. The transceiver module is configured to perform the transceiving functions of the communication apparatus, and the processing module is configured to perform the functions of the communication apparatus other than the transceiving functions.

[0042] The transceiver module is configured to receive a sensing service request. The processing module is configured to determine the first device and the second device that need to jointly perform the sensing service according to the sensing requirement corresponding to the sensing service, and trigger the first device and the second device to perform the sensing service. The sensing service request includes the sensing requirement corresponding to the sensing service. The second device is configured to enhance the sensing data obtained by the first device performing the sensing service.

[0043] In a possible design, the processing module is further configured to determine the first device and the second device according to the sensing capability of the first device and / or the sensing capability of the second device, and the sensing requirement corresponding to the sensing service. The sensing capability of the first device includes the sensing requirement that can be met by the first device, and the sensing capability of the second device includes the sensing requirement that can be met by the second device.

[0044] In a possible design, the transceiver module is further configured to send the first sensing requirement or the sensing requirement corresponding to the sensing service to the first device, and send the second sensing requirement or the sensing requirement corresponding to the sensing service to the second device. The first sensing requirement is determined according to the sensing requirement corresponding to the sensing service and the sensing capability of the first device. The second sensing requirement is determined according to the sensing requirement corresponding to the sensing service and the sensing capability of the second device.

[0045] In a possible design, the processing module is further configured to determine the first device according to the sensing requirement corresponding to the sensing service, and determine the second device according to the first sensing data and the sensing requirement corresponding to the sensing service. The first sensing data is obtained by the first device performing the sensing service.

[0046] In a possible design, after the communication apparatus determines the first device according to the sensing requirement corresponding to the sensing service, the transceiver is further configured to send the first sensing requirement or the sensing requirement corresponding to the sensing service to the first device. After the communication apparatus determines the second device according to the first sensing data and the sensing requirement corresponding to the sensing service, the transceiver is further configured to send the second sensing requirement or the sensing requirement corresponding to the sensing service to the second device. The first sensing requirement is determined according to the sensing requirement corresponding to the sensing service and the sensing capability of the first device, and the second sensing requirement is determined according to the sensing requirement corresponding to the sensing service and the sensing capability of the second device.

[0047] In a possible design, the processing module is further configured to obtain the sensing capability of the first device and the sensing capability of the second device.

[0048] In a possible design, the transceiver is further configured to send the first indication information to the second device. The first indication information is used to instruct the second device to enhance the sensing data obtained by the first device performing the sensing service.

[0049] In a possible design, the transceiver is further configured to receive the sensing data obtained by the first device performing the sensing service and the sensing data obtained by the second device performing the sensing service. The processing module is further configured to perform data fusion on the sensing data obtained by the first device performing the sensing service and the sensing data obtained by the second device performing the sensing service, to obtain fused sensing data.

[0050] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missed detection rate, false alarm rate, confidence level, or sensing time.

[0051] Optionally, the transceiver can include a sending module and a receiving module. The sending module is configured to implement the sending function of the communication apparatus in the sixth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the sixth aspect.

[0052] Optionally, the communication apparatus in the sixth aspect can further include a storage module that stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus can execute the method in the first aspect.

[0053] It can be understood that the communication apparatus in the sixth aspect can be a sensing function, or a chip (system) or other components or assemblies that can be arranged in the sensing function, or an apparatus including the sensing function, and the present application does not limit this.

[0054] In addition, the technical effects of the communication apparatus of the sixth aspect can refer to the technical effects of the method of the first aspect, which will not be repeated here.

[0055] In a seventh aspect, a communication apparatus is provided. The communication apparatus includes means for performing the method of the second aspect, e.g., a transceiver and a processor. The transceiver is configured to perform the transceiving functions of the communication apparatus, and the processor is configured to perform the functions of the communication apparatus other than the transceiving functions.

[0056] The processor is configured to determine the second indication information according to a first condition. The transceiver is configured to transmit the second indication information to the sensing function. The first condition includes at least one of the following: the sensing capability of the communication apparatus of the seventh aspect, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data. The first sensing data is obtained by the communication apparatus performing the sensing service. The second indication information is used to indicate that the sensing service needs to be jointly performed by other devices and the first device, or the sensing capability or the first sensing data of the first device cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0057] In a possible design, before the communication apparatus of the seventh aspect receives the third sensing data from the second device, the transceiver is further configured to transmit the first sensing data to the second device.

[0058] In a possible design, the transceiver is further configured to transmit fourth indication information to the sensing function and receive second sensing data from the second device. The processor is further configured to perform data fusion on the second sensing data and the first sensing data to obtain the third sensing data. The fourth indication information is used to indicate that the communication apparatus of the seventh aspect has a data processing capability. The second device is a device determined by the sensing function to jointly perform the sensing service with the communication apparatus. The second sensing data is obtained by the second device performing the sensing service. The first sensing data is obtained by the communication apparatus performing the sensing service.

[0059] In a possible design, the transceiver is further configured to receive the first sensing requirement or the sensing requirement of the sensing service from the sensing function.

[0060] In a possible design, the processor is further configured to determine a third sensing requirement according to a second condition. The transceiver is further configured to transmit the third sensing requirement to the sensing function. The second condition includes at least one of the following: the sensing requirement corresponding to the sensing service, the first sensing data, or the sensing capability of the communication apparatus of the seventh aspect.

[0061] In a possible design, the perception requirement corresponding to the perception service includes at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missing detection rate, false alarm rate, confidence level, or perception time.

[0062] Optionally, the transceiver module can include a sending module and a receiving module. The sending module is configured to implement the sending function of the communication apparatus in the seventh aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the seventh aspect.

[0063] Optionally, the communication apparatus in the seventh aspect can further include a storage module storing programs or instructions. When the processing module executes the programs or instructions, the communication apparatus can execute the method in the second aspect.

[0064] It can be understood that the communication apparatus in the seventh aspect can be the first device, a chip (system) or other components or assemblies that can be arranged in the first device, or an apparatus including the first device, and the present application does not limit this.

[0065] In addition, the technical effects of the communication apparatus in the seventh aspect can refer to the technical effects of the method in the second aspect, which will not be repeated here.

[0066] In the eighth aspect, a communication apparatus is provided. The communication apparatus includes modules for executing the method in the third aspect, for example, a transceiver module and a processing module. The transceiver module is configured to implement the transceiving function of the communication apparatus, and the processing module is configured to implement the functions of the communication apparatus other than the transceiving function.

[0067] The processing module is configured to determine fifth indication information according to a third condition. The transceiver module is configured to send the fifth indication information to the second device. The third condition includes at least one of the following: the perception capability of the communication apparatus in the eighth aspect, the perception requirement corresponding to the perception service, the first perception requirement, or the first perception data. The first perception requirement is determined according to the perception requirement corresponding to the perception service, and the first perception data is obtained by the communication apparatus performing the perception service. The fifth indication information is used to indicate that the second device needs to jointly perform the perception service with the communication apparatus, or the perception capability or the first perception data of the communication apparatus cannot meet the perception requirement corresponding to the perception service or the first perception requirement.

[0068] In a possible design, the transceiver module is further configured to send sixth indication information to the second device, and receive third sensing data from the second device. The sixth indication information is used to indicate that the second device needs to enhance the sensing data obtained by the communication apparatus in the eighth aspect performing the sensing service; and the third sensing data is obtained by the second device performing data fusion on the first sensing data and the second sensing data; the first sensing data is obtained by the communication apparatus performing the sensing service; and the second sensing data is obtained by the second device performing the sensing service.

[0069] In a possible design, before the communication apparatus in the eighth aspect receives the third sensing data from the second device, the transceiver module is further configured to send the first sensing data to the second device.

[0070] In a possible design, the transceiver module is further configured to send seventh indication information to the second device, and receive second sensing data from the second device. The processing module is further configured to perform data fusion on the second sensing data and the first sensing data to obtain third sensing data. The seventh indication information is used to indicate that the communication apparatus in the eighth aspect has data processing capability; the second sensing data is obtained by the second device performing the sensing service; and the first sensing data is obtained by the communication apparatus performing the sensing service.

[0071] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missed detection rate, false alarm rate, confidence level, or sensing time.

[0072] Optionally, the transceiver module can include a sending module and a receiving module. The sending module is configured to implement the sending function of the communication apparatus in the eighth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the eighth aspect.

[0073] Optionally, the communication apparatus in the eighth aspect can further include a storage module that stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus can execute the method in the third aspect.

[0074] It can be understood that the communication apparatus in the eighth aspect can be the first device, a chip (system) or other components or assemblies that can be arranged in the first device, or an apparatus including the first device, and the present application does not limit this.

[0075] In addition, the technical effects of the communication apparatus in the eighth aspect can refer to the technical effects of the method in the third aspect, which will not be repeated here.

[0076] In a ninth aspect, a communication apparatus is provided. The communication apparatus includes modules for performing the method of the fourth aspect, e.g., a transceiver module and a processing module. The transceiver module is configured to perform the transceiving functions of the communication apparatus, and the processing module is configured to perform the functions of the communication apparatus other than the transceiving functions.

[0077] The transceiver module is configured to receive the fifth indication information from the first device. The processing module is further configured to perform the sensing service according to the fifth indication information. The fifth indication information is configured to indicate that the communication apparatus of the ninth aspect performs the sensing service in cooperation with the first device, or that the sensing capability or the first sensing data of the first device cannot satisfy the sensing requirement or the first sensing requirement of the sensing service. The first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service.

[0078] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missing detection rate, false alarm rate, confidence level, or sensing time.

[0079] Optionally, the transceiver module includes a transmitter module and a receiver module. The transmitter module is configured to implement the transmitting function of the communication apparatus of the ninth aspect, and the receiver module is configured to implement the receiving function of the communication apparatus of the ninth aspect.

[0080] Optionally, the communication apparatus of the ninth aspect further includes a storage module. The storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication apparatus can perform the method of the fourth aspect.

[0081] It can be understood that the communication apparatus of the ninth aspect can be the second device, or a chip (system) or other components or assemblies that can be arranged in the second device, or an apparatus including the second device, and the present application does not limit this.

[0082] In addition, the technical effects of the communication apparatus of the ninth aspect can refer to the technical effects of the method of the fourth aspect, which will not be repeated here.

[0083] In an eleventh aspect, a communication apparatus is provided. The communication apparatus includes modules for performing the method of the fifth aspect, e.g., a transceiver module and a processing module. The transceiver module is configured to perform the transceiving functions of the communication apparatus, and the processing module is configured to perform the functions of the communication apparatus other than the transceiving functions.

[0084] The transceiver module is further configured to receive fifth indication information from the first device. The processing module is configured to perform the sensing service according to the fifth indication information. The fifth indication information is used to indicate that the communication apparatus of the tenth aspect and the communication apparatus of the eighth aspect jointly perform the sensing service with the first device, or the sensing capability or the first sensing data of the first device cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement, the first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service.

[0085] In a possible design, the sensing requirement corresponding to the sensing service includes at least one of sensing accuracy, resolution, refresh rate, time delay, detection rate, sensing area, missed detection rate, false alarm rate, confidence level, or sensing time.

[0086] Optionally, the transceiver module includes a sending module and a receiving module. The sending module is configured to implement the sending function of the communication apparatus of the tenth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus of the tenth aspect.

[0087] Optionally, the communication apparatus of the tenth aspect further includes a storage module that stores a program or an instruction. When the processing module executes the program or the instruction, the communication apparatus can execute the method of the fifth aspect.

[0088] It can be understood that the communication apparatus of the tenth aspect can be the second device, a chip (system) or other components or assemblies that can be arranged in the second device, or an apparatus including the second device, and the present application does not limit this.

[0089] In addition, the technical effects of the communication apparatus of the tenth aspect can refer to the technical effects of the method of the fifth aspect, which will not be repeated here.

[0090] In the eleventh aspect, a communication apparatus is provided, including a processor, and the processor is coupled with a memory, and the memory is configured to store a computer program. When the processor executes the computer program, the communication apparatus executes the method in any one of the implementation manners of the first aspect to the fifth aspect.

[0091] In a possible design, the communication apparatus of the eleventh aspect further includes a transceiver. The transceiver can be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication apparatus of the eleventh aspect and other communication apparatuses.

[0092] In embodiments of the present application, the communication apparatus of the eleventh aspect can be the perception function of the first aspect, or a chip (system) or other components or assemblies that can be arranged in the perception function, or an apparatus comprising the perception function; or the communication apparatus of the eleventh aspect can be the first device of the second aspect or the third aspect, or a chip (system) or other components or assemblies that can be arranged in the first device, or an apparatus comprising the first device; or the communication apparatus of the eleventh aspect can be the second device of the fourth aspect or the fifth aspect, or a chip (system) or other components or assemblies that can be arranged in the second device, or an apparatus comprising the second device.

[0093] In addition, the technical effects of the communication apparatus of the eleventh aspect can refer to the technical effects of the method of any one of the implementation manners of the first aspect to the fifth aspect, which will not be described herein again.

[0094] The twelfth aspect provides a communication apparatus. The communication apparatus comprises a processor and a memory. The processor is coupled with the memory. The processor is configured to execute a computer program stored in the memory, so that the communication apparatus performs the method of any one of the implementation manners of the first aspect to the fifth aspect.

[0095] In a possible design, the communication apparatus of the twelfth aspect can further comprise a transceiver. The transceiver can be a transceiver circuit or an interface circuit. The transceiver can be used for the communication apparatus of the twelfth aspect to communicate with other communication apparatuses.

[0096] In embodiments of the present application, the communication apparatus of the twelfth aspect can be the perception function of the first aspect, or a chip (system) or other components or assemblies that can be arranged in the perception function, or an apparatus comprising the perception function; or the communication apparatus of the twelfth aspect can be the first device of the second aspect or the third aspect, or a chip (system) or other components or assemblies that can be arranged in the first device, or an apparatus comprising the first device; or the communication apparatus of the twelfth aspect can be the second device of the fourth aspect or the fifth aspect, or a chip (system) or other components or assemblies that can be arranged in the second device, or an apparatus comprising the second device.

[0097] In addition, the technical effects of the communication apparatus of the twelfth aspect can refer to the technical effects of the method of any one of the implementation manners of the first aspect to the fifth aspect, which will not be described herein again.

[0098] The thirteenth aspect provides a communication apparatus, comprising a processor and a memory. The memory is configured to store a computer program. When the processor executes the computer program, the communication apparatus performs the method of any one of the implementation manners of the first aspect to the fifth aspect.

[0099] In a possible design, the communication apparatus in the thirteenth aspect can further include a transceiver. The transceiver can be a transceiver circuit or an interface circuit. The transceiver can be configured to enable the communication apparatus in the thirteenth aspect to communicate with other communication apparatuses.

[0100] In embodiments of the present application, the communication apparatus in the thirteenth aspect can be the perception function in the first aspect, or a chip (system) or other components or assemblies that can be arranged in the perception function, or an apparatus including the perception function; or the communication apparatus in the thirteenth aspect can be the first device in the second aspect or the third aspect, or a chip (system) or other components or assemblies that can be arranged in the first device, or an apparatus including the first device; or the communication apparatus in the thirteenth aspect can be the second device in the fourth aspect or the fifth aspect, or a chip (system) or other components or assemblies that can be arranged in the second device, or an apparatus including the second device.

[0101] In addition, the technical effects of the communication apparatus in the thirteenth aspect can refer to the technical effects of the method in any of the implementation manners of the first aspect or the second aspect, which will not be described herein again.

[0102] The fourteenth aspect provides a communication system. The communication system includes the perception function, the first device and the second device in the first aspect to the fifth aspect.

