Sensing method, apparatus and system

Abstract

Provided are a sensing method, apparatus and system. The method can be applied to a sensing scenario or an integrated sensing and communication scenario. The method comprises: acquiring a sensing requirement for a sensing target; acquiring first sensing data, wherein the first sensing data is from a core network, and comprises feature information of the sensing target; on the basis of the first sensing data and the sensing requirement, determining that the fusion of the first sensing data and second sensing data is required, wherein the second sensing data is from a first device, and comprises the feature information of the sensing target, and the first device is an N-3GPP device; acquiring the second sensing data; and acquiring a sensing result of the sensing target, wherein the sensing result is obtained on the basis of the fusion of the first sensing data and the second sensing data. In the method, N-3GPP sensing data can be acquired, and 3GPP sensing data and the N-3GPP sensing data are fused to acquire more comprehensive or accurate sensing data, such that the accuracy of sensing can be improved, further improving the user experience.

Description

Perception method, apparatus and system

[0001] The present application claims priority to the Chinese patent application No. 202410902711.1, filed on July 5, 2024, and entitled "Perception method, apparatus and system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] With the development of 5G network, new network capability requirements based on perception are gradually emerging. For example, in some scenarios of smart city and smart transportation, the demand for obtaining the relative position and angle between objects, as well as the distance, speed and shape of the target object, etc. gradually emerges. However, the current 5G core network (5G core, 5GC) opens to the application function (application function, AF) network element, and the precision of the perception data is insufficient, which affects the user experience. SUMMARY

[0004] The present application provides a perception method, apparatus and system, which can improve the accuracy of perception.

[0005] In a first aspect, a perception method is provided. The method can be executed by a perception-enabled client or a perception-enabled server, or by a module, such as a chip or a circuit, in the perception-enabled client or the perception-enabled server. The present application does not limit this. For ease of description, the method executed by the perception-enabled client or the perception-enabled server is described below as an example.

[0006] The method can include: obtaining a perception requirement for a perception target; obtaining first perception data, the first perception data being from a core network, the first perception data including feature information of the perception target; determining, according to the first perception data and the perception requirement, that the first perception data and second perception data need to be fused, the second perception data being from a first device, the second perception data including feature information of the perception target, the first device being an N-3GPP device; obtaining the second perception data; and determining a perception result of the perception target, the perception result being obtained based on the fusion of the first perception data and the second perception data.

[0007] In the method, N-3GPP perception data can be obtained, and 3GPP perception data and N-3GPP perception data can be fused to obtain more comprehensive or more accurate perception data, which can improve the accuracy of perception and further improve the user experience.

[0008] In some embodiments, the determining that the first perception data and the second perception data need to be fused according to the first perception data and the perception requirement comprises: determining that the first perception data and the second perception data need to be fused when the first perception data does not meet the perception requirement.

[0009] In this way, by judging the 3GPP perception data, when the perception requirement is not met, the 3GPP perception data and the N-3GPP perception data are fused, which can improve the accuracy of perception. When the 3GPP perception data meets the perception requirement, the N-3GPP perception data can not be fused, which can save power consumption.

[0010] In some embodiments, the position of the perception target and / or the perception blind area is determined according to the first perception data.

[0011] In some embodiments, at least one of the following is determined based on the position of the perception target and / or the perception blind area: the identity of the first device, the adjustment angle of the first device, or the position of the first device; and / or, the first device is determined according to the perception requirement and the perception capability of the first device, the perception capability of the first device including at least one of the perception range, the position information, the perception accuracy, or the perception resolution of the first device.

[0012] In this way, an accurate N-3GPP device can be determined, and accurate perception data that meets the perception requirement can be further obtained.

[0013] In some embodiments, the method further comprises: sending first indication information to the first device, the first indication information being used to trigger the first device to send the second perception data.

[0014] In some embodiments, the first indication information indicates at least one of a first range, a first position, or a first angle, so that the first device obtains perception data in at least one of the first range, the first position, or the first angle, the first range, the first position, or the first angle being determined according to the first perception data and the perception requirement.

[0015] In this way, the N-3GPP device is directly indicated the perception range, position, or angle corresponding to the required perception data, which facilitates the N-3GPP device to adjust its own posture, further obtain perception data that meets the perception requirement, and has better accuracy.

[0016] In some embodiments, the obtaining the second perception data comprises: receiving the second perception data, the second perception data being perception data in at least one of a first range, a first position, or a first angle.

[0017] In some embodiments, the method is performed by a perception enabling server, and the method further comprises:

[0018] receiving perception capability information of the at least one first device, the perception capability information of the at least one first device indicating perception capability of the at least one first device, the perception capability of the at least one first device comprising at least one of a perception range, location information, perception accuracy or perception resolution of the at least one first device; and determining the first device according to the perception requirement and the perception capability of the first device comprises determining one or more perception enabling clients according to the perception requirement, the first perception data and the perception capability of the first device, the one or more perception enabling clients comprising a perception enabling client associated with the first device; and sending second indication information to the one or more perception enabling clients, the second indication information being used to trigger the one or more perception enabling clients to send the second perception data.

[0019] In this way, the perception data of one or more perception enabling clients can also be called, further improving the accuracy of the perception data.

[0020] In some embodiments, the perception requirement comprises at least one of a perception location, a perception accuracy, a perception time delay or a perception resolution.

[0021] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0022] In a second aspect, a perception method is provided, which can be performed by a first device (such as an N-3GPP device) or a module (such as a chip or circuit) for the first device. For ease of description, the following will be described by taking the first device as an example.

[0023] The method can comprise: receiving first indication information, the first indication information being used to trigger second perception data; obtaining the second perception data based on the first indication information; and sending the second perception data.

[0024] In some embodiments, the first indication information indicates at least one of a first range, a first location or a first angle, the first range, the first location or the first angle being determined according to first perception data and a perception requirement, the first perception data being from a core network, and the obtaining the second perception data based on the first indication information comprises obtaining perception data under at least one of the first range, the first location or the first angle.

[0025] In some embodiments, the perception capability information is sent to the perception enabling server, and the perception capability information indicates a perception capability of the first device, and the perception capability of the first device includes at least one of a perception range, location information, perception accuracy, or perception resolution of the first device.

[0026] In some embodiments, the perception requirement includes at least one of a perception location, perception accuracy, perception latency, or perception resolution.

[0027] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0028] It should be understood that the second aspect is an implementation mode of the N-3GPP device side corresponding to the first aspect, and the description of the explanations, supplements, and beneficial effects of the first aspect also applies to the second aspect, and will not be repeated.

[0029] In a third aspect, a perception method is provided, which can be executed by a perception enabling client or a perception enabling server, or can also be executed by a module such as a chip or a circuit in the perception enabling client or the perception enabling server, which is not limited in the present application. For ease of description, the following is described by taking the perception enabling client or the perception enabling server as an example.

[0030] The method can include: obtaining a perception requirement for a perception target; obtaining third perception data, the third perception data including feature information of the perception target, the third perception data being from a first device, the first device being of a type of N-3GPP device; determining, according to the third perception data and the perception requirement, that the third perception data and fourth perception data need to be fused, the fourth perception data being from a core network, the fourth perception data including the feature information of the perception target; obtaining the fourth perception data; and determining a perception result of the perception target, the perception result being based on the fusion of the third perception data and the fourth perception data.

[0031] In the method, the perception data of the N-3GPP device is obtained first, and then it is further determined whether to obtain the perception data of the 3GPP device, which can improve the accuracy of perception.

[0032] In some embodiments, the determining, according to the third perception data and the perception requirement, that the third perception data and the fourth perception data need to be fused includes: when the third perception data does not meet the perception requirement, determining, according to the third perception data and the perception requirement, that the third perception data and the fourth perception data need to be fused.

[0033] In some embodiments, the method further comprises: sending the third perception data to an AC; and receiving third indication information from the AC, the third indication information indicating that the third perception data and the fourth perception data need to be fused.

[0034] In some embodiments, the method further comprises: determining a perception blind area and / or a location of the perception target.

[0035] In some embodiments, the method further comprises: determining at least one of an identity of the first device, an adjustment angle of the first device, or a location of the first device based on the perception blind area and / or the location of the perception target; and / or determining the first device according to the perception requirement and a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the first device.

[0036] In some embodiments, the method further comprises: sending fourth indication information, the fourth indication information being used to trigger the first device to send the third perception data.

[0037] In some embodiments, the fourth indication information further indicates at least one of a first range, a first location, or a first angle, such that the first device acquires perception data in at least one of the first range, the first location, or the first angle, the first range, the first location, or the first angle being determined according to the first perception data and the perception requirement.

[0038] In some embodiments, the method is performed by a perception-enabling server, and the method further comprises:

[0039] receiving perception capability information of at least one of the first devices, the perception capability information of the at least one of the first devices indicating a perception capability of the at least one of the first devices, the perception capability of the at least one of the first devices comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the at least one of the first devices; and determining the first device according to the perception requirement and the perception capability of the first device comprises: determining one or more perception-enabling clients according to the perception requirement, the first perception data, and the perception capability of the first device, the one or more perception-enabling clients comprising a perception-enabling client associated with the first device; and sending fifth indication information to the one or more perception-enabling clients, the fifth indication information being used to trigger the one or more perception-enabling clients to send the third perception data.

[0040] In some embodiments, the perception requirement comprises at least one of a perception position, a perception accuracy, a perception latency, or a perception resolution.

[0041] In some embodiments, the fourth perception data is obtained by a 3GPP perception device.

[0042] In some embodiments, the method further comprises: sending the third perception data; and receiving sixth indication information, the sixth indication information indicating a perception result obtained by a core network or a perception enabling server by fusing the third perception data and the fourth perception data.

[0043] In a fourth aspect, a perception method is provided, which can be performed by a first device (such as an N-3GPP device) or a module (such as a chip or circuit) for the first device. The present application does not limit this. For ease of description, the following describes the first device performing the method.

[0044] The method can comprise: receiving fourth indication information, the fourth indication information being used to trigger the first device to send third perception data; obtaining the third perception data based on the fourth indication information; and sending the third perception data.

[0045] In some embodiments, the fourth indication information further indicates at least one of a first range, a first position, or a first angle, the first range, the first position, or the first angle being determined according to the first perception data and the perception requirement, the first perception data being from a core network, and the obtaining the second perception data based on the fourth indication information comprises: obtaining perception data under at least one of the first range, the first position, or the first angle.

[0046] In some embodiments, the perception capability information is sent to a perception enabling server, the perception capability information indicating a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, position information, a perception accuracy, or a perception resolution of the first device.

[0047] In some embodiments, the perception requirement comprises at least one of a perception position, a perception accuracy, a perception latency, or a perception resolution.

[0048] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0049] It should be understood that the third aspect and the fourth aspect can refer to the description of the explanations, supplements, and beneficial effects of the first aspect, and will not be described again.

[0050] In a fifth aspect, a communication apparatus is provided, comprising a transceiver and a processing unit, the processing unit configured to obtain a sensing requirement for a sensing target; the transceiver configured to obtain first sensing data from a core network, the first sensing data comprising feature information of the sensing target; the processing unit further configured to determine that the first sensing data and second sensing data need to be fused according to the first sensing data and the sensing requirement, the second sensing data comprising feature information of the sensing target, the second sensing data from a first device, the first device being an N-3GPP device; the transceiver further configured to obtain the second sensing data; the processing unit further configured to determine a sensing result of the sensing target, the sensing result being based on the fusion of the first sensing data and the second sensing data.

[0051] In some embodiments, the processing unit is configured to determine that the first sensing data and the second sensing data need to be fused when the first sensing data does not meet the sensing requirement.

[0052] In some embodiments, the processing unit is configured to determine a sensing blind area and / or a location of the sensing target according to the first sensing data.

[0053] In some embodiments, the processing unit is configured to determine at least one of an identity of the first device, an adjustment angle of the first device, or a location of the first device based on the sensing blind area and / or the location of the sensing target; and / or determine the first device according to the sensing requirement and a sensing capability of the first device, the sensing capability of the first device comprising at least one of a sensing range, location information, sensing accuracy, or sensing resolution of the first device.

[0054] In some embodiments, the transceiver is configured to send first indication information to the first device, the first indication information configured to trigger the first device to send the second sensing data.

[0055] In some embodiments, the first indication information indicates at least one of a first range, a first location, or a first angle, such that the first device obtains sensing data in at least one of the first range, the first location, or the first angle, the first range, the first location, or the first angle being determined according to the first sensing data and the sensing requirement.

[0056] In some embodiments, the transceiver is configured to receive the second sensing data, the second sensing data being sensing data in at least one of the first range, the first location, or the first angle.

[0057] In some embodiments, the method is performed by a perception enabling server, the transceiver is further configured to receive perception capability information of the at least one first device, the perception capability information of the at least one first device indicating perception capability of the at least one first device, the perception capability of the at least one first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the at least one first device; the processor is configured to determine one or more perception enabling clients based on the perception requirement, the first perception data, and the perception capability of the first device, the one or more perception enabling clients comprising a perception enabling client associated with the first device; and the transceiver is configured to transmit second indication information to the one or more perception enabling clients, the second indication information triggering the one or more perception enabling clients to transmit the second perception data.

[0058] In some embodiments, the perception requirement comprises at least one of a perception location, a perception accuracy, a perception latency, or a perception resolution.

[0059] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0060] In a sixth aspect, a communication apparatus is provided, comprising a transceiver and a processor, the transceiver configured to receive first indication information, the first indication information triggering second perception data; the processor configured to obtain the second perception data based on the first indication information; and the transceiver configured to transmit the second perception data.

[0061] In some embodiments, the first indication information indicates at least one of a first range, a first location, or a first angle, the first range, the first location, or the first angle being determined based on first perception data and a perception requirement, the first perception data being from a core network, and the obtaining the second perception data based on the first indication information comprises obtaining perception data at the at least one of the first range, the first location, or the first angle.

[0062] In some embodiments, the transceiver is further configured to transmit perception capability information to a perception enabling server, the perception capability information indicating perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the first device.

[0063] In some embodiments, the perception requirement comprises at least one of a perception location, a perception accuracy, a perception latency, or a perception resolution.

[0064] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0065] In a seventh aspect, a communication apparatus is provided, comprising a transceiver configured to obtain a sensing requirement for a sensing target; the transceiver is configured to obtain third sensing data, the third sensing data comprising characteristic information of the sensing target, the third sensing data being from a first device, the first device being of a type of N-3GPP device; a processor configured to determine, according to the third sensing data and the sensing requirement, that the third sensing data and fourth sensing data need to be fused, the fourth sensing data being from a core network, the fourth sensing data comprising characteristic information of the sensing target; the transceiver is configured to obtain the fourth sensing data; the transceiver is configured to determine a sensing result of the sensing target, the sensing result being based on the fusion of the third sensing data and the fourth sensing data.

[0066] In some embodiments, the processor is configured to determine, according to the third sensing data and the sensing requirement, that the third sensing data and the fourth sensing data need to be fused when the third sensing data does not meet the sensing requirement.

[0067] In some embodiments, the transceiver is configured to send the third sensing data to an application controller (AC); and receive third indication information from the AC, the third indication information indicating that the third sensing data and the fourth sensing data need to be fused.