[0103] The fifteenth aspect provides a communication chip, wherein instructions are stored in the chip, and when the chip is running on a communication device, the communication method in any of the first aspect to the fifth aspect is implemented.

[0104] The sixteenth aspect provides a computer-readable storage medium, including: a computer program or instructions; when the computer program or instructions are running on a computer, the computer executes the method in any of the implementation manners of the first aspect to the fifth aspect.

[0105] The seventeenth aspect provides a computer program product, including: a computer program or instructions; when the computer program or instructions are running on a computer, the computer executes the method in any of the implementation manners of the first aspect to the fifth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0106] FIG. 1 is a schematic diagram of a 5G network architecture based on a service-oriented architecture;

[0107] FIG. 2 is a schematic diagram of a 5G network architecture based on a point-to-point interface;

[0108] FIG. 3 is a schematic diagram of an architecture of a communication system provided by embodiments of the present application;

[0109] FIG. 4 is a flow diagram of a communication method according to an embodiment of the present application;

[0110] FIG. 5 is a flow diagram of a communication method according to another embodiment of the present application;

[0111] FIG. 6 is a flow diagram of a communication method according to another embodiment of the present application;

[0112] FIG. 7 is a flow diagram of a communication method according to another embodiment of the present application;

[0113] FIG. 8 is a flow diagram of a communication method according to another embodiment of the present application;

[0114] FIG. 9 is a flow diagram of a communication method according to another embodiment of the present application;

[0115] FIG. 10 is a flow diagram of a communication method according to another embodiment of the present application;

[0116] FIG. 11 is a structural diagram of a communication apparatus according to an embodiment of the present application;

[0117] FIG. 12 is a structural diagram of a communication apparatus according to another embodiment of the present application. DETAILED DESCRIPTION

[0118] For the convenience of understanding, the following first introduces technical terms related to the embodiments of the present application.

[0119] 1. Fifth generation (5th generation, 5G) mobile communication system

[0120] FIG. 1 is a schematic diagram of a 5G network architecture based on a service-oriented architecture. As shown in FIG. 1, the 5G network can include an access network (AN) and a core network (CN), and can also include a terminal device.

[0121] The terminal device can be a terminal with transceiver function, or a chip or chip system that can be arranged in the terminal. The terminal device can also be referred to as user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user equipment. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a Pad, a wireless data card, a personal digital assistant computer (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, a road side unit (RSU) with terminal function, etc. The terminal device in the present application can also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit that is built into a vehicle as one or more components or units.

[0122] The AN is used to implement access-related functions, can provide network access functions for authorized users in a specific area, and can determine transmission links of different qualities to transmit user data according to the level of a user, the demand of a service, and the like. The AN forwards control signals and user data between a terminal device and a CN. The AN can include an access network device, which can also be referred to as a radio access network (RAN) device. The CN is mainly responsible for maintaining subscription data of a mobile network, and provides terminal devices with functions such as session management, mobility management, policy management, and security authentication. The CN mainly includes the following: a user plane function (UPF), an authentication server function (AUSF), an access and mobility management function (AMF), a session management function (SMF), a network slice selection function (NSSF), a network exposure function (NEF), a network repository function (NRF), a policy control function (PCF), a unified data management (UDM), a unified data repository (UDR), a sensing function (SF), and an application function (AF).

[0123] As shown in FIG. 1, a UE accesses a 5G network through a RAN device, the UE communicates with an AMF through an N1 interface (referred to as N1 for short); the RAN communicates with the AMF through an N2 interface (referred to as N2 for short); the RAN communicates with a UPF through an N3 interface (referred to as N3 for short); an SMF communicates with the UPF through an N4 interface (referred to as N4 for short), and the UPF accesses a data network (DN) through an N6 interface (referred to as N6 for short). In addition, the control plane functions shown in FIG. 1, such as AUSF, AMF, SMF, NSSF, NEF, NRF, PCF, UDM, UDR, or AF, interact with each other using a service interface. For example, the service interface provided by the AUSF to the outside is Nausf; the service interface provided by the AMF to the outside is Namf; the service interface provided by the SMF to the outside is Nsmf; the service interface provided by the NSSF to the outside is Nnssf; the service interface provided by the NEF to the outside is Nnef; the service interface provided by the NRF to the outside is Nnrf; the service interface provided by the PCF to the outside is Npcf; the service interface provided by the UDM to the outside is Nudm; the service interface provided by the UDR to the outside is Nudr; the service interface provided by the AF to the outside is Naf; and the service interface provided by the SF to the outside can be any other possible interface, which is not limited.

[0124] The RAN device can be a device providing access for a terminal device. For example, the RAN device can include an access network device in a future mobile communication system, such as a base station in a future communication system, or in a future mobile communication system, the network device can also have other naming ways, which are all covered within the protection scope of the embodiments of the present application, and the present application does not make any limitation on this. Or, the RAN device can also include a gNB in 5G, such as a new radio (NR) system, or one or a group (including multiple antenna panels) of antenna panels of a base station in 5G, or it can also be a network node constituting a gNB, a transmission and reception point (transmission and reception point, TRP or transmission point, TP) or a transmission measurement function (transmission measurement function, TMF), such as a building base band unit (building base band unit, BBU), or a centralized unit (centralized unit, CU) or a distributed unit (distributed unit, DU), an RSU with base station function, or a wired access gateway, or a core network of 5G. Or, the RAN device can also include an access point (access point, AP) in a wireless fidelity (wireless fidelity, WiFi) system, a wireless relay node, a wireless backhaul node, various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, vehicle-mounted devices, etc.

[0125] The UPF is mainly responsible for user data processing (forwarding, receiving, charging, etc.).

[0126] The AUSF is mainly used to perform security authentication of the terminal device.

[0127] The AMF is mainly used for mobility management in a mobile network. For example, user location update, user registration network, user handover, etc.

[0128] The SMF is mainly used for session management in a mobile network. For example, session establishment, modification, release. Specific functions, such as allocating an internet protocol (internet protocol, IP) address for a user, selecting a UPF providing packet forwarding function, etc.

[0129] The PCF mainly supports providing a unified policy framework to control network behavior, providing policy rules to control layer network functions, and being responsible for obtaining user subscription information related to policy decision. The PCF can provide policies, such as quality of service (quality of service, QoS) policies, slice selection policies, etc., to the AMF and SMF.

[0130] The NSSF is mainly used for selecting a network slice for a terminal device.

[0131] The NEF is mainly used for supporting the opening of capabilities and events.

[0132] The UDM is mainly used for storing user data, such as subscription data, authentication / authorization data, and the like.

[0133] The UDR is mainly used for storing structured data, and the stored content includes subscription data and policy data, externally exposed structured data, and application-related data.

[0134] The SF is mainly involved in receiving a sensing service request and obtaining a corresponding sensing requirement, selecting and requesting a sensing device related to the sensing operation to perform a sensing operation and receiving corresponding sensing measurement data, and opening the sensing measurement data or a sensing result obtained based on the sensing measurement data to a sensing requester. The SF can be separated in control plane and user plane, that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separated. The SF-C can send control signaling, such as a sensing control request, to the sensing device through the control plane, and the SF-U can receive the sensing measurement data from the sensing device through the data plane and optionally process the sensing measurement data to obtain the sensing result. The SF-C can control the SF-U, for example, the SF-C can select a suitable SF-U and configure one or more of the identification rule, the processing rule, or the routing rule for the sensing measurement data to the SF-U. The SF can be a location management function (LMF), or the SF can be part of the LMF; or the SF and the LMF are combined, without limitation.

[0135] The AF is mainly used for supporting interaction with the CN to provide services, such as affecting data routing decisions, policy control functions, or providing some services of a third party to the network side.

[0136] FIG. 2 is a schematic diagram of a 5G network architecture based on a point-to-point interface. The difference between FIG. 2 and FIG. 1 described above is that the interfaces between the network elements in FIG. 2 are point-to-point interfaces, rather than service interfaces. It can be understood that the specific introduction of the functions of the network elements in FIG. 2 can refer to the specific introduction of the related content in FIG. 1 described above, and will not be repeated.

[0137] It can be understood that the CN can also include other possible network elements, without limitation. The functions mentioned in the embodiments of the present application can also be expressed as function network elements or function entities, for example, the UPF can be expressed as a UPF network element, the AMF can be expressed as an AMF network element, the SMF can be expressed as an SMF network element, the PCF can be expressed as a PCF network element, and the like. By analogy, without limitation.

[0138] It should be noted that the related technical solutions are introduced by taking the 5G system as an example, but the application of the related technical solutions is not limited to the 5G system. It can be understood that the related technical solutions can also be applicable to subsequent evolved communication systems (future communication systems).

[0139] 2, perception

[0140] Perception can refer to a communication entity in a wireless network determining information of a surrounding environment by transmitting and receiving signals affected by objects. The information of the surrounding environment can include information of one or more objects in the environment. The information of the object can include the position, speed, size, or shape of the object, etc. These objects can change the transmission characteristics of the signal, such as changing the transmission direction of the signal, changing the transmission gain of the signal, changing the transmission delay of the signal, or changing the frequency of the signal, etc., so that the communication entity can achieve perception by obtaining the change of the signal transmission characteristics. For example, the channel response information obtained by channel estimation can feedback the change of the signal after passing through different transmission environments (or referred to as channels), and then when the signal passes through the above-mentioned objects, the channel response information can feedback the change of the signal transmission characteristics caused by the objects.

[0141] For example, the channel response information can include channel impulse response (CIR), channel frequency response (CFR), or channel state information (CSI), etc., which is not limited by the embodiments of the present application.

[0142] It should be understood that the "signal affected by the object" referred to above can include: a signal reflected by the object; a signal refracted by the object; a signal scattered by the object; a signal diffracted by the object; or a signal transmitted by the object, etc., which is not limited by the embodiments of the present application.

[0143] It can be understood that the above-mentioned objects can be moving or fixed, and can be active or passive. Active can refer to objects having data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, radio frequency identification (RFID) devices, etc. Passive can refer to objects without data processing capabilities, such as human bodies, animals, plants, vehicles, buildings, etc.

[0144] It should be understood that the "object" can also be referred to as a "scatterer", a "reflector", a "refractor", a "blocker", or an "obstacle", etc. In other words, in the embodiments of the present application, the "object", the "scatterer", the "reflector", the "refractor", the "blocker", and the "obstacle" can be mutually replaced, and the following will not be repeated.

[0145] It should also be understood that the above-mentioned "communication entity" can also be referred to as a "network entity", a "communication device", a "communication equipment", a "communication node", or a "station". In other words, in the embodiments of the present application, the "communication entity", the "network entity", the "communication device", the "communication equipment", the "communication node", and the "station" can be mutually replaced, and the following will not be repeated.

[0146] 3. Integrated sensing and communication (ISAC)

[0147] ISAC can also be referred to as harmonized communication and sensing (HCS), and in the process of 5G evolving into 5G-advanced (5G-A), the integrated sensing and communication technology is considered as one of the key technologies to expand the business capabilities of mobile communication networks. The core idea of this technology is to add sensing capabilities to the mobile communication network to build the ability to detect, track, and image targets, so that the two capabilities of communication and sensing are integrated in one network.

[0148] With the development of 5G networks, new network capabilities based on sensing are gradually emerging. For example, in some scenarios of smart cities and smart transportation, the demand for obtaining the relative positions and angles between objects, as well as the distance, speed, and shape of the target object, is gradually emerging. In order to meet these business needs, 5G networks should be further enhanced to have the ability to assist wireless networks in sensing. In the future, 5G can deploy radar communication integrated base stations to enhance the sensing capabilities of the base station. The precise sensing capability of the radar can be used for precise communication to improve communication efficiency. For example, the communication resources and sensing resources of the base station are time-division multiplexed or space-division multiplexed to realize the sensing of the surrounding environment or objects. The sensing function can be used for detection in some security scenes that cannot install cameras, etc. For example, in a specific industrial park, the invasion of flying objects such as drones can be detected. In the transportation scene, the roadside station can complete the functions of traffic flow statistics and vehicle navigation, which all require the roadside base station to have certain sensing capabilities.

[0149] The technical principle of perception is different from communication. In communication, the sender modulates information on radio waves and sends it to the receiver, and the receiver demodulates the signal carried on the radio waves to obtain the information. In perception, the sender sends radio waves in a specific direction. When the radio waves irradiate the target surface, they form reflected waves, and the receiver obtains the position, speed, and type of the target by receiving and processing the reflected waves.

[0150] For example, the existing wireless signals (sound, light, radio frequency signals, etc.) in the environment can be used to perceive the environment in addition to completing their own tasks (lighting, communication, etc.). Taking radio frequency signals as an example, the radio waves generated by the signal transmitter will undergo direct reflection, reflection, scattering, and other physical phenomena during transmission, forming multiple transmission paths. In this way, the multipath superposition signal formed at the signal receiver carries information reflecting the signal transmission space. Wireless perception technology (or non-sensor scene perception technology) analyzes the changes of wireless signals during transmission to obtain the characteristics of the signal transmission space (channel) to achieve scene perception. In the process of wireless communication, electromagnetic waves carry environmental information while transmitting signals in space. For example, if the received wireless fidelity (Wi-Fi) signal of a mobile phone is weak, it may be because the mobile phone is far away from the wireless router. If the received Wi-Fi signal strength of the mobile phone suddenly decreases, it is likely that the mobile phone has entered a certain closed space such as an elevator. In this example, the received signal strength indicator (RSSI) is used as a feature to infer the location and environment of the mobile phone. The selection of signal features has a key impact on the accuracy, reliability, and model generalization ability of perception.

[0151] Radar perception is a common wireless perception technology. By analyzing the characteristics of the received target echo, the position, shape, motion characteristics and motion trajectory of the target are extracted and discovered, and the characteristics of the target and the environment can be further inferred. Its role is similar to the eyes and ears of humans. Compared with other sensors, radar perception has many unique advantages. For example, compared with visual sensors, radar is not affected by light and shade, has the ability to penetrate obstacles, and can better protect personal privacy; compared with ultrasonic technology, radar perception has a longer distance and does not cause harm to humans and animals. Radar perception can support very rich application scenarios. For example, millimeter wave radar has been widely used in the field of automotive auxiliary driving to detect pedestrians and preceding vehicles and realize collision warning. In addition, radar has many potential applications in the fields of home, smart building, autonomous driving, and wearable devices. With the continuous development of new low-power and small radar sensors, radar technology has been applied in many smart devices and electronic products.

[0152] The advantage of radar technology is the detection of motion. The motion state of the target, such as the motion direction and the motion speed, is observed and interpreted through the Doppler effect of the target echo. When using a multi-channel sensor, the motion of the target can also be observed from different perspectives. By collecting the motion state of the target from different perspectives and combining instantaneous information and historical information for analysis, complex motion can be distinguished.

[0153] The following will briefly illustrate the existing perception methods and algorithms by detecting whether a target object exists and its motion direction:

[0154] (1) Device A sends a perception signal, which is reflected by a target in the environment and then received by device B as a return signal.

[0155] (2) Device B detects whether a target object exists and the motion direction of the target object based on the perception signal and the return signal.

[0156] For example, device B can determine whether a target passes through the detection area according to the change in return signal strength, which is mainly used for line of sight (LOS) scene detection; device B can also use the amplitude and phase information in the channel state information, after processing such as filtering, to replace the return signal strength detection and improve the target detection accuracy, especially for non-line of sight (NLOS) scene detection.

[0157] (3) Device B obtains the movement direction information of the target object in the monitoring area based on the channel state information analysis of multiple receivers.

[0158] Currently, the SF can receive a sensing service request from the AF, and generate a corresponding sensing control request according to the sensing service request, and the SF can send the sensing control request to the sensing device. The sensing device can perform a sensing operation according to the received sensing control request to obtain sensing data. For one sensing service, multiple sensing devices may be required to jointly sense, and the sensing data measured by the multiple sensing devices in the joint sensing is integrated to obtain a sensing result.

[0159] However, how to improve the accuracy of the sensing data is a problem to be solved.

[0160] For example, with the large-scale application of the sensing service, considering that the sensing capability of the sensing device is limited, the sensing capability of a certain sensing device may not be able to meet the sensing requirement of the corresponding sensing service, at this time, the sensing data measured by the sensing device may need to be enhanced to provide more accurate sensing data to the SF and the AF to meet the requirement of the sensing service.

[0161] For example, the key performance indicator (KPI) of the sensing data of the sensing service #1 requested by the AF is: sensing (distance) accuracy of 4 meters (m); taking the joint sensing or cooperative sensing of the sensing service #1 by the UE #1 and the RAN #1 as an example, the sensing accuracy of the sensing data obtained by the UE #1 performing the sensing service #1 is 10 m, and the sensing accuracy of the sensing data obtained by the RAN #1 performing the sensing service #1 is 5 m, neither the UE #1 nor the RAN #1 can meet the sensing accuracy required by the sensing service #1. In this case, the RAN #1 can enhance (i.e., data fusion) the sensing data obtained by the UE #1 performing the sensing service #1, or the UE #1 can enhance the sensing data obtained by the RAN #1 performing the sensing service #1 to obtain sensing data with an accuracy of 4 meters, and open it to the AF and the SF to achieve enhancement of the sensing data.

[0162] To solve the above technical problems, the embodiments of the present application provide the following technical solutions to improve the accuracy of the sensing data.

[0163] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0164] The technical solutions of the embodiments of the present application can be applied to various communication systems, for example, a wireless network (Wi-Fi) system, a vehicle to everything (V2X) communication system, a device-to-device (D2D) communication system, a vehicle networking communication system, a 4th generation (4G) mobile communication system such as an LTE system, a worldwide interoperability for microwave access (WiMAX) communication system, a 5G such as an NR system, and a future communication system.

[0165] In the embodiments of the present application, the indication can include direct indication and indirect indication, and can also include explicit indication and implicit indication. The information indicated by certain information (for example, the first indication information, the second indication information, or the third indication information, etc. in the following) is referred to as to-be-indicated information. In the implementation process, there are many ways to indicate the to-be-indicated information, for example, but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or the index of the to-be-indicated information, etc. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be only indicated in part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can also be achieved by means of the arrangement order of each information agreed in advance (for example, a protocol stipulates), thereby reducing the indication overhead to a certain extent. At the same time, the common part of each information can be identified and uniformly indicated to reduce the indication overhead caused by separately indicating the same information.

[0166] In addition, the specific indication manner can also be various existing indication manners, for example, but not limited to, the above-mentioned indication manners and various combinations thereof, etc. The specific details of various indication manners can refer to the prior art, which will not be described herein. As can be seen from the above, for example, when multiple information of the same type needs to be indicated, the indication manner of different information can not be the same. In the implementation process, the required indication manner can be selected according to the specific needs, and the selected indication manner is not limited in the embodiments of the present application. In this way, the indication manner involved in the embodiments of the present application should be understood as covering various methods that can enable the to-be-indicated party to know the to-be-indicated information.

[0167] It should be understood that the to-be-indicated information can be sent together as a whole or can be sent separately in multiple sub-information, and the sending period and / or sending occasion of the sub-information can be the same or different. The specific sending method is not limited in the embodiments of the present application. The sending period and / or sending occasion of the sub-information can be predefined, for example, predefined according to a protocol, or configured by the sending end device to the receiving end device by sending configuration information.

[0168] The “predefined” or “preconfigured” can be implemented by pre-storing corresponding codes, tables or other means for indicating related information in the device, and the specific implementation manner is not limited in the embodiments of the present application. The “storing” can mean storing in one or more memories. The one or more memories can be separately arranged or integrated in the encoder or decoder, processor or communication device. The one or more memories can be partially separately arranged and partially integrated in the decoder, processor or communication device. The type of the memory can be any form of storage medium, and the embodiments of the present application do not limit this.

[0169] The “protocol” involved in the embodiments of the present application can refer to a protocol family in the communication field, a standard protocol similar to the protocol family frame structure, or a related protocol applied to a future communication system, and the embodiments of the present application do not limit this.

[0170] In the embodiments of the present application, “when”, “in the case of”, “if” and the like all refer to that the device will make corresponding processing under certain objective conditions, and are not limited in time, and do not require the device to have a judgment action when implemented, nor mean that there are other limitations.

[0171] In the description of the embodiments of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the embodiments of the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. And, in the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second", etc. are used to distinguish the same items or similar items with basically the same function and role. Those skilled in the art can understand that "first", "second", etc. do not limit the quantity and execution order, and "first", "second", etc. also do not necessarily mean different. At the same time, in the embodiments of the present application, "exemplary" or "for example" means to serve as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the use of "exemplary" or "for example" is intended to present the relevant concept in a specific manner, for understanding.

[0172] The network architecture and service scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0173] In order to understand the embodiments of the present application, first, the communication system shown in FIG. 3 is taken as an example to describe the communication system applicable to the embodiments of the present application in detail. For example, FIG. 3 is a schematic diagram of the architecture of a communication system applicable to the communication method provided by the embodiments of the present application.

[0174] As shown in FIG. 3, the communication system can be applicable to the 5G communication system described above, mainly including: a perception function, a first device and a second device.

[0175] The perception function mainly participates in receiving a perception service request and obtaining a corresponding perception demand, selecting and requesting a perception device related to the perception operation to perform a perception operation and receiving corresponding perception measurement data, and opening the perception measurement data or a perception result obtained based on the perception measurement data to the perception requester. For example, the perception function can be an SF in the 5G communication system, and specific reference can be made to the related description of the 5G communication system.

[0176] The first device and the second device can be devices with perception capability. For example, the first device and the second device can be terminal devices or access network devices in the 5G communication system, and specific reference can be made to the related description of the 5G communication system.

[0177] In the communication system, the perception function can determine the first device and the second device jointly performing the perception service according to the perception demand corresponding to the perception service. After the perception function triggers the first device and the second device to perform the perception service, the second device can enhance the perception data obtained by the first device performing the perception service. In this way, the sparsity of the perception data can be improved, and the accuracy of the perception data can be further improved to meet the demand of the perception service.

[0178] For ease of understanding, the interaction process between the network elements / devices in the communication system will be specifically introduced below by means of method embodiments in combination with FIGS. 4-10. The communication method provided by the embodiments of the present application can be applied to the above-mentioned communication system and specifically applied to various scenarios mentioned in the above-mentioned communication system. The communication method will be specifically introduced below.

[0179] For example, FIG. 4 is a flowchart of a communication method provided by an embodiment of the present application. The communication method is applied to the above-mentioned communication system and mainly involves the interaction between the perception function, the first device and the second device.

[0180] As shown in FIG. 4, the flow of the communication method is as follows:

[0181] S401, the perception function receives a perception service request.

[0182] The perception service request can include a perception demand corresponding to the perception service.

[0183] The perception demand of the perception service can be used to indicate that the device performing the perception needs to perform the perception operation according to the perception demand. In other words, the device performing the perception needs to perform the perception operation according to the perception demand of the perception service corresponding to the perception service request each time the perception function receives a perception service request.

[0184] In a possible design, the perception requirement corresponding to the perception service can include at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missing detection rate, false alarm rate, confidence, or perception time.

[0185] The perception accuracy can include perception distance accuracy, speed accuracy, angle accuracy, and the like, and is used to indicate the error capability, or error requirement, or proximity between the obtained perception measurement result and the actual result when the perception device performs perception on the measurement target.

[0186] The resolution can include distance resolution, speed resolution, angle resolution, and the like, and is respectively used to indicate the capability, or requirement, or difference required for distinguishing two adjacent targets in distance, speed, or angle when the perception device performs perception on the measurement target, or is respectively used to indicate the capability, or requirement, or difference required for distinguishing two adjacent targets in distance, speed, or angle when the perception device performs perception on the measurement target.

[0187] The refresh rate can be used to indicate the frequency of updating the perception measurement data or the perception result, or the continuity of the perception measurement data or the perception result, and the refresh rate can also be called frame rate. For example, the perception measurement data is perception point cloud information or a point cloud image, and the refresh rate can be the refresh rate of the point cloud information. The higher the refresh rate is, the better the continuity of the point cloud information or the point cloud image is.

[0188] The time delay can be used to indicate the time interval from receiving the perception request from the perception requester to returning the perception result to the requester, or the time interval from triggering the perception request by the perception application to applying the perception result, or the time interval from performing the perception operation by the perception device to returning the perception result to the perception requester.

[0189] The detection rate can be used to indicate the probability of judging that there is a target when there is actually a target, or indicate the ratio of successful detection events to all detection events for the actually existing target when the perception result is obtained within a predetermined period.

[0190] The perception area can be used to indicate the geographical position or area where the perception device needs to perform the perception operation, and can be represented by absolute coordinates or relative coordinates without limitation.

[0191] The missing detection rate can be used to indicate the probability of judging that there is no target when there is actually a target, or indicate the ratio of missing / failure detection events to all detection events for the actually existing target when the perception result is obtained within a predetermined period.

[0192] The false alarm rate can be used to indicate the probability of judging that there is a target when there is actually no target, or the probability of judging that there is no target when there is actually a target, or in other words, the ratio of events that do not represent target objects in all detection events when perception results are obtained within a predetermined period.

[0193] The confidence level can be used to indicate the percentage of true perception results in all detection perception results under a given perception accuracy.

[0194] The perception time can be used to indicate a determined time point at which the perception device needs to perform perception.

[0195] It can be understood that the perception demand corresponding to the perception service can also include any other possible parameters, without limitation. The naming of the perception demand is only an example, and can also be replaced by any other possible naming, such as perception KPI, perception data KPI, or perception parameter, without limitation.

[0196] Optionally, the perception service request can also include a requested perception service and a perception service type. For example, the perception service type can include road supervision, residential intrusion detection, object distribution, illegal driving detection, object trajectory tracking, object positioning, weather monitoring, human health, and the like, without limitation.

[0197] Optionally, the perception service request can also include identification information of the perception service, used to identify the perception service, such as an identity (ID) of the perception service. The ID of the perception service corresponds one-to-one to the perception demand corresponding to the perception service, so that the subsequent perception function can identify which perception service the received perception data corresponds to.

[0198] It can be understood that the perception function (SF) can receive a perception service request from an application function (AF). For example, the AF can send the perception service request to the SF through a network capability exposure function (NEF), i.e., the perception service request triggered by the AF; or the perception function can obtain the perception service request in any other possible way, without limitation.

[0199] It can be understood that the naming of the above perception service request is only an example, and the perception service request can also be replaced by any other possible naming, such as a first message, a request message, and the like, without limitation.

[0200] S402, the perception function determines a first device and a second device that need to jointly perform the perception service according to the perception demand corresponding to the perception service.

[0201] That is, the first device and the second device are used to cooperatively perceive the perception service.

[0202] The step is specifically introduced below by taking the following case as an example.

[0203] Case 1:

[0204] The perception function determines the first device and the second device according to the perception capability of the first device and / or the perception capability of the second device, and the perception requirement corresponding to the perception service.

[0205] The perception capability of the first device can include the perception requirement that the first device can satisfy (or can provide), and the perception capability of the second device can include the perception requirement that the second device can satisfy (or can provide).

[0206] For example, the perception requirement that the first device can satisfy can include at least one of the following: a first perception resolution, a first perception accuracy, a first perception area, a first refresh rate, a first time delay, a first detection rate, a first missing detection rate, a first false alarm rate, a first confidence level, or a first perception time. The perception requirement that the second device can satisfy can include at least one of the following: a second perception resolution, a second perception accuracy, a second perception area, a second refresh rate, a second time delay, a second detection rate, a second missing detection rate, a second false alarm rate, a second confidence level, or a second perception time. The present embodiment does not limit whether the perception requirement that the first device can satisfy and the perception requirement that the second device can satisfy are the same.

[0207] Optionally, the perception capability of the first device can further include indication information of whether the first device supports perception or has perception capability, and the like, which is not limited; and the perception capability of the second device can further include indication information of whether the second device supports perception or has perception capability, and the like, which is not limited.

[0208] In this case 1, the perception function can determine the first device and the second device simultaneously. For example, the perception function can determine the first device and the second device that need to jointly execute the perception service according to the perception capabilities of the plurality of devices (including the first device and the second device) including the perception requirements that can be met by each of the plurality of devices, and the perception requirement corresponding to the perception service. For example, the perception requirement corresponding to the perception service #1 includes a perception (distance) accuracy of 4 m and a perception area of square A; the plurality of devices include device #1, device #2, and device #3; it is assumed that the perception capability of device #1 includes a perception (distance) accuracy of 5 m and a perception area of region 1 in square A; the perception capability of device #2 includes a perception (distance) accuracy of 10 m and a perception area of region 2 in square A; and the perception capability of device #3 includes a perception (distance) accuracy of 3 m and a perception area of square B. At this time, the SF can determine that device #1 (i.e., the above first device) and device #2 (i.e., the above second device) need to jointly execute the perception service #1 by combining the perception capability of device #1, the perception capability of device #2, the perception capability of device #3, and the perception requirement corresponding to the perception service #1.

[0209] Alternatively, the perception function can determine the first device and the second device (the second device can support perception) that need to jointly perceive according to the perception capability of the first device (including the perception requirement that can be met by the first device) and the perception requirement corresponding to the perception service, at this time, the perception function can not need to know the specific perception requirement that can be met by the second device, only needs to know that the second device participates in perception, that is, the second device needs to have the perception capability; or the perception function can determine the first device (the first device can support perception) and the second device that need to jointly perceive according to the perception capability of the second device (including the perception requirement that can be met by the second device) and the perception requirement corresponding to the perception service, at this time, the perception function can not need to know the specific perception requirement that can be met by the first device, only needs to know that the first device has the perception capability.

[0210] For example, the perception requirement corresponding to the perception service #1 includes a perception (distance) accuracy of 4 m and a perception area of square A; it is assumed that the perception capability of device #1 includes a perception (distance) accuracy of 5 m and a perception area of region 1 in square A. At this time, the SF can determine that device #1 (i.e., the above first device) and device #2 (i.e., the above second device) need to jointly execute the perception service #1 according to the perception capability of device #1 and the perception requirement corresponding to the perception service #1, and the device #2 can support perception. It can be understood that the perception area of the device #2 can have an overlapping area with square A, and the like, which is not limited.

[0211] Case 2:

[0212] The perception function determines the first device according to the perception requirement corresponding to the perception service.

[0213] The perception function determines the second device according to the first perception data and the perception requirement corresponding to the perception service.

[0214] The first perception data can be obtained by the first device performing the perception service.

[0215] That is, the perception function can first determine the first device performing the perception service, and then determine the second device jointly performing the perception service according to the first perception data reported by the first device. For example, the perception function can determine to call the first device to perform the perception service according to the perception requirement corresponding to the perception service, and the first device can support perception. It can be understood that the perception area of the first device can also have an overlapping area with the perception area in the perception requirement corresponding to the perception service, and the like, which is not limited. Then, the perception function can receive the first perception data from the first device, and the perception function can determine the second device according to the first perception data and the perception requirement corresponding to the perception service. For example, the first perception data cannot meet the perception requirement corresponding to the perception service, and the perception function can determine to call the second device to jointly perform perception with the first device.