[0068] In some embodiments, the processor is configured to determine a sensing blind area and / or a location of the sensing target.

[0069] In some embodiments, the processor is configured to determine, based on the sensing blind area and / or the location of the sensing target, at least one of: an identity of the first device, an adjustment angle of the first device, or a location of the first device; and / or, determine the first device according to the sensing requirement and a sensing capability of the first device, the sensing capability of the first device comprising at least one of a sensing range, location information, sensing accuracy, or sensing resolution of the first device.

[0070] In some embodiments, the transceiver is configured to send fourth indication information, the fourth indication information being used to trigger the first device to send the third sensing data.

[0071] In some embodiments, the fourth indication information further indicates at least one of a first range, a first location, or a first angle, such that the first device obtains sensing data under at least one of the first range, the first location, or the first angle, the first range, the first location, or the first angle being determined according to the first sensing data and the sensing requirement.

[0072] In some embodiments, the method is performed by a perception enabling server, the transceiver is further configured to receive perception capability information of the at least one first device, the perception capability information of the at least one first device indicating perception capability of the at least one first device, the perception capability of the at least one first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the at least one first device; the processor is configured to determine one or more perception enabling clients based on the perception requirement, the first perception data, and the perception capability of the first device, the one or more perception enabling clients comprising a perception enabling client associated with the first device; and the transceiver is further configured to send fifth indication information to the one or more perception enabling clients, the fifth indication information triggering the one or more perception enabling clients to send the third perception data.

[0073] In some embodiments, the perception requirement comprises at least one of a perception location, a perception accuracy, a perception latency, or a perception resolution.

[0074] In some embodiments, the fourth perception data is obtained by a 3GPP perception device.

[0075] In some embodiments, the transceiver is further configured to send the third perception data; and the transceiver is further configured to receive sixth indication information, the sixth indication information indicating the perception result, the perception result being obtained by a core network or a perception enabling server fusing the third perception data and the fourth perception data.

[0076] In an eighth aspect, a communication apparatus is provided, comprising a transceiver and a processor, the transceiver being configured to receive fourth indication information, the fourth indication information triggering the first device to send third perception data; the processor being configured to obtain the third perception data based on the fourth indication information; and the transceiver being configured to send the third perception data.

[0077] In some embodiments, the fourth indication information further indicates at least one of a first range, a first location, or a first angle, the first range, the first location, or the first angle being determined based on the first perception data and the perception requirement, the first perception data being from a core network, and the obtaining the second perception data based on the fourth indication information comprises obtaining perception data under at least one of the first range, the first location, or the first angle.

[0078] In some embodiments, the transceiver is configured to send, to the perception enabling server, perception capability information indicating a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, location information, a perception accuracy, or a perception resolution of the first device.

[0079] In some embodiments, the perception requirement comprises at least one of a perception location, a perception accuracy, a perception latency, or a perception resolution.

[0080] In some embodiments, the first perception data is obtained by a 3GPP perception device.

[0081] In a ninth aspect, the present application provides a communication apparatus, comprising an interface circuit and a processor, the interface circuit is configured to implement the function of the transceiver in the third aspect or the fifth aspect, and the processor is configured to implement the function of the processing unit in the third aspect or the fifth aspect.

[0082] In a tenth aspect, the present application provides a communication apparatus, comprising an interface circuit and a processor, the interface circuit is configured to implement the function of the transceiver in the fourth aspect or the sixth aspect, and the processor is configured to implement the function of the processing unit in the fourth aspect or the sixth aspect.

[0083] In an eleventh aspect, the present application provides a computer readable medium storing program codes for execution by a network device, the program codes comprising instructions for performing the method of the first aspect or the third aspect, or any possible implementation of the first aspect or the third aspect, or all possible implementations of the first aspect or the third aspect.

[0084] In a twelfth aspect, the present application provides a computer readable medium storing program codes for execution by a terminal device, the program codes comprising instructions for performing the method of the second aspect or the fourth aspect, or any possible implementation of the second aspect or the fourth aspect, or all possible implementations of the second aspect or the fourth aspect.

[0085] In a thirteenth aspect, a computer program product storing computer readable instructions is provided, when the computer readable instructions are run on a computer, the computer is caused to perform the method of the first aspect or the third aspect, or any possible implementation of the first aspect or the third aspect, or all possible implementations of the first aspect or the third aspect.

[0086] In a fourteenth aspect, a computer program product storing computer readable instructions is provided, which, when executed on a computer, cause the computer to perform the method of the second aspect or the fourth aspect, or any possible way of the second aspect or the fourth aspect, or all possible ways of the second aspect or the fourth aspect.

[0087] In a fifteenth aspect, a communication system is provided, which includes an apparatus having the function of implementing the method of the first aspect or the third aspect, or any possible way of the first aspect or the third aspect, or all possible ways of the first aspect or the third aspect, the method of the second aspect or the fourth aspect, or any possible way of the second aspect or the fourth aspect, or all possible ways of the second aspect or the fourth aspect, and various possible designs.

[0088] In a sixteenth aspect, a processor is provided, which is configured to be coupled with a memory, and configured to perform the method of the first aspect or the third aspect, or any possible way of the first aspect or the third aspect, or all possible ways of the first aspect or the third aspect.

[0089] In a seventeenth aspect, a processor is provided, which is configured to be coupled with a memory, and configured to perform the method of the second aspect or the fourth aspect, or any possible way of the second aspect or the fourth aspect, or all possible ways of the second aspect or the fourth aspect.

[0090] In an eighteenth aspect, a chip system is provided, which includes a processor, and can further include a memory, and is configured to execute a computer program or instructions stored in the memory, so that the chip system implements the method of the first aspect or the third aspect, or any possible way of the first aspect or the third aspect, or all possible ways of the first aspect or the third aspect, the method of the second aspect or the fourth aspect, or any possible way of the second aspect or the fourth aspect, or all possible ways of the second aspect or the fourth aspect. The chip system can be composed of a chip, or can include a chip and other discrete devices. BRIEF DESCRIPTION OF DRAWINGS

[0091] FIG. 1 is a schematic diagram of an architecture of a wireless communication system provided by an embodiment of the present application.

[0092] FIG. 2 is a schematic diagram of another architecture of a wireless communication system provided by an embodiment of the present application.

[0093] FIG. 3 is a schematic diagram of another architecture of a wireless communication system provided by an embodiment of the present application.

[0094] FIG. 4 is a schematic diagram of another architecture of a wireless communication system provided by an embodiment of the present application.

[0095] FIG. 5 is a schematic diagram of several sensing modes provided by an embodiment of the present application.

[0096] FIG. 6 is a schematic diagram of a sensing method provided by an embodiment of the present application.

[0097] FIG. 7 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0098] FIG. 8 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0099] FIG. 9 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0100] FIG. 10 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0101] FIG. 11 is a schematic diagram of a sensing method provided by an embodiment of the present application.

[0102] FIG. 12 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0103] FIG. 13 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0104] FIG. 14 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0105] FIG. 15 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0106] FIG. 16 is a schematic diagram of an implementation process of a sensing method provided by an embodiment of the present application.

[0107] FIG. 17 is a schematic diagram of a structure of a communication apparatus provided by an embodiment of the present application.

[0108] FIG. 18 is a schematic diagram of a structure of another communication apparatus provided by an embodiment of the present application.

[0109] FIG. 19 is a schematic diagram of a structure of another communication apparatus provided by an embodiment of the present application. DETAILED DESCRIPTION

[0110] The technical solutions provided by the embodiments of the present application can be applied to various communication systems. For example, it can be applied to an LTE system or a 5G system, or can be applied to other future-oriented new systems, etc. The embodiments of the present application do not make specific limitations on this. In addition, the term “system” can be replaced by “network”. The following will be described by taking the communication system architecture of 5G as an example.