[0216] For example, the perception requirement corresponding to the perception service #1 includes: the perception (distance) accuracy is 4m, and the perception area is square A. It is assumed that device #1 performs the perception service #1 in area 1 in square A, and obtains perception data #1 (the perception (distance) accuracy is 5m), and device #1 can report the perception data #1 to the SF. The SF can determine that the perception (distance) accuracy of the perception data #1 cannot meet the perception requirement corresponding to the perception service #1 according to the perception data #1 and the perception requirement corresponding to the perception service #1. At this time, the SF can determine to call other devices to jointly perform the perception service #1 with device #1. For example, the SF can determine device #2 according to the perception capability of each of the plurality of devices and the perception requirement corresponding to the perception service. It can be understood that the present application embodiment does not limit the implementation process of the perception function determining the second device.

[0217] Based on the above case 1 and case 2, the second device can be used to enhance the sensing data obtained by the first device performing the sensing service. For example, when at least one of the first device and the second device cannot meet the sensing requirement corresponding to the sensing service, the second device can enhance the sensing data (i.e., the first sensing data) obtained by the first device performing the sensing service; or, when the first device can meet the sensing requirement corresponding to the sensing service, but in order to further improve the accuracy and precision of the sensing data, the second device can enhance the sensing data (i.e., the first sensing data) obtained by the first device performing the sensing service. The second device needs to have data processing capability, i.e., the capability of fusing the sensing data obtained by the first device performing the sensing service and the sensing data obtained by the second device performing the sensing service. The specific implementation can refer to the related description in steps S404 and S405 below, and will not be repeated here.

[0218] It should be understood that if the first device has data processing capability, the first device can also enhance the sensing data obtained by the second device performing the sensing service. The implementation principle is similar to that of the second device enhancing the sensing data obtained by the first device performing the sensing service, and can be understood by reference, and will not be repeated here. For ease of understanding, the subsequent description will be based on the second device enhancing the sensing data obtained by the first device performing the sensing service.

[0219] S403, the sensing function triggers the first device and the second device to perform the sensing service.

[0220] Before introducing this step S403, based on the above case 1, in a possible design scheme, the above method embodiment can further include:

[0221] The sensing function sends the first sensing requirement or the sensing requirement corresponding to the sensing service to the first device. Correspondingly, the first device receives the first sensing requirement or the sensing requirement corresponding to the sensing service from the function.

[0222] The sensing function sends the second sensing requirement or the sensing requirement corresponding to the sensing service to the second device. Correspondingly, the second device receives the first sensing requirement or the sensing requirement corresponding to the sensing service from the function.

[0223] Among them, the first sensing requirement can be determined by the sensing requirement corresponding to the sensing service and the sensing capability of the first device, and optionally, the first sensing requirement can also be determined according to the sensing capability of the second device; the second sensing requirement can be determined by the sensing requirement corresponding to the sensing service and the sensing capability of the second device, and optionally, the second sensing requirement can also be determined according to the sensing capability of the first device.

[0224] In other words, the perception function can determine the first perception requirement according to the perception requirement corresponding to the perception service and the perception capability of the first device, or the perception function can determine the first perception requirement according to the perception requirement corresponding to the perception service and the perception capability of the second device, and send the first perception requirement to the first device, which can be within the range of perception requirements that the first device can provide or satisfy. Similarly, the perception function can determine the second perception requirement according to the perception requirement corresponding to the perception service and the perception capability of the second device, or the perception function can determine the second perception requirement according to the perception requirement corresponding to the perception service and the perception capability of the first device, and send the second perception requirement to the second device, which can be within the range of perception requirements that the first device can provide or satisfy. In this way, it can be avoided that the perception requirements allocated to the first device and the second device exceed the perception capabilities of the first device and the second device, thereby improving the efficiency of perception. Alternatively, the perception function can directly send the perception requirement of the perception service to the first device and the second device without calculation and processing, thereby saving overhead and achieving simplicity.

[0225] It can be understood that the first perception requirement and the second perception requirement can be the same or different, and are related to the perception capabilities of the first device and the second device, which are not limited by the embodiments of the present application.

[0226] The perception function can send the first perception requirement or the perception requirement corresponding to the perception service to the first device and the second device through other network functions (such as AMF), and send the second perception requirement or the perception requirement corresponding to the perception service to the second device, which is not limited by the embodiments of the present application.

[0227] It should be noted that the design scheme is for the above-mentioned case 1, that is, the case where the perception function determines the first device and the second device for jointly executing the perception service. In this design scheme, the embodiments of the present application do not limit the order in which the perception function sends the first perception requirement or the perception requirement corresponding to the perception service to the first device, and sends the second perception requirement or the perception requirement corresponding to the perception service to the second device.

[0228] Based on the above-mentioned case 2, in a possible design scheme, the above-mentioned method embodiment can further include:

[0229] The perception function sends the first perception requirement or the perception requirement corresponding to the perception service to the first device. Correspondingly, the first device receives the first perception requirement or the perception requirement corresponding to the perception service from the function.

[0230] After the perception function determines the second device according to the first perception data and the perception requirement corresponding to the perception service, the above-mentioned method embodiment can further include:

[0231] The perception function sends the second perception requirement, or the perception requirement corresponding to the perception service, to the second device. Correspondingly, the second device receives the first perception requirement, or the perception requirement corresponding to the perception service, from the function.

[0232] The first perception requirement can be determined by the perception requirement corresponding to the perception service and the perception capability of the first device; the second perception requirement can be determined by the perception requirement corresponding to the perception service and the perception capability of the second device, and optionally, the second perception requirement can also be determined according to the first perception data.

[0233] It should be noted that the design scheme is for the above case 2, that is, the perception function determines that the first device is called to execute the perception service, and then sends the first perception requirement, or the perception requirement corresponding to the perception service, to the first device. The first device can execute the perception according to the first perception requirement, or the perception requirement corresponding to the perception service, obtain the first perception data, and send the first perception data to the perception function. The perception function can determine the second device according to the first perception data, the perception requirement corresponding to the perception service, and the perception capability of the second device. Then, the perception function sends the second perception requirement, or the perception requirement corresponding to the perception service, to the second device, so that the second device executes the perception according to the second perception requirement, or the perception requirement corresponding to the perception service, subsequently.

[0234] Based on the above introduction, after the perception function sends the first perception requirement, or the perception requirement corresponding to the perception service, to the first device, the first device can be directly triggered to execute the perception according to the first perception requirement, or the perception requirement corresponding to the perception service, to obtain the first perception data; similarly, after the perception function sends the second perception requirement, or the perception requirement corresponding to the perception service, to the second device, the second device can be directly triggered to execute the perception according to the second perception requirement, or the perception requirement corresponding to the perception service, to obtain the second perception data.

[0235] Alternatively, the perception function can also trigger the first device and the second device to perform the perception service in other manners, without limitation. For example, after the perception function sends the first device the first perception requirement or the perception requirement corresponding to the perception service, when the perception function needs the first device to perform the perception service, the perception function can send the first device an indication information, such as indication information#a, which can be used to instruct the first device to perform the perception service, so as to trigger the first device to perform perception according to the first perception requirement or the perception requirement corresponding to the perception service, to obtain the first perception data; similarly, when the perception function needs the second device to perform the perception service, the perception function can send the second device an indication information, such as indication information#b, which can be used to instruct the second device to perform the perception service, so as to trigger the second device to perform perception according to the second perception requirement or the perception requirement corresponding to the perception service, to obtain the second perception data. In this way, on-demand indication can be achieved to achieve flexibility.

[0236] S404, the perception function sends the first indication information to the second device. Correspondingly, the second device receives the first indication information from the perception function.

[0237] The first indication information can be used to instruct the second device to enhance the perception data obtained by the first device performing the perception service, i.e., explicit indication. For example, the second device can perform data fusion on the perception data obtained by the first device performing the perception service (i.e., the first perception data) and the perception data obtained by the second device performing the perception service (i.e., the second perception data), and the precision and accuracy of the fused perception data (i.e., the third perception data) are higher than those of the first perception data or the second perception data. It can be understood that the first device can also directly send the first perception data to the second device, and the second device can determine that the first perception data needs to be enhanced according to the first perception data and the perception requirement corresponding to the perception service (sent by the perception function), i.e., implicit indication, without limitation.

[0238] It can be understood that the naming of the above first indication information is only an example, and the first indication information can also be replaced by any other possible naming, without limitation.

[0239] S405, the second device obtains the third perception data according to the first indication information.

[0240] The third perception data can be obtained by data fusion of the first perception data and the second perception data by the second device.

[0241] The first perception data can be range-velocity (RV) spectrum, Doppler velocity-range spectrum, or point cloud data, without limitation; the second perception data can be range-velocity spectrum, Doppler velocity-range spectrum, or point cloud data, without limitation; and the third perception data can be range-velocity spectrum, Doppler velocity-range spectrum, or point cloud data, without limitation.

[0242] For example, the first perception data is RV spectrum #1, and the second perception data is RV spectrum #2. The second device can fuse the RV spectrum #1 and the RV spectrum #2. Specifically, the first access network device determines the overlapping part of the RV spectrum #1 and the RV spectrum #2. If there is a target at the same position in the RV spectrum #1 and the RV spectrum #2, one target in one RV spectrum can be selected, for example, the target information in the perception data with higher accuracy can be selected as the final perception data. For the part not overlapping in the RV spectrum #1 and the RV spectrum #2, the first access network device can migrate the part not overlapping in the RV spectrum #2 to the RV spectrum #1 according to the RV spectrum #2, so as to fuse the RV spectrum #1 and the RV spectrum #2, and obtain the fused RV spectrum #3 (i.e., the third perception data).

[0243] It can be understood that the above data fusion process is only an example, and the embodiments of the present application are not limited thereto.

[0244] It can be understood that the embodiments of the present application do not limit the specific implementation of the second device obtaining the first perception data.

[0245] Optionally, after obtaining the third perception data, the second device can send the third perception data to the perception function, and the perception function can also send the third perception data to the application function, so that the subsequent processing of the application function can be performed according to the third perception data, which is not described in detail. It should be noted that when the user plane of the perception function is deployed in the network, the third perception data can be sent to the user plane of the perception function, i.e., SF-U.

[0246] In summary, the perception function can determine the first device and the second device for jointly performing the perception service according to the perception requirement corresponding to the perception service. After the perception function triggers the first device and the second device to perform the perception service, the second device can enhance the perception data obtained by the first device performing the perception service, and send the enhanced perception data (i.e., the third perception data) to the perception function. In this way, the sparsity of the perception data can be improved, and the accuracy and precision of the perception data can be further improved to meet the requirement of the perception service.

[0247] In combination with the above introduction, in a possible design, the method embodiment can further include:

[0248] The perception function obtains the perception capability of the first device and the perception capability of the second device.

[0249] It can be understood that the perception function can obtain the perception capability of the first device from the first device or a data management function (e.g., UDM). Similarly, the perception function can obtain the perception capability of the second device from the second device or the data management function (e.g., UDM). For example, the first device can send the perception capability of the first device to the perception function through the AMF, the second device can send the perception capability of the second device to the perception function through the AMF, and the like, without limitation.

[0250] In a possible design, the method embodiment can further include:

[0251] The first device sends the perception data (i.e., the first perception data) obtained by performing the perception service to the perception function. Correspondingly, the perception function receives the perception data obtained by the first device performing the perception service.

[0252] The second device sends the perception data (i.e., the second perception data) obtained by performing the perception service to the perception function. Correspondingly, the perception function receives the perception data obtained by the second device performing the perception service.

[0253] The perception function performs data fusion on the perception data obtained by the first device performing the perception service and the perception data obtained by the second device performing the perception service, to obtain the fused perception data (i.e., the third perception data).

[0254] That is, the first device can report the first perception data to the perception function, and the second device can report the second perception data to the perception function. Subsequently, the perception function can perform data fusion on the first perception data and the second perception data, and can send the third perception data obtained by the fusion to the application function, so that the application function can perform subsequent processing according to the third perception data, which is not described herein. In this case, the data processing capability requirement of the first device and the second device is relatively low.

[0255] Fig. 5 is a flowchart of a communication method according to an embodiment of the present application. The communication method is applicable to the communication system described above, and mainly involves the interaction between the sensing function, the first device and the second device.

[0256] As shown in Fig. 5, the flow of the communication method is as follows:

[0257] S501, the first device determines the second indication information according to a first condition.

[0258] The first condition can include at least one of the following: the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data. The first sensing requirement can be determined according to the sensing requirement corresponding to the sensing service. For example, the sensing function sends the sensing requirement corresponding to the sensing service or the first sensing requirement to the first device. Correspondingly, the first device receives the first sensing requirement or the sensing requirement corresponding to the sensing service from the sensing function.

[0259] For example, the AF can send the sensing service request to the SF through the NEF, and the sensing service request includes the sensing requirement of the sensing service. The SF can send the sensing requirement of the sensing service to the first device and the second device directly through the AMF. Alternatively, the SF can determine the first sensing requirement according to the sensing requirement corresponding to the sensing service and the sensing capability of the first device, and send the first sensing requirement to the first device through the AMF, i.e., the sensing service request triggered by the AF. Alternatively, the sensing requirement corresponding to the sensing service can also be the sensing requirement corresponding to the sensing service triggered by the first device itself, which is not limited. It should be understood that the SF can also send the first sensing requirement or the sensing requirement corresponding to the sensing service to the first device directly, i.e., without forwarding through the AMF, which is not limited.

[0260] The first sensing data can be obtained by the first device performing the sensing service. For example, the first device can perform the sensing service according to the sensing requirement of the sensing service or the first sensing requirement to obtain the first sensing data.

[0261] It should be understood that the specific introduction of the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data can refer to the related introduction in the method shown in Fig. 4 above, which is not repeated here.

[0262] The second indication information can be used to indicate that other devices need to jointly perform the sensing service with the first device, or the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement. The following examples are introduced.

[0263] Case 3: The first condition can include the sensing capability of the first device and the sensing requirement corresponding to the sensing service / first sensing requirement.

[0264] In this case 3, the perception function can determine the second indication information according to the perception capability of the first device and the perception demand / first perception demand corresponding to the perception service. For example, the first device determines that the perception capability of the first device cannot meet the perception demand or the first perception demand of the perception service, and the first device can determine that other devices need to jointly perform the perception service with the first device; or the first device determines that the perception capability of the first device can meet the perception demand or the first perception demand of the perception service, but in order to further improve the perception data precision and accuracy of the perception service, the first device can determine that other devices need to jointly perform the perception service with the first device, and the like, without limitation.

[0265] Case 4: The first condition can include the first perception data and the perception demand / first perception demand corresponding to the perception service.

[0266] In this case 4, the perception function can determine the second indication information according to the first perception data and the perception demand / first perception demand corresponding to the perception service. For example, the first device determines that the first perception data cannot meet the perception demand or the first perception demand of the perception service, and the first device can determine that other devices need to jointly perform the perception service with the first device; or the first device determines that the first perception data can meet the perception demand or the first perception demand of the perception service, but in order to further improve the perception data precision and accuracy of the perception service, the first device can determine that other devices need to jointly perform the perception service with the first device, and the like, without limitation.

[0267] It can be understood that the above-mentioned case 3 and case 4 are only examples, and the first device can also determine the second indication information in any other possible way, without limitation. It can be understood that the naming of the above-mentioned second indication information is only an example, and the second indication information can also be replaced by any other possible naming, without limitation.

[0268] S502, the first device sends the second indication information to the perception function. Correspondingly, the perception function receives the second indication information from the first device.

[0269] The first device can send the second indication information to the perception function to trigger the perception function to determine other devices jointly performing the perception service with the first device.

[0270] S503, the perception function determines the second device according to the second indication information.

[0271] The second device can be a device jointly performing the perception service with the first device (determined by the perception function).