[0111] As shown in FIG. 1, a communication system of 5G is formulated by the 3rd generation partnership project (3GPP) standard. The communication system includes terminal devices (e.g., user equipment (UE)), an access network (AN) (e.g., a radio access network (RAN)), a core network (CN). A data network (DN) is logically, network elements of the core network can be divided into two parts of a user plane and a control plane, the control plane is responsible for the management of the mobile network, and the user plane is responsible for the transmission of service data.

[0112] The terminal device is an entrance for a mobile user to interact with the network, can provide basic computing power, storage capacity, display service windows to the user, and receive user operation input. The next generation terminal device (NextGen UE) can use new radio technology to establish a signal connection with the RAN, a data connection, and thus transmit control signals and service data to the mobile network. The terminal device can include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions, and various forms of terminals, mobile stations (MS), terminals, soft terminals, etc., such as water meters, electricity meters, sensors, etc.

[0113] The RAN is deployed in a location close to the terminal device, provides network access functions for authorized users in a specific area, and can determine different quality transmission tunnels to transmit user data according to the level of the user, the demand of the service, etc. The RAN can manage its own resources, rationally utilize, provide access services for the terminal device on demand, and be responsible for forwarding control signals and user data between the terminal device and the core network.

[0114] The core network is responsible for maintaining subscription data of the mobile network, managing network elements of the mobile network, providing session management, mobility management, policy management, security authentication, etc. for the terminal device. When the terminal device is attached, the core network provides network access authentication for the terminal device; when the terminal device has a service request, the core network allocates network resources for the terminal device; when the terminal device moves, the core network updates network resources for the terminal device; when the terminal device is idle, the core network provides a fast recovery mechanism for the terminal device; when the terminal device is detached, the core network releases network resources for the terminal device; when the terminal device has service data, the core network provides data routing functions for the terminal device, such as forwarding uplink data to a data network; or receiving downlink data of the terminal device from the data network, and forwarding to the RAN, so as to send the terminal device by the RAN.

[0115] Data network (DN): a data network providing service for users, generally, the client is located in the terminal device, and the server is located in the data network. The data network can be a private network, such as a local area network, or an external network not controlled by an operator, such as the Internet, or a dedicated network deployed by operators, such as a network providing IP multimedia network subsystem (IMS) services.

[0116] Among them, the core network user plane includes user plane function (UPF), the core network control plane includes access and mobility management function (AMF), session management function (SMF), network exposure function (NEF), network function repository function (NRF), unified data repository (UDR) network element, unified data management (UDM) network element, policy control function (PCF), application function (AF), authentication server function (AUSF), network slice selection function (NSSF), location management function (LMF) network slice selection authentication and authorization function (NSSAAF) and the like.

[0117] The core network control plane adopts a service-oriented architecture, and the interaction between the control plane network elements adopts a service call mode to replace the point-to-point communication mode in the traditional architecture. In the service-oriented architecture, the control plane network element will open services to other control plane network elements for calling by other control plane network elements; in the point-to-point communication, the communication interface between the control plane network elements will store a set of specific messages, which can only be used by the control plane network elements at both ends of the interface when communicating.

[0118] The functions of the functional entities in the core network are introduced as follows:

[0119] 1. Session management network element: mainly used for session management, IP address allocation and management of terminal devices, selection of manageable user equipment plane functions, policy control, or termination of charging function interfaces, and downlink data notification. In 5G communication, the session management network element can be an SMF network element. In future communication, the session management function network element can still be an SMF network element, or have other names, which are not limited in the present application. Nsmf is a service-based interface provided by the SMF, and the SMF can communicate with other network functions through Nsmf.

[0120] 2. Access management network element, also known as access and mobility management network element: mainly used for mobility management and access management, etc., which can be the mobility management entity (MME) function in the 4G communication network or the AMF network element in the 5G network. In future communication, the access management network element can still be an AMF network element, or have other names, which are not limited in the present application. Namf is a service-based interface provided by the AMF, and the AMF can communicate with other network functions through Namf.

[0121] 3. Network exposure network element: used for securely exposing services and capabilities provided by 3GPP network functions to the outside. In 5G communication, the network exposure network element can be an NEF network element. In future communication, the network exposure function network element can still be an NEF network element, or have other names, which are not limited in the present application. Nnef is a service-based interface provided by the NEF, and the NEF can communicate with other network functions through Nnef.

[0122] 4. Network storage network element: used for providing service registration, discovery and authorization, and maintaining available network function (NF) instance information, and can realize on-demand configuration of network functions and services and interconnection between NFs. In 5G communication, the network storage network element can be an NRF network element. In future communication, the network storage function network element can still be an NRF network element, or have other names, which are not limited in the present application. Nnrf is a service-based interface provided by the NRF, and the NRF can communicate with other network functions through Nnrf.

[0123] 5、Policy Control Network Element: a unified policy framework for guiding network behavior, providing policy rule information, etc. for control plane function network elements (e.g., AMF, SMF, etc.). In 5G communication, the policy control network element can be a PCF network element, and in future communication, the policy control network element can still be a PCF network element or have other names, which are not limited in the present application. Npcf is a service-based interface provided by PCF, and PCF can communicate with other network functions through Npcf.

[0124] 6、Data Management Network Element: for processing user identification, subscription, access authentication, registration, or mobility management, etc. In 5G communication, the data management network element can be a UDM network element, and in future communication, the data management network element can still be a UDM network element or have other names, which are not limited in the present application. Nudm is a service-based interface provided by UDM, and UDM can communicate with other network functions through Nudm.

[0125] 7、Application Function Network Element: for data routing for application influence, access network exposure function, or policy control interaction with the policy framework, etc. In 5G communication, the application function network element can be an AF network element, and in future communication, the application function network element can still be an AF network element or have other names, which are not limited in the present application. Naf is a service-based interface provided by AF, and AF can communicate with other network functions through Naf. AF can be a third-party function entity or an application server deployed by an operator.

[0126] 8、User Plane Network Element: for packet routing and forwarding, or quality of service (QoS) processing of user plane data, etc. In 5G communication, the user plane network element can be a user plane function (UPF) network element, and in future communication, the user plane network element can still be a UPF network element or have other names, which are not limited in the present application.

[0127] 9、Authentication Service Network Element: mainly for user authentication, etc. In 5G communication, the authentication service network element can be an AUSF network element, and in future communication, the authentication service network element can still be an AUSF network element or have other names, which are not limited in the present application. Nausf is a service-based interface provided by AUSF, and AUSF can communicate with other network functions through Nausf.

[0128] 10、Network Slice Selection Function Network Element: for selecting a network slice for a terminal device, in 5G communication, the network slice selection function network element can be a NSSF network element, and in future communication, the network slice selection function network element can still be a NSSF network element or have other names, which are not limited in the present application.

[0129] It can be understood that the core network can further include other network elements, which are not limited in the present application.

[0130] It should be noted that the names of the various network elements in FIG. 1 and the interfaces between the various network elements are only an example, and in specific implementation, the names of the various network elements and the interfaces between the various network elements can be other, and the embodiments of the present application do not make specific limitations.

[0131] As shown in FIG. 1, the terminal device can access the 5G system through the access network device such as RAN, the terminal device can communicate with the AMF network element through the Next generation (NG) 1 interface (referred to as N1), the access network device communicates with the AMF network element through the N2 interface (referred to as N2), the access network device communicates with the UPF network element through the N3 interface (referred to as N3), the AMF network element communicates with the SMF network element through the N11 interface (referred to as N11), the AMF network element communicates with the UDM network element through the N8 interface (referred to as N8), the AMF network element communicates with the AUSF network element through the N12 interface (referred to as N12), the AMF network element communicates with the PCF network element through the N15 interface (referred to as N15), the SMF network element communicates with the PCF network element through the N7 interface (referred to as N7), the SMF network element communicates with the UPF network element through the N4 interface (referred to as N4), the NEF network element communicates with the SMF network element through the N29 interface (referred to as N29), and the UPF network element accesses the data network (data network, DN) through the N6 interface (referred to as N6).