[0272] The following is an example of the following case to introduce the implementation process in detail.

[0273] Case 5: The perception requirement of the perception service or the first perception requirement is obtained by the first device from the perception function.

[0274] In case 5, the perception function can determine to call the second device to execute the perception service according to the perception requirement corresponding to the perception service among the plurality of devices, and the implementation principle is similar to that of case 2, which can be understood with reference, and is not described herein.

[0275] After the perception function determines the second device, the perception function can send the second device a second perception requirement according to the perception capability of the second device and the perception requirement corresponding to the perception service, or the perception function can directly send the second device the perception requirement corresponding to the perception service, for the second device to execute the perception service according to the second perception requirement or the perception requirement corresponding to the perception service subsequently.

[0276] Case 6: The perception requirement corresponding to the perception service is the perception requirement corresponding to the perception service triggered by the first device.

[0277] In case 6, a possible design scheme, the method embodiment can further include:

[0278] The first device determines a third perception requirement according to a second condition.

[0279] The first device sends the third perception requirement to the perception function. Correspondingly, the perception function receives the third perception requirement from the first device.

[0280] The second condition can include at least one of the following: the perception requirement corresponding to the perception service, the first perception data, or the perception capability of the first device.

[0281] The third perception requirement can be a perception requirement that the first device needs other devices to provide (such as a perception requirement that needs to further improve the accuracy and precision), or can be a perception requirement that the first device cannot meet (such as the first device cannot meet part of the perception requirement corresponding to the perception service), or can be the same as the perception requirement corresponding to the perception service, and the like, without limitation. After the perception function receives the third perception requirement, the perception function can determine to call the second device to execute the perception service according to the third perception requirement among the plurality of devices, and the implementation principle is similar to that of case 2, which can be understood with reference, and is not described herein.

[0282] After the perception function determines the second device, the perception function can send the second device a fourth perception requirement according to the third perception requirement and the perception capability of the second device, or the perception function can directly send the second device the third perception requirement, for the second device to execute the perception service according to the fourth perception requirement or the third perception requirement subsequently.

[0283] Based on the above case 5 and case 6, the following is an example of the following steps of the perception function determining the second device.

[0284] Case 7: The first device instructs other devices to enhance.

[0285] Specifically, the first device sends third indication information to the perception function. Correspondingly, the perception function receives the third indication information from the first device.

[0286] The perception function sends indication information #c to the second device according to the third indication information. Correspondingly, the second device receives the indication information #c from the perception function.

[0287] The second device obtains third perception data according to the indication information #c;

[0288] The second device sends the third perception data to the first device. Correspondingly, the first device receives the third perception data from the second device.

[0289] The third indication information can be used to instruct other devices to enhance the perception data obtained by the first device performing the perception service. The indication information #c can be used to instruct the second device to enhance the perception data obtained by the first device performing the perception service. The third perception data can be obtained by the second device performing data fusion on the first perception data and the second perception data; the first perception data can be obtained by the first device performing the perception service, and the second perception data can be obtained by the second device performing the perception service.

[0290] For example, after receiving the third indication information, the perception function can trigger sending the indication information #c to the second device, and the second device can enhance the perception data obtained by the first device performing the perception service according to the indication information #c. For example, the second device can perform the perception service according to the second perception requirement / third perception requirement / perception requirement corresponding to the perception service, obtain the second perception data, and perform data fusion on the first perception data and the second perception data to obtain the third perception data. The second device can send the enhanced third perception data to the first device, so that the first device can perform subsequent operations (such as the first device triggering the requested perception service) according to the third perception data; the second device can also send the third perception data to the perception function, and the perception function sends the third perception data to the application function, so that the application function can perform subsequent processing (such as the application function triggering the requested perception service) according to the third perception data, which is not described herein.

[0291] It can be understood that the specific implementation of the second device performing data fusion on the first perception data and the second perception data can refer to the related description in the above step S405, which is not described herein.

[0292] In case 7, in one possible design, before the first device receives the third sensing data from the second device, the above method embodiment can further include:

[0293] The first device sends the first sensing data to the second device. Correspondingly, the second device receives the first sensing data from the first device.

[0294] It can be understood that the first device can actively send the first sensing data to the second device, or the second device can also request the first device to report the first sensing data, which is not limited. It should be understood that assuming that the first device is a terminal device and the second device is an access network device, the first sensing data can also be stored by the second device when the first device forwards the first sensing data through the second device in the process of sending the first sensing data to the sensing function, for subsequent data fusion. It can be understood that the embodiments of the present application do not limit the specific implementation of the second device obtaining the first sensing data.

[0295] It can be understood that the naming of the third indication information is only an example, and the third indication information can also be replaced by other possible names, which is not limited.

[0296] Case 8: The first device indicates that it has data processing capability.

[0297] Specifically, the first device sends fourth indication information to the sensing function. Correspondingly, the sensing function receives the fourth indication information from the first device.

[0298] The sensing function sends indication information #d to the second device according to the fourth indication information. Correspondingly, the second device receives the indication information #d from the sensing function.

[0299] The second device sends the second sensing data to the first device according to the indication information #d. Correspondingly, the first device receives the second sensing data from the second device.

[0300] The first device performs data fusion on the second sensing data and the first sensing data to obtain the third sensing data.

[0301] The fourth indication information can be used to indicate that the first device has data processing capability. The indication information #d can be used to indicate that the second device sends the second sensing data to the first device. The second sensing data can be obtained by the second device performing a sensing service, and the first sensing data can be obtained by the first device performing a sensing service.

[0302] Exemplarily, after the perception function receives the fourth indication information, it can be determined that the first device has data processing capability, or in other words, the first device can perform data fusion on the perception data, and the perception function can trigger sending of indication information #d to the second device. The second device can perform the perception service according to the perception requirement corresponding to the second perception requirement / third perception requirement / perception service, obtain second perception data, and send the second perception data to the first device according to the indication information #d. The first device can perform data fusion on the first perception data and the second perception data to obtain third perception data. It should be noted that the first device can perform subsequent processing (such as the first device triggering a requested perception service) according to the third perception data, which is not limited. Alternatively, the first device can also send the third perception data to the perception function, and the perception function can send the third perception data to the application function, for subsequent processing (such as the application function triggering a requested perception service) of the application function according to the third perception data, which is not described herein.

[0303] It can be understood that the specific implementation of the first device performing data fusion on the first perception data and the second perception data can refer to the related description in the above step S405, which is not described herein. The naming of the fourth indication information is only an example, and the fourth indication information can also be replaced by any other possible naming, which is not limited.

[0304] It should be noted that in the above case 7 and case 8, the process of the first device sending the third indication information and the fourth indication information to the perception function can be understood as explicit indication. The perception function can also determine whether the first device has data processing capability according to whether the first device reports the first perception data, to determine whether to trigger sending of the indication information #c or the indication information #d to the second device. Exemplarily, if the first device reports the first perception data to the perception function, it can be implicitly indicated that the first device does not have data processing capability, and the perception function can be triggered to send the indication information #c to the second device. If the first device does not report the first perception data to the perception function, it can be implicitly indicated that the first device has data processing capability, and the perception function can be triggered to send the indication information #d to the second device.

[0305] In summary, the first device can determine, according to one or more of the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data, that other devices need to jointly execute the sensing service with the first device, or that the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement. At this time, the first device can trigger the second indication information to the sensing function, for subsequent triggering the sensing function to determine the device jointly executing the sensing service with the first device, such as the second device described above. The first device or the second device can perform data fusion on the sensing data obtained by jointly executing the sensing service, so as to improve the sparsity of the sensing data and further improve the accuracy of the sensing data to meet the service requirement of the sensing service.

[0306] FIG. 6 is a flow diagram of a communication method provided by an embodiment of the application. The communication method is applicable to the above-mentioned communication system, and mainly involves the interaction between the sensing function, the first device, and the second device.

[0307] As shown in FIG. 6, the flow of the communication method is as follows:

[0308] S601, the first device determines the fifth indication information according to a third condition.

[0309] The third condition can include at least one of the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data. The first sensing requirement can be determined according to the sensing requirement corresponding to the sensing service, and the first sensing data can be obtained by the first device executing the sensing service.

[0310] It should be understood that the specific introduction of the sensing capability of the first device, the sensing requirement corresponding to the sensing service, the first sensing requirement, or the first sensing data can refer to the related introduction in the above-mentioned method of FIG. 4, and will not be repeated here.

[0311] The fifth indication information can be used to indicate that the second device needs to jointly execute the sensing service with the first device, or that the sensing capability of the first device or the first sensing data cannot meet the sensing requirement corresponding to the sensing service or the first sensing requirement.

[0312] The second device can be a device determined by the sensing function in combination with the first device to perform the sensing service, and the sensing function can send information of the second device, such as an ID of the second device, to the first device, so that the first device determines the second device in combination with the first device to perform the sensing service. The implementation principle can refer to the related description in step S503 described above, and will not be described herein again. Alternatively, the second device can be a device determined by the first device to perform the sensing service in combination with the first device. For example, the first device can determine the second device according to the first sensing requirement or the sensing requirement corresponding to the sensing service, and the sensing capability of each of the plurality of devices (sent by the plurality of devices to the first device, or obtained by the first device from the UDM), and the implementation principle is similar to that of step S503 described above, and can be understood with reference thereto, and will not be described herein again.

[0313] It should be understood that the specific implementation of step S601 can refer to the related description in step S501 described above (such as case 3 and case 4), and will not be described herein again.

[0314] It can be understood that the first device can also determine the fifth indication information by any other possible way, which is not limited. It can be understood that the naming of the fifth indication information is only an example, and the fifth indication information can also be replaced by any other possible naming, which is not limited.

[0315] S602, the first device sends the fifth indication information to the second device. Correspondingly, the second device sends the fifth indication information to the first device.

[0316] The first device can send the fifth indication information to the second device to directly trigger the second device to perform the sensing service, without the need for processing by other network functions such as the sensing function, which is simple to implement.

[0317] S603, the second device performs the sensing service according to the fifth indication information.

[0318] Before introducing step S603, in a possible design scheme, the method embodiment can further include:

[0319] The first device determines the fifth sensing requirement according to the sixth condition.

[0320] The first device sends the fifth sensing requirement to the second device. Correspondingly, the second device receives the fifth sensing requirement from the first device.

[0321] The sixth condition can include at least one of the following: the sensing requirement corresponding to the sensing service, the first sensing requirement, the first sensing data, or the sensing capability of the first device.

[0322] The fifth perception requirement can be a perception requirement that the first device needs the second device to provide (such as a perception requirement that needs to further improve the precision and accuracy); or the fifth perception requirement can be a perception requirement that the first device cannot satisfy (such as the perception capability or the first perception data of the first device, which cannot satisfy the perception requirement of the perception service or part of the first perception requirement); or the fifth perception requirement can be the perception requirement corresponding to the perception service or the first perception requirement (that is, the same), and the like, without limitation. The first device can send the fifth perception requirement to the second device, for the second device to perform the perception service according to the fifth perception requirement subsequently.

[0323] After the second device receives the fifth perception requirement, the second device can perform the perception service according to the fifth perception requirement to obtain second perception data.

[0324] It can be understood that the first device determines the implementation principle of the fifth perception requirement according to the sixth condition, which is similar to the determination of the implementation of the third perception requirement by the first device in the above case 6, and can be understood by reference, and will not be repeated.

[0325] Based on the above introduction, the following takes the following case as an example to introduce the subsequent steps after the second device obtains the second perception data.

[0326] Case 9: The first device instructs the second device to enhance.

[0327] Specifically, the first device sends sixth indication information to the second device. Correspondingly, the second device receives the sixth indication information from the first device.

[0328] The second device obtains third perception data according to the sixth indication information;

[0329] The second device sends the third perception data to the first device. Correspondingly, the first device receives the third perception data from the second device.

[0330] The sixth indication information can be used to instruct the second device to enhance the perception data obtained by the first device performing the perception service. The third perception data can be obtained by the second device performing data fusion on the first perception data and the second perception data; the first perception data can be obtained by the first device performing the perception service, and the second perception data can be obtained by the second device performing the perception service (that is, performing the perception service according to the fifth perception requirement).

[0331] That is, the second device can perform data fusion on the first perception data and the second perception data according to the sixth indication information to obtain third perception data, and send the enhanced third perception data to the first device for the first device to perform subsequent operations (such as the first device triggering a requested perception service) according to the third perception data, which is not limited. It should be noted that the second device can also send the third perception data to the perception function, and the perception function sends the third perception data to the application function for the application function to perform subsequent processing (such as the application function triggering a requested perception service) according to the third perception data, and the like, which will not be repeated.

[0332] It can be understood that the specific implementation of the second device performing data fusion on the first perception data and the second perception data can refer to the related description in the above step S405, which will not be repeated. The naming of the sixth indication information is only an example, and the sixth indication information can also be replaced by any other possible naming, which is not limited.

[0333] In case 9, in a possible design scheme, before the first device receives the third perception data from the second device, the above method embodiment can further include:

[0334] The first device sends the first perception data to the second device. Correspondingly, the second device receives the first perception data from the first device.

[0335] It can be understood that the specific implementation of this case 9 can refer to the related description in the above case 7, which will not be repeated.

[0336] Case 10: The first device indicates that it has data processing capability.

[0337] Specifically, the first device sends the seventh indication information to the second device. Correspondingly, the second device receives the seventh indication information from the first device.

[0338] The second device sends the second perception data to the first device according to the seventh indication information. Correspondingly, the first device receives the second perception data from the second device.

[0339] The first device performs data fusion on the second perception data and the first perception data to obtain third perception data.

[0340] The seventh indication information can be used to indicate that the first device has data processing capability; the second perception data can be obtained by the second device performing the perception service (that is, performing the perception service according to the fifth perception requirement); and the first perception data can be obtained by the first device performing the perception service.

[0341] That is, the second device sends the second sensing data to the first device according to the seventh indication information, and the first device can perform data fusion on the first sensing data and the second sensing data to obtain third sensing data. It should be noted that the first device can perform subsequent processing (such as the first device triggering a requested sensing service) according to the third sensing data, which is not limited. Alternatively, the first device can also send the third sensing data to the sensing function, and the sensing function sends the third sensing data to the application function, which is used for subsequent processing (such as the application function triggering a requested sensing service) of the application function according to the third sensing data, and the like, which is not described in detail.

[0342] It can be understood that the specific implementation of the first device performing data fusion on the first sensing data and the second sensing data can refer to the related description in the above step S405, and details are not described herein. The naming of the seventh indication information is only an example, and the seventh indication information can also be replaced by any other possible naming, which is not limited.

[0343] In summary, the first device can determine that the second device needs to jointly perform a sensing service according to one or more of the sensing capability of the first device, the sensing requirement of the sensing service, the first requirement, or the first sensing data. In other words, the sensing capability of the first device or the first sensing data cannot meet the sensing requirement of the sensing service or the first sensing requirement. At this time, the first device can trigger to send the fifth indication information to the second device, which is used for subsequent triggering of the second device to determine the device jointly performing the sensing service with the first device according to the fifth indication information. The first device or the second device can perform data fusion on the sensing data obtained by jointly performing the sensing service. In this way, the sparsity of the sensing data can be improved, and the accuracy of the sensing data can be further improved to meet the service requirement of the sensing service.

[0344] It should be noted that the above method embodiment is introduced by taking the first device and the second device jointly sensing (the same sensing service) as an example, and the second device can perform data fusion on the sensing data obtained by jointly performing the sensing service. The above method embodiment is also applicable to the scenario of multiple devices jointly performing sensing (the same sensing service). One or more devices in the multiple devices can perform data fusion on the sensing data of other devices jointly performing the same sensing service to further improve the accuracy of the sensing data to meet the service requirement of the sensing service. The implementation principle is similar, and can be understood by reference, and details are not described herein.