[0132] It should be noted that the names of the various network elements in FIG. 1 and the interfaces between the various network elements are only an example, and in specific implementation, the names of the various network elements and the interfaces between the various network elements can be other, and the embodiments of the present application do not make specific limitations.

[0133] The access network device can be an access device that accesses the communication system through a wireless manner, and can be used to provide a wireless access function for the terminal device. It can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5th generation (5G) mobile communication system, a base station in a future mobile communication system, a WiFi system, a long range radio (LoRa) system, or an access node in a vehicle-to-everything system, etc. The access network device can also be a module or unit that completes part of the function of the base station.

[0134] In some deployments, an access network device can include a centralized unit (CU) and a distributed unit (DU), or include a remote radio unit (RRU) and an active antenna unit (AAU). An access network device can also include a radio unit (RU). The CU implements part of the functionality of the access network device, and the DU implements part of the functionality of the access network device, for example, the CU implements the functionality of the radio resource control (RRC) layer, the packet data convergence protocol (PDCP) layer, and the DU implements the functionality of the radio link control (RLC) layer, the medium access control (MAC) layer, and the physical (PHY) layer. Since the information of the RRC layer eventually becomes, or is transformed from, the information of the PHY layer, under this architecture, high layer signaling, such as RRC layer signaling or PDCP layer signaling, can also be considered as being transmitted by the DU, or by the DU+RU. It can be understood that a network device can be a CU node, or a DU node, or a device including a CU node and a DU node. In addition, the CU can be divided into a network device in the access network RAN, or the CU can be divided into a network device in the core network CN, which is not limited here.

[0135] An access network device can also include an active antenna unit (AAU) and / or a base band unit (BBU). The BBU is mainly responsible for baseband signal processing. The AAU implements part of the physical layer processing function, radio frequency processing, and related functions of the active antenna. Since the information of the RRC layer eventually becomes, or is transformed from, the information of the PHY layer, under this architecture, high layer signaling, such as RRC layer signaling, can also be considered as being transmitted by the DU, or by the DU+AAU. It can be understood that an access network device can be a device including one or more of a CU node, a DU node, and an AAU node.

[0136] In addition, the core network element can also include a sensing function (SF) network element, referred to as SF for short. The SF can use the access network device and / or the terminal device for sensing. It can be understood that the sensing in the present application includes 3GPP sensing and non-3GPP (non-3GPP, also referred to as N3GPP or N-3GPP) sensing, and the current SF mainly involves 3GPP sensing.

[0137] Optionally, the SF can be combined with other network elements, or the functions of the SF can be implemented by other network elements, or the SF can be separately arranged, and the embodiments of the present application do not limit this. The SF can also be referred to as a sensing control network element (sensing control function, SCF) or other possible names. Optionally, the SF can also be deployed in a non-core network, and the embodiments of the present application do not limit this.

[0138] As shown in FIG. 2, the sensing control signaling between the SF and the access network device and / or the terminal device is transmitted through the AMF, and the sensing measurement data obtained by the access network device / terminal device can be transmitted to the SF via the control plane or the user plane, wherein the user plane can be forwarded through the UPF or directly transmitted to the SF, and in addition, sensing charging in the scenarios of terminal device performing sensing and access network device performing sensing needs to be supported.

[0139] Optionally, as shown in FIG. 2, the SF is arranged with interfaces and interacts with the core network elements such as AMF, NEF, UDM, NWDAF, PCF and UPF, and the specific definitions are as follows:

[0140] NS1: The SF is arranged with the NS1 interface between the AMF, and the interface can transmit sensing control signaling; for the scenario of transmitting sensing measurement data on the control plane, the interface can also transmit sensing measurement data.

[0141] NS2: The SF is arranged with the NS2 interface between the NEF, and the interface can transmit signaling messages exchanged between the SF and the service-side AF through the NEF, and sensing information is also opened to the AF.

[0142] NS3: The SF is arranged with the NS3 interface between the UDM, and through the interface, authentication or authorization can be achieved, and sensing subscription information of the terminal device, service AMF information or other information can be obtained.

[0143] NS4: The SF is arranged with the NS4 interface between the NWDAF, and through the interface, the SF can jointly complete artificial intelligence (AI) processing related to sensing services with the NWDAF.

[0144] NS5: An NS5 interface is set between the SF and the PCF. Through the interface, the SF can transmit messages or signaling such as sensing requirements, QoS requirements, or sensing information of a sensing service to the PCF, and the PCF generates a policy and charging control (PCC) policy related to the sensing service.

[0145] NS6: An NS6 interface is set between the SF and the user plane function. Sensing measurement data can be directly transmitted from the access network device to the SF through the user plane function, or indirectly forwarded to the SF through the UPF. In the scenario where the access network device performs sensing and the UPF forwards, the UPF needs to be modified to support data transmission at the granularity of the access network device.

[0146] In addition to the interfaces set above, existing communication interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of sensing service related information, such as authentication information, sensing service type, sensing service quality requirement, sensing measurement data, or sensing information.

[0147] In addition, the SF can also be connected to the LMF through an interface. In addition, the SF can also be combined with the LMF.

[0148] In addition, as shown in FIG. 3, in the case where the SF adopts a control plane-user plane separation architecture, the SF has a control plane (SF-control plain, SF-C) network element and a user plane (SF-user plain, SF-U) network element. The SF-C network element can be referred to as SF-C for short, and the SF-U network element can be referred to as SF-U for short. It can be understood that, in the case where the SF adopts the control plane-user plane separation architecture, the SF-U can be used to perform processing of sensing data, for example, generating or obtaining sensing information according to sensing data provided by the access network device; and the SF-C can be used to perform processing of other control plane signaling, for example, obtaining a sensing request, or used for signaling and data interaction and transmission between the SF and other network elements.

[0149] As shown in FIG. 4, the SF can also be connected to the access network device through an NS1 interface.

[0150] The SF can obtain sensing requirements from a sensing service requesting device (or demand side, requesting side). The sensing service requesting device can be an AF network element, an external application server (AS), an access network device, or a terminal device. After obtaining the sensing requirements, the SF can control the sensing data detection and / or collection of a sensing service execution object. The sensing service execution object can include one or more access network devices and / or one or more terminal devices. The sensing requirements of the AF or the AS can be sent to the SF through the NEF.

[0151] Taking an access network device as an example, the access network device can perform a 3GPP sensing operation to obtain sensing data. The sensing operation can include, for example, transmitting a sensing signal and receiving a return signal. The sensing signal is a signal used to sense (or probe) a sensed target (or target object), and is also referred to as a probe signal, a chirp signal, an optical frequency division multiplexing (OFDM) wave, a frequency-modulated continuous wave (FMCW), and the like. The return signal is a reflection signal of the sensing signal by the target object. For example, the access network device can generate (or replace with determining or obtaining) sensing data by processing the return signal. After the access network device obtains the sensing data by probing, the access network device can send the sensing data to an SF. The SF processes the sensing data to obtain sensing information, and provides the sensing information to a requesting device of a sensing service. The sensing information can also be referred to as a sensing result. For example, the SF can process the sensing data according to the sensing requirements of the requesting device of the sensing service to obtain the sensing information.