[0345] The above introduces the flow of the communication method provided by the embodiments of the present application in combination with the method embodiments. For the convenience of understanding, the above method is introduced in the following four specific scenarios:

[0346] It can be understood that the first device can be a UE or a RAN, and the second device can be a UE or a RAN, without limitation. For ease of understanding, scenarios 1-4 are described below by taking the first device as a UE and the second device as a RAN as an example.

[0347] Scenario 1: FIG. 7 is a flowchart of a communication method provided by an embodiment of the application. The communication method mainly involves the interaction between UE#1 (the first device described above), RAN#1 (the second device described above), SF (the awareness function described above), AF (the application function described above), AMF, and NEF. This scenario 1 is described by taking RAN#1 for enhancing awareness data as an example. It can be understood that UE#1 can also enhance awareness data, and the implementation principle is similar, which can be understood by reference, and will not be described here.

[0348] As shown in FIG. 7, the flow of the communication method is as follows:

[0349] S701, RAN#1 sends an N2 message to AMF.

[0350] The N2 message can include awareness capability information #1 and identification information of RAN#1.

[0351] The awareness capability information #1 can include indication information of whether RAN#1 supports awareness or has awareness capability.

[0352] Optionally, the awareness capability information #1 can also include awareness requirements that RAN#1 can meet or provide (i.e., the second awareness capability described above).

[0353] The identification information of RAN#1 can include the identification of RAN#1, such as RAN#1 ID, to identify that the awareness capability information #1 is the awareness capability information of RAN#1.

[0354] S702, UE#1 sends an N1 message to AMF.

[0355] The N1 message can include awareness capability information #2 and identification information of UE#1.

[0356] The awareness capability information #2 can include indication information of whether UE#1 supports awareness or has awareness capability. Optionally, the awareness capability information #1 can also include awareness requirements that UE#1 can meet or provide (i.e., the first awareness capability described above).

[0357] The identification information of UE#1 can include the identification of UE#1, such as UE#1 ID, to identify that the awareness capability information #2 is the awareness capability information of UE#1.

[0358] S703, AMF sends an NS1 message to SF.

[0359] The NS1 message may include the identification information of sensing capability information #1 and RAN#1, as well as the identification information of sensing capability information #2 and UE#1.

[0360] It is understandable that SF can also obtain perception ability information #1 and perception ability information #2 from UDM, without limitation.

[0361] It is understood that the specific implementation of the above steps S701-S703 can be referred to the relevant introduction of "the sensing function obtains the sensing capability of the first device and the sensing capability of the second device" in the method shown in Figure 4 above, and will not be repeated here.

[0362] S704, AF sends Sensing Service Request #1 to SF.

[0363] It is understandable that when the AF has a need for a sensing service (such as sensing service #1), the AF can send a sensing service request #1 to the SF through the NEF (such as the sensing service request in step S401 above) to request the execution of sensing service #1. The sensing service request #1 may include the requested sensing service #1 and the sensing requirements corresponding to sensing service #1, such as sensing accuracy, sensing area, etc., without limitation.

[0364] Optionally, the sensing service request #1 may also include the identification information of the sensing service #1, such as the ID of the sensing service #1, without limitation.

[0365] It is understood that the order of steps S701-S704 is not limited in the embodiments of this application.

[0366] It is understood that the specific implementation of step S704 can be referred to the relevant introduction in step S401 above, and will not be repeated here.

[0367] S705, SF determines UE#1 and RAN#1 based on the perceived service request #1.

[0368] For example, the SF can determine, based on the sensing requirements, sensing capability information #1, and sensing capability information #2 corresponding to sensing service #1, that UE#1 and RAN#1 need to jointly execute sensing service #1. For instance, the SF can determine, based on sensing capability information #2 (which is associated with UE#1 through its identification information), that the sensing requirements provided by UE#1 cannot meet the sensing requirements corresponding to sensing service #1. In this case, the SF can determine, by combining sensing capability information #1 (which is associated with RAN#1 through its identification information), to call UE#1 and RAN#1 to jointly execute sensing service #1 (corresponding to case 1 above).

[0369] The SF can also determine the perception requirement that needs to be provided by the UE #1 and the RAN #1, or in other words, the degree of processing of the perception data by the UE #1 and the RAN #1, according to the perception capability information #1, the perception capability information #2, and the perception requirement corresponding to the perception service #1. For example, the SF can determine that the UE #1 needs to provide a first perception requirement (such as the first perception requirement in the method embodiments shown in FIGS. 4-6 described above) and the RAN #1 needs to provide a second perception requirement (such as the first perception requirement in the method embodiments shown in FIGS. 4-6 described above). It can be understood that the SF can also directly determine the perception requirement of the perception service #1 (such as the perception requirement corresponding to the perception service in step S403 described above) as the perception requirement that needs to be provided by the UE #1 and the RAN #1, and the like, without limitation.

[0370] Optionally, the SF can also determine the identifier of the perception service #1. If the perception service request #1 includes the identifier information of the perception service #1, the SF can directly determine the identifier of the perception service #1 according to the identifier information of the perception service #1. Or, if the perception service request #1 does not include the identifier information of the perception service #1, the SF can assign an identifier to the perception service #1, and the assigned identifier can be used to identify the perception service #1, without limitation.

[0371] It can be understood that the specific implementation of step S705 can refer to the related description in case 1 of step S402 and step S403 described above, and will not be repeated.

[0372] S706, the SF sends an NS1 response message to the AMF.

[0373] The NS1 response message can include the identifier of the perception service #1, the first perception requirement, and the second perception requirement.

[0374] Optionally, the NS1 response message can also include indication information #1 (such as the first indication information described above), which can be used to instruct the RAN #1 to enhance the perception data reported by the UE #1. For example, when the SF determines that the perception requirement that can be provided by the UE #1 cannot meet the perception requirement of the perception service #1, the SF can instruct the RAN #1 to enhance the perception data reported by the UE #1. Subsequently, the AMF can forward the identifier of the perception service #1 and the first perception requirement to the UE #1, and forward the identifier of the perception service #1 and the second perception requirement to the RAN #1, that is, steps S707 and S708 described below.

[0375] S707, the AMF sends a message #1 to the UE #1.

[0376] The message #1 can include the identifier of the perception service #1 and the first perception requirement.

[0377] S708, the AMF sends a message #2 to the RAN #1.

[0378] The message #2 can include the identity of the sensing service #1 and the second sensing requirement.

[0379] Optionally, the message #2 can also include the indication information #1.

[0380] It can be understood that the SF can also directly send the identity of the sensing service #1 and the first sensing requirement to the UE #1, and directly send the identity of the sensing service #1 and the second sensing requirement to the RAN #1 without going through the AMF, without limitation.

[0381] The specific implementation of steps S706-S708 can refer to the related description in steps S403 and S404 described above, and will not be repeated here.

[0382] S709, the UE #1 sends a message #3 to the SF according to the message #1.

[0383] When the UE #1 determines that the sensing capability of the UE #1 cannot meet the first sensing requirement according to the first sensing requirement, the UE #1 can send a message #3 to the SF through the AMF (corresponding to the above case 3). The message #3 can include the indication information #2 (such as the second indication information described above) and the identity of the sensing service #1, and the indication information #2 can be used to indicate that the sensing capability of the UE #1 cannot meet the first sensing requirement.

[0384] Optionally, the message #3 can also include the part of the sensing requirement that the UE #1 cannot meet the first sensing requirement, for example, assuming that the first sensing requirement includes: sensing (distance) accuracy of 4.5m and refresh rate of 10 times / s; the sensing capability of the UE #1 can support sensing requirement including: sensing (distance) accuracy of 5m and refresh rate of 15 times / s, then the part of the sensing requirement that the UE #1 cannot meet the first sensing requirement is the sensing accuracy of 4.5m.

[0385] Optionally, the message #3 can also include: indication information #3 (such as the third indication information described above), and the indication information #3 can be used to indicate that the sensing data obtained by the UE #1 performing the sensing service needs to be enhanced by other devices.

[0386] S710, the SF sends a message #4 to the RAN #1 according to the message #3.

[0387] The SF can determine, according to the indication information #2 and the indication information #3, that the RAN #1 needs to enhance the perception data (the perception service #1) reported by the UE #1, and then the SF can send a message #4 to the RAN #1 through the AMF. The message #4 can include the indication information #4 (such as the indication information #c described above) and the identifier of the perception service #1, and the indication information #4 can be used to instruct the RAN #1 to enhance the perception data reported by the UE #1 (corresponding to the case 7 described above).

[0388] It can be understood that the step S709 and the step S710 are optional steps.

[0389] S711, the SF sends indication information #5 to the UE #1, and sends indication information #6 to the RAN #1.

[0390] When the SF determines that the UE #1 needs to perform the perception service #1, the SF can send the indication information #5 to the UE #1 through the AMF. The indication information #5 can be used to instruct the UE #1 to perform the perception service #1, and the indication information #5 can include the identifier of the perception service #1.

[0391] Similarly, when the SF determines that the RAN #1 needs to perform the perception service #1, the SF can send the indication information #6 to the RAN #1 through the AMF. The indication information #6 can be used to instruct the RAN #1 to perform the perception service #1, and the indication information #6 can include the identifier of the perception service #1.

[0392] It should be noted that the step S711 is an optional step. The UE #1 can directly perform the perception service #1 after receiving the first perception requirement, and the SF does not need to trigger the UE #1 to perform the perception service #1 through the indication information #5. Similarly, the RAN #1 can directly perform the perception service #1 after receiving the second perception requirement, and the SF does not need to trigger the RAN #1 to perform the perception service #1 through the indication information #6.

[0393] For ease of understanding, the following is an example in which the SF performs the step S711.

[0394] S712, the UE #1 performs the perception service #1.

[0395] The UE #1 can perform perception according to the identifier of the perception service #1 in the indication information #5 and the first perception requirement, and obtain perception data #1 (such as the first perception data described above).

[0396] S713, the UE #1 sends a message #5 to the RAN #1.

[0397] The message #5 can include the perception data #1 and the identifier of the perception service #1.

[0398] Optionally, the message #5 can further include indication information #7 (e.g., the sixth indication information as described above), which can be used to indicate that the RAN #1 enhances the perception data #1 (corresponding to the case 9 as described above).

[0399] For example, the UE #1 can determine, according to the perception data #1 and the first perception requirement, that the perception data #1 cannot meet the first perception requirement, and then the UE #1 can determine to send the indication information #7 to the RAN #1.

[0400] S714, the RAN #1 performs the perception service #1.

[0401] The RAN #1 can perform perception according to the identity of the perception service #1 in the indication information #6 and the second perception requirement, and obtain perception data #2 (e.g., the second perception data as described above).

[0402] S715, the RAN #1 enhances the perception data #1.

[0403] The RAN #1 can determine to enhance the perception data #1 according to a condition #1. The condition #1 can include at least one of the following: the message #2 includes the indication information #1, the message #4 includes the indication information #4, or the message #5 includes the indication information #7. That is, the RAN #1 can perform data fusion on the perception data #1 and the perception data #2 according to at least one of the indication information #1, the indication information #4, or the indication information #7, and the identity of the perception service #1, to obtain perception data #3 (e.g., the third perception data as described above).

[0404] It can be understood that the specific implementation of step S715 can refer to the related description in the above step S405, case 7, and case 9, and will not be described here.

[0405] S716, the RAN #1 sends a message #6 to the SF.

[0406] The message #6 can include the perception data #3 (e.g., the third perception data in the method embodiments shown in FIGS. 4-6 as described above) and the identity of the perception service #1.

[0407] S717, the SF sends a message #7 to the AF.

[0408] The message #7 can include the perception data #3 and the identity of the perception service #1.

[0409] The SF can determine, through the identifier of the perception service #1, that the perception data #3 is the perception data corresponding to the perception service #1, and send the perception data #3 to the AF through the message #7. The AF can determine, through the identifier of the perception service #1, that the perception data #3 is the perception data corresponding to the perception service #1, for subsequent operations of the AF, which is not limited. In this way, the AF can be provided with the perception data satisfying the perception requirement of the perception service #1.

[0410] It can be understood that the SF can also perform data fusion on the perception data #1 reported by the UE #1 and the perception data #2 reported by the RAN #1 after receiving the perception data #1 and the perception data #2, to obtain the perception data #3, which is not limited.

[0411] It should be noted that the interaction between the SF and the RAN #1 and the UE #1 can also not pass through the forwarding of other network functions (such as the AMF described above), and the embodiments of the present application do not limit this.

[0412] Scenario 2: FIG. 8 is a flow diagram of a communication method according to an embodiment of the present application. The communication method mainly involves the interaction between the UE #1 (the first device described above), the RAN #1 (the second device described above), the SF (the perception function described above), the AF (the application function described above), the AMF, and the NEF. The scenario 2 is described by taking the RAN #1 for enhancing the perception data as an example. It can be understood that the UE #1 can also enhance the perception data, and the implementation principle is similar, which can be understood by reference, and will not be described here.

[0413] As shown in FIG. 8, the flow of the communication method is as follows:

[0414] S801, the RAN #1 sends an N2 message to the AMF.

[0415] S802, the UE #1 sends an N1 message to the AMF.

[0416] S803, the AMF sends an NS1 message to the SF.

[0417] S804, the AF sends a perception service request #1 to the SF.

[0418] S805, the SF determines the UE #1 and the RAN #1 according to the perception service request #1.

[0419] S806, the SF sends an NS1 response message to the AMF.

[0420] S807, the AMF sends a message #1 to the UE #1.

[0421] S808, the AMF sends a message #2 to the RAN #1.

[0422] S809, UE#1 sends message #3 to SF according to message #1.

[0423] S810, SF sends message #4 to RAN#1 according to message #3.

[0424] It can be understood that the specific description of steps S801-S810 can refer to the related description in steps S701-S710, which will not be repeated. It should be noted that in this scenario 2, steps S809 and S810 are necessary steps.

[0425] S811, SF updates the first and second perception requirements.

[0426] The SF can update or modify the second perception requirement (such as the second perception requirement in the method embodiments shown in FIGS. 4-6) and the first perception requirement (such as the first perception requirement in the method embodiments shown in FIGS. 4-6) according to message #4 (including the part of the first perception requirement that UE#1 cannot meet).

[0427] For example, continuing the above example, the perception capability of UE#1 can support the perception requirement including: perception (distance) accuracy of 5m and refresh rate of 15 times / s; the second perception requirement includes: perception accuracy of 8m and refresh rate of 10 times / s; the first perception requirement includes: perception (distance) accuracy of 4.5m and refresh rate of 10 times / s; the second perception requirement includes: perception accuracy of 8m and refresh rate of 10 times / s. That is, UE#1 cannot meet the requirement of perception accuracy in the first perception requirement.

[0428] At this time, the SF can improve the requirement of perception accuracy in the second perception requirement, and reduce the requirement of perception accuracy in the first perception requirement (corresponding to case a below). For example, the SF can modify or update the second perception requirement to obtain perception requirement#a, which can include: perception accuracy of 4.8m and refresh rate of 10 times / s. The SF can also modify or update the first perception requirement to obtain perception requirement#b, which can include: perception accuracy of 5m and refresh rate of 15 times / s. In this way, UE#1 and RAN#1 can provide corresponding perception data based on their own capabilities.

[0429] Alternatively, the SF can modify the requirement of perception accuracy in the second perception requirement (such as obtaining perception requirement#a), and determine that UE#1 does not need to perform perception service #1 (corresponding to case b below).

[0430] S812, SF sends message #5 to UE#1 according to message #3.