[0152] The sensing data can include, for example, point cloud data collected / acquired / obtained by the access network device and / or the terminal device. The sensing data can include at least one of the following information: speed, distance, angle, coordinate, time, energy, and the like. That is, the sensing data provided by the access network device to the SF can be point cloud data, or can be the above-mentioned speed, distance, and the like information obtained by processing the point cloud data by the access network device and / or the terminal device. The coordinate in this application can include latitude and longitude and / or geographic coordinates. The time in this application can include a timestamp of each sampling point data. The energy in this application can include the return energy contained in each sampling point data. The sensing information can be obtained on the basis of the point cloud information by a data processing method such as cluster analysis. The sensing information can include, for example, whether a target exists, a target type, a target quantity, a target feature (such as a shape), a route, a position, a speed, a direction / angle, environmental reconstruction, or environmental imaging, a multi-target position relationship, whether a target invades a specific area, whether a target deviates from a predetermined route, whether a distance between targets is less than a specific threshold, whether multiple targets have a collision risk, and the like.

[0153] The access network device can provide the sensing data to the SF in multiple ways. As one possible implementation, the SF can establish a sensing data transmission channel for the access network device, and the access network device can send the sensing data to the SF through the sensing data transmission channel. Further, the SF obtains sensing information by processing the sensing data according to the sensing requirement, and sends the sensing information to the requesting device of the sensing service. For example, the sensing data transmission channel can include a channel between the access network device and the UPF network element, a channel between the UPF network element and the SF, and a channel between the SF and the requesting device of the sensing service. That is, the transmission path of the sensing data can be: the access network device sends the sensing data to the UPF network element, the SF obtains the sensing information according to the sensing data, and then sends the sensing information to the requesting device of the sensing service. In the above transmission path, the data in the brackets represents data transmission or processing. For example, in the transmission path of the above example, the network elements can also include other network elements, for example, the SF and the requesting device of the sensing service can also include an NEF and other possible network elements, which are not limited. In the embodiments of the present application, the specific implementation of establishing the sensing data transmission channel is not limited, and the "channel" can be replaced by "tunnel" or other possible names.

[0154] It can be understood that the SF in the above transmission path can be replaced by a sensing data processing function network element or a sensing function network element, that is, the sensing data processing function network element can convert the sensing data into sensing information that can be sent to the requesting device of the sensing service. Specifically, the SF can establish a sensing data transmission channel for the access network device, and the access network device can send the sensing data to the SF. Further, the SF obtains sensing information by processing the sensing data according to the sensing requirement, and sends the sensing information to the requesting device of the sensing service. That is, the transmission path of the sensing data can be: the access network device collects the sensing data, and sends the sensing data to the UPF, the UPF sends the sensing data to the SF, the SF obtains the sensing information according to the sensing data, and then sends the sensing information to the requesting device of the sensing service.

[0155] In addition, with the continuous enrichment of sensing scenarios, limited by the coverage range of sensing devices, device capability, and the upper limit of technical accuracy, the sensing accuracy based on a single sensing technology of 3GPP sensing may not meet the requirements of applications and services. Therefore, it is considered to improve the sensing performance by combining N3GPP sensing and 3GPP sensing.

[0156] In this application, N3GPP sensing can include sensing by devices such as cameras, radars, wireless fidelity (WIFI), Bluetooth, zigbee, near field communication (NFC), temperature sensors, and humidity sensors. In N3GPP sensing, the sensing device can be used to perform N3GPP sensing measurement to obtain sensing data. For example, in a scenario where a radar performs N3GPP sensing measurement, the radar is an N3GPP sensing device, which can be used to send radar signals and perform sensing measurement according to the echo signals of the radar signals. In this application, the specific way of performing N3GPP sensing measurement and obtaining N3GPP sensing is not required.

[0157] To improve sensing performance, this application provides a sensing method for obtaining sensing data of N3GPP sensing, so as to improve the performance of 3GPP sensing through the sensing data of N3GPP sensing.

[0158] The execution subject of the sensing method shown in this application can include sensing network elements and devices supporting N3GPP sensing capability. Among them, the sensing network element can be used to request, instruct or control the device supporting N3GPP sensing capability to perform N3GPP sensing. The device supporting N3GPP sensing capability can perform N3GPP sensing and provide the sensing network element with sensing data of N3GPP sensing.

[0159] In this application, the sensing network element can be an SF or a sensing-enabled server, or the functions of the sensing network element can be realized by the two entities of SF and sensing-enabled server. Among them, the sensing-enabled server can be a server for supporting or providing sensing services, such as an AS, an AF, a cloud platform or an edge platform for supporting or providing sensing services.

[0160] In addition, the device supporting N3GPP sensing capability can include a device with N3GPP sensing capability and / or a device connected to a device with / with N3GPP sensing capability. Among them, the device with N3GPP sensing capability refers to a device that supports performing N3GPP sensing measurement and obtaining N3GPP sensing data.

[0161] For example, the device supporting N3GPP sensing capability can be a 3GPP device, or include a 3GPP device and an N3GPP device. Among them, the 3GPP device supports accessing the network through the 3GPP mode to connect with the sensing network element. The 3GPP device is, for example, a terminal device or an access network device.

[0162] The N3GPP device can have N3GPP sensing capability, and the N3GPP device itself can not support access to the network through the 3GPP mode, but can only connect to the sensing network element or the network where the sensing network element is located through the 3GPP device connected to the N3GPP device. For example, the N3GPP device can be connected to the 3GPP device through the 3GPP and / or N3GPP mode, for example, can be connected through a wired, Bluetooth, etc. Among them, the N3GPP device can perform N3GPP sensing through a camera, radar, WIFI, Bluetooth, zigbee, NFC, temperature sensor and humidity sensor, etc., and provide sensing data to the 3GPP device, and then the 3GPP device provides the sensing data of the N3GPP sensing to the sensing network element.

[0163] In one possible case, the 3GPP device itself can have N3GPP sensing capability, so when not connected to the N3GPP device, the 3GPP device with N3GPP sensing capability can serve as a device with N3GPP sensing capability. In another possible case, the 3GPP device with N3GPP sensing capability can also be connected to the N3GPP device, that is, the N3GPP device can serve as a device with N3GPP sensing capability, and the 3GPP device also serves as a device connected to the device with N3GPP sensing capability (i.e. N3GPP device), at this time, the device supporting N3GPP sensing capability is the 3GPP device and the N3GPP device. In another possible case, in the case of a 3GPP device without N3GPP sensing capability, and the 3GPP device is connected to the N3GPP device, the 3GPP device can serve as a device connected to a device with N3GPP sensing capability, that is, at this time, the device supporting N3GPP sensing capability can be the 3GPP device.

[0164] The number of devices in the above communication system is only illustrative and is not limited thereto. In actual application, the communication system can further include more terminal devices, more RAN devices, and other devices.

[0165] One possible network architecture in the present application: deploy a sensing enabler client, an application client N-3GPP device on the UE side.

[0166] Deploy a sensing enabler server and an application server on the network side.

[0167] The above figure is a simplified schematic diagram for the purpose of understanding, and the communication system can further include a larger number of network devices or terminal devices. The embodiments of the present application can be applied to any communication scenario or sensing scenario or integrated sensing and communication scenario between the sending terminal and the receiving terminal.

[0168] In the embodiments of the present application, the functions of the base station can also be performed by a module (such as a chip) in the base station, or by a control subsystem containing the functions of the base station. The control subsystem containing the functions of the base station herein can be a control center in the above-mentioned application scenarios such as smart grid, industrial control, intelligent transportation, and smart city. The functions of the terminal can also be performed by a module (such as a chip or modem) in the terminal, or by a device containing the functions of the terminal.