[0431] The following is an example of the following case to specifically introduce message #5.

[0432] Case a: message #5 can comprise the identity of the sensing service #1 and an indication information #5. The indication information #5 can be used to indicate that the UE #1 does not need to perform the sensing service #1 (i.e. the SF determines that the UE #1 does not need to perform the sensing service #1).

[0433] Case b: message #5 can comprise the identity of the sensing service #1, an indication information #5 and a sensing requirement #6. The indication information #6 can be used to indicate that the UE #1 performs the sensing service #1 (i.e. the SF triggers the UE #1 to perform the sensing service #1 through the indication information #6).

[0434] S813, the SF sends a message #6 to the RAN #1 according to the message #3.

[0435] When the SF determines that the RAN #1 needs to perform the sensing service #1, the SF can send a message #6 to the RAN #1 through the AMF. The message #6 can comprise the identity of the sensing service #1, an indication information #7 and a sensing requirement #a. The indication information #7 can be used to indicate that the RAN #1 performs the sensing service #1.

[0436] S814, the UE #1 does not perform the sensing service #1.

[0437] Based on the above case a, the UE #1 can determine not to perform the sensing service #1 according to the identity of the sensing service #1 and the indication information #5 in the message #5.

[0438] S815, the UE #1 performs the sensing service #1.

[0439] Based on the above case b, the UE #1 can perform sensing according to the sensing requirement #b and the indication information #6 of the sensing service #1 in the message #5 to obtain the sensing data #4.

[0440] S816, the UE #1 sends a message #7 to the RAN #1.

[0441] The message #7 can comprise the sensing data #4 and the identity of the sensing service #1.

[0442] S817, the RAN #1 performs the sensing service #1.

[0443] The RAN #1 can perform sensing according to the sensing requirement #a and the indication information #7 in the message #6 to obtain the sensing data #5.

[0444] S818, the RAN #1 enhances the sensing data #4.

[0445] Based on the above case b, the RAN #1 can perform data fusion on the sensing data #4 and the sensing data #5 according to the indication information #4 in the message #4 to obtain the sensing data #6 (corresponding to the above case 7).

[0446] It can be understood that the implementation process of RAN#1 data fusion on awareness data#4 and awareness data#5 can refer to the related description in the above step S405, and details are not described herein.

[0447] S819, RAN#1 sends message#8 to SF.

[0448] The message#6 can include the identification of the awareness data#6 and the awareness service#1.

[0449] S820, SF sends message#9 to AF.

[0450] The message#9 can include the identification of the awareness data#6 and the awareness service#1.

[0451] It can be understood that the implementation principle of the above steps S816-S820 can refer to the similar steps S713-S717, and details are not described herein. It can be understood that based on the above step S814, RAN#1 can directly report awareness data#5 to SF and AF, and details are not described herein.

[0452] It should be noted that the interaction between the above SF and RAN#1 and UE#1 can also not be forwarded through other network functions (such as the above AMF), and the embodiments of the present application do not limit this.

[0453] Scenario 3: Figure 9 is a flow diagram of a communication method according to an embodiment of the application. The communication method mainly involves the interaction between UE#1 (the first device described above), RAN#1 (the second device described above), SF (the awareness function described above), AF (the application function described above), AMF and NEF. The scenario 3 is described by taking RAN#1 to enhance awareness data as an example. It can be understood that UE#1 can also enhance awareness data, and the implementation principle is similar, which can be understood by reference, and details are not described herein.

[0454] As shown in Figure 9, the flow of the communication method is as follows:

[0455] S901, RAN#1 sends N2 message to AMF.

[0456] S902, UE#1 sends N1 message to AMF.

[0457] S903, AMF sends NS1 message to SF.

[0458] S904, AF sends awareness service request#1 to SF.

[0459] It can be understood that the specific implementation of steps S901-S904 can refer to the related description in steps S701-S704, and details are not described herein.

[0460] S905, the SF determines UE#1 according to the perception service request #1.

[0461] For example, the SF can determine that UE#1 needs to be called to execute the perception service #1 according to the perception requirement corresponding to the perception service #1 and the perception capability information #2. For example, it is assumed that the perception requirement corresponding to the perception service #1 can include that the perception (distance) accuracy is 5m and the perception area is square A; the perception capability information #2 can include that the perception area is area 1 in square A. At this time, the SF can determine to select UE#1 that needs to be called to execute the perception service #1 (corresponding to the above case 2).

[0462] The SF can also determine the perception requirement that needs to be provided by UE#1, or in other words, the degree of processing of the perception data by UE#1, according to the perception capability information #2 and the perception requirement corresponding to the perception service #1. For example, the SF can determine that UE#1 needs to provide the first perception requirement (it is not determined whether UE#1 can meet it). It can be understood that the SF can also directly determine the perception requirement corresponding to the perception service #1 as the perception requirement that needs to be provided by UE#1, and the like, without limitation.

[0463] Optionally, the SF can also determine the identifier of the perception service #1.

[0464] It can be understood that the specific implementation of step S705 can refer to the related description in case 2 of step S402 and step S403, and details are not described herein.

[0465] S906, the SF sends an NS1 response message to the AMF.

[0466] The NS1 response message can include the identifier of the perception service #1 and the first perception requirement.

[0467] The AMF can forward the identifier of the perception service #1 and the first perception requirement to UE#1, that is, the following step S907.

[0468] S907, the AMF sends a message #1 to UE#1.

[0469] The message #1 can include the identifier of the perception service #1 and the first perception requirement.

[0470] It can be understood that the SF can also directly send the identifier of the perception service #1 and the first perception requirement to UE#1 without going through the AMF, without limitation. The specific implementation of steps S906-S907 can refer to the related description in step S403, and details are not described herein.

[0471] S908, the SF sends indication information #e to UE #1.

[0472] When the SF determines that UE #1 needs to perform the perception service #1, the SF can send the indication information #e to UE #1 through the AMF, the indication information #e can be used to instruct UE #1 to perform the perception service #1, and the indication information #e can include the identifier of the perception service #1.

[0473] It should be noted that this step S908 is an optional step, and UE #1 can directly perform the perception service #1 after receiving the first perception requirement, and the SF does not need to trigger UE #1 to perform the perception service #1 through the indication information #e.

[0474] For ease of understanding, the following is an example of the SF performing step S908.

[0475] S909, UE #1 performs the perception service #1.

[0476] UE #1 can perform perception according to the identifier of the perception service #1 in the indication information #e and the first perception requirement, and obtain perception data #1 (such as the first perception data described above).

[0477] S910, UE #1 sends message #2 to the SF.

[0478] Wherein, the message #2 can include the perception data #1 and the identifier of the perception service #1.

[0479] For example, UE #1 can send message #2 to the SF through RAN #1.

[0480] It can be understood that the specific implementation of step S910 can refer to the related description in steps S501 and S502 described above, and will not be repeated here.

[0481] S911, the SF determines RAN #1 according to message #2.

[0482] The SF can determine that the perception data #1 corresponds to the perception service #1 according to the identifier of the perception service #1 in the message #2. The SF can determine that it is also necessary to call RAN #1 to perform the perception service #1 according to the perception requirement corresponding to the perception service #1, the perception data #1 and the perception capability information #1. For example, the SF can determine that the perception data #1 cannot meet the perception requirement corresponding to the perception service #1, and the SF can determine to call RAN #1 to jointly perform the perception service #1 with UE #1 in combination with the perception capability information #1 (corresponding to the above case 2).

[0483] The SF can also determine the perception requirement that needs to be provided by the RAN #1 according to the perception capability information #1 and the perception requirement corresponding to the perception service #1. For example, the SF can determine that the RAN #1 needs to provide a second perception requirement. It can be understood that the SF can also directly determine the perception requirement of the perception service #1 as the perception requirement that needs to be provided by the RAN #1, and the like, without limitation.

[0484] It can be understood that the specific implementation of step S911 can refer to the related description in the above step S403, and will not be repeated here.

[0485] S912, the SF sends a message #3 to the RAN #1.

[0486] The message #3 can include the identifier of the perception service #1, the second perception requirement, and the indication information #1 (i.e., the first indication information described above). The indication information #1 can be used to instruct the RAN #1 to enhance the perception data reported by the UE #1.

[0487] For example, the SF can send the message #3 to the RAN #1 through the AMF.

[0488] S913, the SF sends indication information #f to the RAN #1.

[0489] When the SF determines that the RAN #1 needs to perform the perception service #1, the SF can send the indication information #f to the RAN #1 through the AMF. The indication information #f can be used to instruct the RAN #1 to perform the perception service #1. The indication information #f can include the identifier of the perception service #1.

[0490] It should be noted that this step S913 is an optional step. The RAN #1 can directly perform the perception service #1 after receiving the second perception requirement, and the SF does not need to trigger the RAN #1 to perform the perception service #1 through the indication information #f.

[0491] For ease of understanding, the following will be introduced in the case that the SF performs step S913.

[0492] S914, the RAN #1 performs the perception service #1.

[0493] The RAN #1 can perform perception according to the identifier of the perception service #1 and the second perception requirement in the indication information #f, and obtain perception data #2 (such as the second perception data described above).

[0494] S915, the RAN #1 enhances the perception data #1.

[0495] The RAN#1 can perform data fusion on the perception data#1 (indicated information#f includes the perception data#1, or reported by the UE#1 to the RAN#1) and the perception data#2 according to the indicated information#1 and the identity of the perception service#1, to obtain the perception data#3 (such as the third perception data described above).

[0496] It can be understood that the specific implementation of step S915 can refer to the related description in the above step S405, and will not be repeated.

[0497] S916, the RAN#1 sends a message#4 to the SF.

[0498] The message#4 can include the perception data#3 and the identity of the perception service#1.

[0499] S917, the SF sends a message#5 to the AF.

[0500] The message#5 can include the perception data#3 and the identity of the perception service#1.

[0501] The SF can determine the perception data#3 as the perception data corresponding to the perception service#1 through the identity of the perception service#1, and send the perception data#3 to the AF through the message#5. The AF can determine the perception data#3 as the perception data corresponding to the perception service#1 through the identity of the perception service#1, so as to provide the AF with the perception data meeting the perception requirement of the perception service#1 for subsequent operation of the AF, which is not limited.

[0502] It should be noted that the interaction between the SF and the RAN#1, and the UE#1 can also not be forwarded through other network functions (such as the above-mentioned AMF), and the embodiments of the present application do not limit this.

[0503] Scenario 4: Fig. 10 is a flowchart of a communication method provided by an embodiment of the application. The communication method mainly involves the interaction between the UE#1 (the first device described above), the RAN#1 (the second device described above), the SF (the perception function described above), and the AMF and the NEF.

[0504] As shown in Fig. 10, the flow of the communication method is as follows:

[0505] S1001, the RAN#1 sends an N2 message to the AMF.

[0506] It can be understood that the specific implementation of step S1001 can refer to the related content in the above step S701, and will not be repeated.

[0507] S1002, the AMF sends an NS1 message#1 to the SF.

[0508] The NS1 message #1 can include the awareness capability information #1 and the identification information of the RAN #1.

[0509] It can be understood that the SF can also obtain the awareness capability information #1 from the UDM, without limitation.

[0510] S1003, the UE #1 performs the awareness service #2.

[0511] It can be understood that when the UE #1 has the demand for the awareness service (such as the awareness service #2), the UE #1 can trigger to perform the awareness service #2 (i.e., the awareness triggered by the UE #1) (such as the above case 6). The UE #1 can perform the awareness service #2 according to the awareness demand corresponding to the awareness service #2, and obtain the awareness data #1 (such as the first awareness data described above).

[0512] The UE #1 can determine that other devices (such as the RAN #1 described below) are needed to jointly perform the awareness service #2 according to the awareness data #1 and the awareness demand corresponding to the awareness service #2. For example, when the UE #1 determines that the awareness data #1 cannot meet the awareness demand corresponding to the awareness service #2, the SF can determine to call other devices to jointly perform the awareness service #2 with the UE #1 (corresponding to the above case 4).

[0513] The UE #1 can also determine the awareness demand provided by other devices or the degree of processing of the awareness data by other devices according to the awareness data #1 and the awareness demand corresponding to the awareness service #2. For example, the UE #1 can determine that the awareness demand #c (such as the third awareness demand in the above case 6) provided by other devices is needed, which can be the awareness demand expected by the UE #1 to be provided by other devices, or the awareness demand #c can be the awareness demand that cannot be met by the UE #1 (such as part of the awareness demand corresponding to the awareness service #2), or the awareness demand #c can be the awareness demand corresponding to the awareness service #2 (i.e., the same), etc., without limitation.

[0514] The UE #1 can also determine the identification of the awareness service #2 for identifying the awareness service #1.

[0515] It can be understood that the specific implementation of this step S1003 can refer to the related description in the above S501, and will not be repeated here.

[0516] S1004, the UE #1 sends an N1 message to the AMF.

[0517] The N1 message can include the awareness demand #c, the identification of the awareness service #2, and the indication information #a1. The indication information #a1 (such as the second indication information described above) can be used to indicate that other devices are needed to jointly perform the awareness with the UE #1.

[0518] Optionally, the N1 message can further include the perception data #1.

[0519] Optionally, the N1 message can further include other parameters, which are introduced in the following cases.

[0520] Case c: the N1 message can include the indication information #a2 (i.e., the third indication information described above), which can be used to instruct other devices to enhance the perception data obtained by UE #1 performing the perception service #2 (corresponding to the case 7 described above).

[0521] Case d: the N1 message can include the indication information #a3 (i.e., the fourth indication information described above), which can be used to indicate that UE #1 has the processing capability to enhance the perception data (corresponding to the case 8 described above).

[0522] S1005, the AMF sends an NS1 message #2 to the SF.

[0523] The NS1 message #2 can include the perception requirement #c, the identifier of the perception service #2, and the indication information #a1.

[0524] Optionally, the NS1 message #2 can further include the perception data #1.

[0525] Optionally, the NS1 message #2 can include:

[0526] Based on case c: the indication information #a2; based on case d: the indication information #a3.

[0527] It can be understood that UE #1 can also directly send the perception requirement #c, the identifier of the perception service #2, and the indication information #a1 to the SF. Optionally, UE #1 can also directly send the perception data #1, the indication information #a2, or the indication information #a3 to the SF without the need for the AMF to forward, which is not limited.

[0528] S1006, the SF determines the RAN #1.

[0529] The SF can determine the perception requirement #c and the indication information #a1 corresponding to the perception service #2 according to the identifier of the perception service #2. The SF can determine that other devices need to jointly perform the perception service #2 with UE #1 according to the indication information #a1. For example, the SF can determine to call the RAN #1 to jointly perform the perception service #2 with UE #1 according to the perception capability information #1 and the perception requirement #c (corresponding to the case 6 described above).

[0530] After determining to invoke RAN#1, the SF can determine a perception requirement #d (e.g., the fourth perception requirement in the case 6 described above) that needs to be provided by RAN#1. For example, the SF can determine the perception requirement #d according to the perception capability information #1 and the perception requirement #c, or directly determine the perception requirement #c as the perception requirement #d, without any limitation.

[0531] Optionally, based on the case c described above, the SF can determine, according to the indication information #a2, that the perception data obtained by RAN#1 performing the perception service #2 on UE#1 needs to be enhanced.

[0532] Optionally, based on the case d described above, the SF can determine, according to the indication information #a3, that UE#1 can have the processing capability of enhancing the perception data. S1007, the SF sends a message #1 to RAN#1.

[0533] The message #1 can include the perception requirement #d, the identifier of the perception service #2, and the indication information #a4. The indication information #a4 can be used to instruct RAN#1 to perform the perception service #1.

[0534] Optionally, the message #1 can further include the perception data #1.