[0169] The technical solutions provided by the embodiments of the present application can be applied to wireless communication between communication devices. The wireless communication between communication devices can include wireless communication between network devices and terminals, wireless communication between network devices and network devices, and wireless communication between terminal devices and terminal devices. In the embodiments of the present application, the term "wireless communication" can also be referred to as "communication", and the term "communication" can also be described as "data transmission", "information transmission" or "transmission".

[0170] In order to facilitate understanding of the embodiments of the present application, the terms involved in the embodiments of the present application are briefly explained as follows.

[0171] 1. Sensing

[0172] Sensing is a process of collecting and processing collected data to generate sensing results, for example, judging the distance, shape, type, etc. of the surrounding obstacles through collected data, and for example, judging the breathing frequency, heartbeat, etc. of the monitored object through collected data. The collected data can be data collected by a sensor, or data collected by a wireless signal.

[0173] Both wireless sensing and wireless communication are based on electromagnetic wave theory. The sending end modulates the electromagnetic wave signal so that the electromagnetic wave signal carries source information, and the electromagnetic wave signal is affected by the wireless environment during propagation, that is, the electromagnetic wave signal is affected by the environment and therefore can also carry environmental information; the receiving end analyzes the electromagnetic wave signal, and can not only obtain the carried source information, but also extract sensing information reflecting the characteristics of the propagation environment. That is, the electromagnetic wave signal has an inherent dual capability of communication and sensing, which makes ISAC possible. Communication and sensing integration can also be referred to as joint communication and sensing (JCAS). Communication and sensing integration can also be referred to as communication-sensing integration. Compared with a system in which sensing and communication are separated, ISAC has a series of advantages, such as saving cost, reducing device size, reducing power consumption, improving frequency efficiency, reducing mutual interference between communication and sensing, and the like.

[0174] 2. Sensing scenario

[0175] The sensing scenario can be divided into a network device-based sensing scenario, a network device and terminal device-based sensing scenario, and a terminal device-based sensing scenario. For examples, refer to the sensing scenarios shown in (1) to (6) of FIG. 5.

[0176] FIG. 5 is a schematic diagram of a sensing scenario according to an embodiment of the present application. For examples:

[0177] The sensing scenario shown in (1) of FIG. 5 is a network device-based sensing scenario, in which the network device serves as a sending end and a receiving end of a sensing signal. For example, a sensing signal 1 sent by a network device reaches a target object (for example, a vehicle), the sensing signal 1 is reflected by the target object, and the network device can receive a sensing signal 2, which can be processed by the network device to obtain a sensing result.

[0178] The sensing scenario shown in (2) of FIG. 5 is also a network device-based sensing scenario, in which one network device serves as a sending end of a sensing signal, and another network device serves as a receiving end of the sensing signal. For example, a sensing signal 1 sent by a network device A reaches a target object, the sensing signal 1 is reflected by the target object, and a sensing signal 2 can be received by a network device B, which can process the sensing signal 2 to obtain a sensing result.

[0179] The sensing scenario shown in (3) of FIG. 5 is a network device and terminal device-based sensing scenario, in which the network device serves as a sending end of a sensing signal, and the terminal device serves as a receiving end of the sensing signal. For example, a sensing signal 1 sent by a network device reaches a target object, the sensing signal 1 is reflected by the target object, and a sensing signal 2 can be received by a terminal device, which can process the sensing signal 2 to obtain a sensing result.

[0180] The sensing scenario shown in (4) of FIG. 5 is also a sensing scenario based on a network device and a terminal device, the terminal device serving as a sending end of a sensing signal, and the network device serving as a receiving end of the sensing signal. For example, sensing signal 1 sent by the terminal device reaches a target object, sensing signal 1 is reflected by the target object, and the network device can receive sensing signal 2, and then the network device can process sensing signal 2 to obtain a sensing result.

[0181] The sensing scenario shown in (5) of FIG. 5 is a sensing scenario based on a terminal device, the terminal device serving as a sending end and a receiving end of a sensing signal. For example, sensing signal 1 sent by the terminal device reaches a target object, sensing signal 1 is reflected by the target object, and the terminal device can receive sensing signal 2, and then the terminal device can process sensing signal 2 to obtain a sensing result.

[0182] The sensing scenario shown in (6) of FIG. 5 is also a sensing scenario based on a terminal device, one terminal device serving as a sending end of a sensing signal, and another terminal device serving as a receiving end of the sensing signal. For example, sensing signal 1 sent by terminal device a reaches a target object, sensing signal 1 is reflected by the target object, and terminal device b can receive sensing signal 2, and then terminal device b can process sensing signal 2 to obtain a sensing result.

[0183] The sensing signal 2 described above can be understood as a reflected signal of the sensing signal 1, and the sensing signal 2 carries more information than the sensing signal 1. For example, the sensing signal 2 can carry source information and environmental information.

[0184] 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 capability 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 can be 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 intrusion of flying objects such as drones can be detected. In the transportation scenario, the roadside station can complete traffic flow statistics and vehicle navigation functions, which all require the roadside station to have certain sensing capabilities.

[0185] Considering that the accuracy of the sensing data opened by the 5GC to the AF can not be enough, for example, the obstacle detection function provided by the 5GC, only the size and shape of the obstacle are opened to the AF, at this time, it is still impossible to determine what the obstacle actually is based on only the size and shape; in addition, there can be blind areas for the sensing detection of the 5GC. Considering that the obstacle detection function of the 5GC cannot identify the type of the obstacle, at this time, if only the detection function of the 5GC is relied on, some objects that are not dangerous can be determined as dangerous objects, for example, a plastic bag on the road can be considered by the 5GC as an object affecting traffic (such as a stone, etc.), at this time, unnecessary vehicle detours can be caused, affecting the user experience. Considering that there can be blind areas for the sensing detection of the 5GC, how to detect the blind areas to supplement the sensing results of the 5GC is also a problem to be solved.

[0186] Therefore, the present application proposes a sensing method, which can supplement the sensing results of the 5GC, improve the sensing accuracy, and improve the user experience. The method can be applied to a sensing enabler client and can also be applied to a sensing enabler server.

[0187] As shown in FIG. 6, the method includes the following steps:

[0188] S610, obtaining sensing requirements for a sensing target.

[0189] The sensing target can be a certain area, such as a geographical area, such as a certain residential area, a certain road, a certain piece of land, etc. The sensing target can also be a specific object, such as a static object, for example, an obstacle on the road, a building, a stone, etc.; or a dynamic object, such as a flying bird, a running cat, a walking person, etc.

[0190] For example, the sensing requirements are related to the sensing target. For example, the sensing requirements can be at least one of a sensing position, a sensing accuracy, a sensing time delay, or a sensing resolution.

[0191] The sensing position (hereinafter also referred to as position) is the position of the sensing target. For example, the absolute position of the sensing target in a geographical sense. For example, the relative position between the sensing target and a certain reference.

[0192] The sensing accuracy (hereinafter also referred to as accuracy) is used to describe the error between the sensing result and the ideal true result. For example, the distance sensing, the distance between the sensing target and the sensing device obtained by sensing is 6 meters (m), and the true situation is that the distance between the sensing target and the sensing device is 5 m, then the sensing error is 1 m, also called the sensing accuracy of this sensing is 1 m.

[0193] The perceptual resolution (hereinafter also referred to as resolution) is used to describe the minimum ability of perceiving to distinguish two different targets. Taking distance perception as an example, the distance resolution of 1 m should be understood as that when the distance of two perceived targets is greater than or equal to 1 m, the perception device can distinguish that there are two targets; when the distance of two perceived targets is less than 1 m, the perception device cannot distinguish that there are two targets.

[0194] In one possible manner, the perception requirement can be an AC request or an AS request. Specifically, the following is explained.

[0195] For the perception-enabled client to obtain the perception request and the perception requirement carried in the perception request message, the following manners can be used.