[0535] Optionally, based on the case c described above, the message #1 can further include the indication information #a5 (e.g., the indication information #c in the case 7 described above), which can be used to instruct RAN#1 to enhance the perception data reported by UE#1.

[0536] Optionally, based on the case d described above, the message #1 can further include the indication information #a6 (e.g., the indication information #d in the case 8 described above), which can be used to instruct RAN#1 to send the perception data obtained by performing the perception service #2 to UE#1.

[0537] For example, the SF can send the message #1 to RAN#1 through the AMF.

[0538] S1008, RAN#1 performs the perception service #2.

[0539] RAN#1 can perform the perception according to the identifier of the perception service #2 and the perception requirement #d in the message #1, and obtain the perception data #2 (e.g., the second perception data described above).

[0540] S1009, RAN#1 enhances the perception data #1.

[0541] Based on the case c, the RAN #1 can perform data enhancement on the perception data #1 (e.g., the message #1 includes the perception data #1, or the UE #1 reports the perception data #1 to the RAN #1, etc.) according to the indication information #a5 and the identity of the perception service #2. For example, the RAN #1 can perform data fusion on the perception data #1 and the perception data #2 to obtain the perception data #3 (e.g., the third perception data as described above).

[0542] It can be understood that the implementation process of the RAN #1 performing data fusion on the perception data #1 can refer to the related description in the step S405, and will not be repeated here.

[0543] S1010, the RAN #1 sends a message #2 to the UE #1.

[0544] The message #2 can include the perception data #3 and the identity of the perception service #1.

[0545] S1011, the RAN #1 sends a message #3 to the UE #1.

[0546] Based on the case d, the RAN #1 can send the message #3 to the UE #1 according to the indication information #a6 and the identity of the perception service #2. The message #3 can include the perception data #2 and the identity of the perception service #2.

[0547] S1012, the UE #1 enhances the perception data #2.

[0548] The UE #1 can perform data fusion on the perception data #1 and the perception data #2 according to the identity of the perception service #2 to obtain the perception data #3.

[0549] It can be understood that based on the above S1010 or step S1012, the UE #1 can perform subsequent operations according to the perception data #3, which is not limited here.

[0550] It should be noted that the above interaction between the SF and the RAN #1 and the UE #1 can also not be forwarded through other network functions (e.g., the AMF as described above), and the embodiments of the present application do not limit this.

[0551] The above describes the communication method provided by the embodiments of the present application in detail in combination with FIG. 4-FIG. 10. The following describes the communication device for performing the communication method provided by the embodiments of the present application in combination with FIG. 11-FIG. 12.

[0552] FIG. 11 is a structural schematic diagram of a communication device according to an embodiment of the present application. As shown in FIG. 11, the communication device 1100 includes a transceiver module 1101 and a processing module 1102. For the convenience of description, FIG. 11 only shows the main components of the communication device 1100.

[0553] The transceiver module 1101 is configured to perform the transceiving functions of the methods shown in FIGS. 5-10, and the processing module 1102 is configured to perform the functions of the methods shown in FIGS. 5-10 other than the transceiving functions.

[0554] Optionally, the transceiver module 1101 can include a sending module (not shown in FIG. 11) and a receiving module (not shown in FIG. 11). The sending module is configured to implement the sending functions of the communication apparatus 1100, and the receiving module is configured to implement the receiving functions of the communication apparatus 1100.

[0555] Optionally, the communication apparatus 1100 can further include a storage module (not shown in FIG. 11) that stores programs or instructions. When the processing module 1102 executes the programs or instructions, the communication apparatus 1100 can perform the sensing functions, the functions of the first device and the second device in the methods shown in FIGS. 5-10 in the above methods.

[0556] It can be understood that the communication apparatus 1100 can be a network device, or a chip (system) or other components or assemblies that can be arranged in a network device, or a device containing a network device, and the embodiments of the present application do not limit this; or the communication apparatus 1100 can be a terminal device, or a chip (system) or other components or assemblies that can be arranged in a terminal device, or a device containing a terminal device, and the embodiments of the present application do not limit this

[0557] In addition, the technical effects of the communication apparatus 1100 can refer to the technical effects of the communication methods shown in FIGS. 4-10, which are not described here again.

[0558] Exemplarily, FIG. 12 is a structural schematic diagram of a communication apparatus provided by an embodiment of the present application. The communication apparatus can be a terminal device or a network device, or a chip (system) or other components or assemblies of a terminal device or a network device. As shown in FIG. 12, the communication apparatus 1200 can include a processor 1201. Optionally, the communication apparatus 1200 can further include a memory 1202 and / or a transceiver 1203. The processor 1201 is coupled with the memory 1202 and the transceiver 1203, for example, through a communication bus.

[0559] The components of the communication apparatus 1200 will be specifically introduced below in combination with FIG. 12:

[0560] The processor 1201 is a control center of the communication device 1200, which can be one processor or collectively refer to multiple processing elements. For example, the processor 1201 is one or more central processing units (CPUs), application specific integrated circuits (ASICs), or one or more integrated circuits configured to perform the functions of the embodiments of the present application, such as one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0561] Optionally, the processor 1201 can perform various functions of the communication device 1200 by running or executing software programs stored in the memory 1202 and calling data stored in the memory 1202, such as the communication methods shown in FIGS. 4-10.

[0562] In a specific implementation, as an embodiment, the processor 1201 can include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 12.

[0563] In a specific implementation, as an embodiment, the communication device 1200 can also include multiple processors, such as the processor 1201 and the processor 1204 shown in FIG. 12. Each of these processors can be a single-CPU or a multi-CPU. The processor here can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0564] The memory 1202 is configured to store software programs for implementing the solutions of the present application, and the processor 1201 is configured to control the execution of the software programs. For specific implementation, refer to the above method embodiments, which will not be repeated here.

[0565] Optionally, the memory 1202 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory 1202 can be integrated with the processor 1201 or exist independently and be coupled to the processor 1201 through the interface circuit (not shown in FIG. 12) of the communication apparatus 1200, and the embodiments of the present application do not make a specific limitation in this regard.

[0566] The transceiver 1203 is configured to communicate with other communication apparatuses. For example, the communication apparatus 1200 is a terminal device, and the transceiver 1203 can be configured to communicate with a network device or another terminal device. For another example, the communication apparatus 1200 is a network device, and the transceiver 1203 can be configured to communicate with a terminal device or another network device.

[0567] Optionally, the transceiver 1203 can include a receiver and a transmitter (not shown in FIG. 12). The receiver is configured to implement the receiving function, and the transmitter is configured to implement the transmitting function.

[0568] Optionally, the transceiver 1203 can be integrated with the processor 1201 or exist independently and be coupled to the processor 1201 through the interface circuit (not shown in FIG. 12) of the communication apparatus 1200, and the embodiments of the present application do not make a specific limitation in this regard.

[0569] It should be noted that the structure of the communication apparatus 1200 shown in FIG. 12 does not constitute a limitation on the communication apparatus, and the actual communication apparatus can include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.

[0570] In addition, the technical effects of the communication apparatus 1200 can refer to the technical effects of the communication method described in the above method embodiments, which will not be described here again.

[0571] The embodiment of the present application provides a communication system. The communication system can comprise the terminal device in the method embodiment and the network device.

[0572] It should be understood that the processor in the embodiment of the present application can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0573] It should also be understood that the memory in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM).

[0574] The above-described embodiments can be implemented in part or in whole through software, hardware (e.g., circuitry), firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When loaded and executed by a computer, the computer instructions or computer programs can produce the processes or functions described above in accordance with the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, such as from a website site, a computer, a server, or a data center to another website site, a computer, a server, or a data center through a wired (e.g., infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium or a collection of medium accessible by a computer or a data storage device such as a server, a data center, etc. containing one or more available medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0575] It should be understood that the term "and / or" in this document is merely used to describe an associated relationship between associated objects, and can represent three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the front and rear associated objects, but can also represent an "and / or" relationship. The specific meaning can be understood according to the context before and after.

[0576] In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0577] It should be understood that in various embodiments of the present application, the size of the sequence number of the above-described processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0578] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0579] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0580] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0581] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0582] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0583] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0584] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A communication method characterized by comprising: The method comprises: The perception function receives a perception service request; wherein the perception service request comprises a perception demand corresponding to a perception service; The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service; wherein the second device is used to enhance perception data obtained by the first device executing the perception service; The perception function triggers the first device and the second device to execute the perception service.

2. The method of claim 1, wherein, The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service, comprising: The perception function determines the first device and the second device according to the perception capability of the first device and / or the perception capability of the second device, and the perception demand corresponding to the perception service; wherein the perception capability of the first device comprises a perception demand that can be met by the first device, and the perception capability of the second device comprises a perception demand that can be met by the second device.

3. The method of claim 2, wherein, The method further comprises: The perception function sends a first perception demand or the perception demand corresponding to the perception service to the first device; wherein the first perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the first device; The perception function sends a second perception demand or the perception demand corresponding to the perception service to the second device; wherein the second perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the second device.

4. The method of claim 1, wherein, The perception function determines a first device and a second device that need to jointly execute the perception service according to the perception demand corresponding to the perception service, comprising: The perception function determines the first device according to the perception demand corresponding to the perception service; The perception function determines the second device according to first perception data and the perception demand corresponding to the perception service; wherein the first perception data is obtained by the first device executing the perception service.

5. The method of claim 4, wherein, After the perception function determines the first device according to the perception demand corresponding to the perception service, the method further comprises: The perception function sends a first perception demand or the perception demand corresponding to the perception service to the first device; wherein the first perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the first device; After the perception function determines the second device according to first perception data and the perception demand corresponding to the perception service, the method further comprises: The perception function sends a second perception demand or the perception demand corresponding to the perception service to the second device; wherein the second perception demand is determined by the perception demand corresponding to the perception service and the perception capability of the second device.

6. The method according to any one of claims 1-5, characterized in that, The method further comprises: The perception function obtains the perception capability of the first device and the perception capability of the second device.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: The perception function sends first indication information to the second device; wherein the first indication information is used to instruct the second device to enhance perception data obtained by the first device performing the perception service.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: The perception function receives perception data obtained by the first device performing the perception service; The perception function receives perception data obtained by the second device performing the perception service; The perception function performs data fusion on the perception data obtained by the first device performing the perception service and the perception data obtained by the second device performing the perception service, to obtain fused perception data.

9. The method according to any one of claims 1-8, characterized in that, The perception requirement corresponding to the perception service comprises at least one of the following: perception accuracy, resolution, refresh rate, time delay, detection rate, perception area, missed detection rate, false alarm rate, confidence level, or perception time.

10. A communication method characterized by comprising: Comprise: The first device determines second indication information according to a first condition; wherein the first condition comprises at least one of the following: perception capability of the first device, perception requirement corresponding to the perception service, first perception requirement, or first perception data; the first perception requirement is determined according to the perception requirement corresponding to the perception service, and the first perception data is obtained by the first device performing the perception service; the second indication information is used to instruct other devices to jointly perform the perception service with the first device, or the perception capability of the first device or the first perception data cannot meet the perception requirement corresponding to the perception service or the first perception requirement; The first device sends the second indication information to a perception function.

11. The method of claim 10, wherein, The method further comprises: The first device sends third indication information to the perception function; wherein the third indication information is used to instruct other devices to enhance perception data obtained by the first device performing the perception service; The first device receives third perception data from a second device; wherein the second device is a device determined by the perception function to jointly perform the perception service with the first device; the third perception data is obtained by the second device performing data fusion on first perception data and second perception data; the first perception data is obtained by the first device performing the perception service, and the second perception data is obtained by the second device performing the perception service.

12. The method of claim 11, wherein, Before the first device receives third perception data from a second device, the method further comprises: The first device sends the first perception data to the second device.

13. The method of claim 10, wherein, The method further comprises: The first device sends fourth indication information to the perception function; wherein the fourth indication information is used to instruct that the first device has data processing capability; The first device receives second perception data from a second device; wherein the second device is a device determined by the perception function to jointly perform the perception service with the first device, and the second perception data is obtained by the second device performing the perception service; The first device performs data fusion on the second perception data and first perception data to obtain third perception data, wherein the first perception data is obtained by the first device performing the perception service.

14. The method according to any one of claims 10-13, characterized in that, The method further includes: The first device receives a first perception requirement or a perception requirement corresponding to the perception service from the perception function.

15. The method according to any one of claims 10-14, characterized in that, The method further includes: The first device determines a third perception requirement according to a second condition, wherein the second condition includes at least one of the following: a perception requirement corresponding to the perception service, the first perception data, or a perception capability of the first device; The first device sends the third perception requirement to the perception function.

16. A method of communication, comprising: It includes: The first device determines fifth indication information according to a third condition, wherein the third condition includes at least one of the following: a perception capability of the first device, a perception requirement corresponding to the perception service, a first perception requirement, or first perception data; the first perception requirement is determined according to a perception requirement corresponding to the perception service, and the first perception data is obtained by the first device performing the perception service; the fifth indication information is used to indicate that the second device needs to jointly perform the perception service with the first device, or the perception capability of the first device or the first perception data cannot meet the perception requirement corresponding to the perception service or the first perception requirement; The first device sends the fifth indication information to the second device.

17. The method of claim 16, wherein, The method further includes: The first device sends sixth indication information to the second device, wherein the sixth indication information is used to indicate that the second device needs to enhance the perception data obtained by the first device performing the perception service; The first device receives third perception data from the second device, wherein the third perception data is obtained by the second device performing data fusion on the first perception data and second perception data; the first perception data is obtained by the first device performing the perception service, and the second perception data is obtained by the second device performing the perception service.

18. The method of claim 17, wherein, Before the first device receives the third perception data from the second device, the method further includes: The first device sends the first perception data to the second device.

19. The method of claim 16, wherein, The method further includes: The first device sends seventh indication information to the second device, wherein the seventh indication information is used to indicate that the first device has data processing capability; The first device receives second perception data from the second device, wherein the second perception data is obtained by the second device performing the perception service; The first device performs data fusion on the second perception data and first perception data to obtain third perception data, wherein the first perception data is obtained by the first device performing the perception service.

20. A method of communication, comprising: It includes: The second device receives first indication information from the perception function, wherein the first indication information is used to indicate that the second device enhances the perception data obtained by the first device performing the perception service. The second device obtains third sensing data according to the first indication information; wherein the third sensing data is obtained by the second device after data fusion of the first sensing data and the second sensing data; the first sensing data is obtained by the first device performing the sensing service, and the second sensing data is obtained by the second device performing the sensing service.

21. A method of communication, comprising: Comprising: The second device receives fifth indication information from the first device; wherein the fifth indication information is used to indicate that the second device jointly performs a sensing service with the first device, or the sensing capability or the first sensing data of the first device cannot meet the sensing requirement or the first sensing requirement corresponding to the sensing service, the first sensing requirement is determined according to the sensing requirement corresponding to the sensing service, and the first sensing data is obtained by the first device performing the sensing service; The second device performs the sensing service according to the fifth indication information.

22. A communications device, characterized by The apparatus comprises modules for performing the method of any one of claims 1-21.

23. A communications device, characterized by Comprising: The processor is used to execute the computer program to make the communication device perform the method of any one of claims 1-21.

24. A communication chip, comprising: The chip has computer programs or instructions stored therein, which, when the chip is running on a communication device, make the method of any one of claims 1-21 be realized.

25. A computer readable storage medium, characterized in that, The computer readable storage medium comprises computer programs or instructions, which, when running on a computer, make the computer perform the communication method of any one of claims 1-21.

26. A computer program product, characterised in that, The computer program product comprises computer programs or instructions, which, when running on a computer, make the computer perform the communication method of any one of claims 1-21.

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