[0196] Example 1: The AC sends a perception request message to the perception-enabled client, and the perception request message carries the perception requirement. The perception-enabled client obtains the perception requirement according to the perception request message.

[0197] Example 2: The perception-enabled client obtains a perception request message sent by the perception-enabled server, and the perception request message carries the perception requirement. The perception-enabled client obtains the perception requirement according to the perception request message. Optionally, the perception-enabled server can obtain the perception request message from the AS or the vertical application layer (VAL) server, and the perception request message carries the perception requirement.

[0198] For the perception-enabled server to obtain the perception request and the perception requirement carried in the perception request message, the following manners can be used.

[0199] Example 3: The AS sends a perception request message to the perception-enabled server, and the perception request message carries the perception requirement. The perception-enabled server obtains the perception requirement according to the perception request message.

[0200] Example 4: The perception-enabled client sends a perception request message to the perception-enabled server, and the perception request message carries the perception requirement. The perception-enabled server obtains the perception requirement according to the perception request message. Optionally, the AC sends a perception request message to the perception-enabled client, and the perception request message carries the perception requirement. The perception-enabled client sends the perception request message, or a processed perception request message, or another message (which carries the perception requirement) to the perception-enabled server, and the perception-enabled server obtains the perception requirement based on this. The perception request message and the processed perception request message can be the same or different, and the perception requirements carried in the two messages can be the same or different. The present application does not limit this.

[0201] The awareness requirement can also be generated by the core network, for example, the core network has a network optimization requirement, generates an awareness requirement, and sends the awareness requirement to the awareness-enabled client or the awareness-enabled server.

[0202] In S620, first awareness data is acquired, the first awareness data being data obtained by the core network (hereinafter also referred to as a core network element) performing awareness, and the first awareness data including feature information of an awareness target.

[0203] In one possible implementation, the first awareness data is obtained by a 3GPP awareness device.

[0204] In one possible implementation, the awareness-enabled server acquires the first awareness data in the following manner: the awareness-enabled server requests an awareness service from an NEF, further, the NEF requests an awareness service from an SF, and when the core network (for example, the SF) acquires the awareness data, in one possible implementation, the SF sends the first awareness data to the awareness-enabled server through the NEF. In this case, the SF sends awareness data P1 to the NEF, and the NEF sends the awareness data P2 to the awareness-enabled server. The awareness data P1 and the awareness data P2 can be the same or different, for example, the awareness data P2 can be processed awareness data P1, or can be data including the awareness data P1, and the present application does not limit the awareness data P2. In another possible implementation, the SF directly sends the first awareness data to the awareness-enabled server.

[0205] In another possible implementation, the awareness-enabled server acquires the first awareness data in the following manner: the awareness-enabled server acquires the first awareness data from an awareness-enabled client, for example, acquires the first awareness data from a UE. The first awareness data can be awareness data obtained by the UE participating in awareness, for example, awareness data obtained by the UE in an awareness scenario of UE self-collection and self-generation, or UE#2 sending awareness data to UE#1, or RAN sending awareness data to the UE. This awareness data can also be considered as 3GPP awareness data.

[0206] In yet another possible implementation, the awareness-enabled server acquires the first awareness data in the following manner: the awareness-enabled server can acquire the first awareness data from an AS / VAL server. For example, the AS acquires awareness data V from a core network element, and further sends the awareness data W to the awareness-enabled server. The awareness data V and the awareness data W can be the same or different.

[0207] The way A that the perception-enabled client obtains the first perception data can be that the perception-enabled server requests the perception service from the SF through the NEF, and in one possible way, the SF sends the first perception data to the perception-enabled server through the NEF, and the perception-enabled client receives the first perception data from the perception-enabled server. For example, the SF sends the perception data P1 to the NEF, the NEF sends the perception data P2 to the perception-enabled server, and the perception-enabled server sends the perception data P3 to the perception-enabled client. The perception data P1, the perception data P2, and the perception data P3 can be the same or different, for example, the perception data P2 can be the perception data P1 after processing, or can be data including the perception data P1. The perception data P3 can be the perception data P2 after processing, or can be data including the perception data P2, and the present application does not limit this. In another possible way, the SF directly sends the first perception data to the perception-enabled server.

[0208] In another possible way B, the AS obtains the perception data T from the core network element (for example, the AS sends the perception request message according to the example 3 in S610, and then obtains the perception data T from the core network element), the AC can obtain the perception data Y from the AS, and further, the AC can send the perception data U to the perception-enabled client, wherein the perception data T, the perception data Y, and the perception data U can be the same or different. For example, the perception data Y can be the perception data T after processing, or can be data including the perception data T. The perception data U can be the perception data Y after processing, or can be data including the perception data Y, and the present application does not limit this.

[0209] In another possible way C, the UE obtains the first perception data from the core network, specifically, the UE can obtain the first perception data from the SF, or the SF sends the first perception data to the AMF, and the AMF further sends the first perception data to the UE through the RAN, in which case the perception-enabled client can obtain the first perception data from the UE. Or the perception-enabled client obtains the perception data from the UE, and the perception data here can be the perception data obtained by the UE in the perception scenario of UE self-collection, or UE#2 sending to UE#1, or RAN sending to UE. This perception data can also be considered as 3GPP perception data.

[0210] It should be noted that the perception-enabled server obtains the first perception data from the core network, and the perception data obtained by the perception-enabled client from the perception-enabled server can be the same as or different from the first perception data, for example, the first perception data after processing, or the perception data including the first perception data, or other information.

[0211] It should be understood that, in the present application, the transmission or reception of data or information, signaling, messages, etc. may involve more than two devices, and in the case of data, the data forwarded by a forwarding device may be the same as the received data or different. For example, device A receives data 1 from device B, and device A transmits data 2 to device C. The data 2 may be the same as the data 1 or different, such as processed data 1.

[0212] It should also be understood that the above-mentioned way in which the perception-enabled server or the perception-enabled client obtains the first perception data is only an example, and the present application does not limit the same.

[0213] The first perception data can include position information of the perception target, shape of the perception target, size, and other characteristic information. The position information of the perception target, such as whether there is an object at the position of the perception target, the shape of the perception target, such as whether the perception target is a cube, a cuboid, an irregular object, or other shapes, and the size of the perception target, which can also be referred to as the dimensions of the perception target, such as length, width, thickness, height, and other information. The type of the first perception data can be 3GPP data. The first perception data can also be speed, distance, motion direction, relative position, and angle information of the perception target. In summary, the characteristic information of the perception target should be within the scope of protection of the present application.

[0214] In S630, it is determined that the first perception data and the second perception data need to be fused according to the first perception data and the perception requirement.

[0215] The second perception data is obtained by the first device performing perception, and the first device is an N-3GPP device. The second perception data includes characteristic information of the perception target. That is, the second perception data is the perception data provided by the N-3GPP device. The characteristic information of the perception target included in the second perception data can be characteristic information perceived within a certain range, angle, or position. For example, the first device is a camera, and the second perception data can be data obtained by the camera performing perception on the perception target at angle A.

[0216] Optionally, the first device receives first indication information, the first indication information being used to trigger the first device to send the second sensing data. For example, the first indication information indicates at least one of a first range, a first position or a first angle, so that the first device acquires sensing data in the at least one of the first range, the first position or the first angle, the first range, the first position or the first angle being determined according to the first sensing data and the sensing requirement. For example, the sensing requirement is sensing data of a position A, the first sensing data lacks sensing data of the position A or the data of the position A in the first sensing data is insufficient, and then the first position is determined as the position A. Optionally, the first indication information indicates whether to adjust the angle, the position or the like of the N-3GPP device.

[0217] The first indication information can be sent by the sensing-enabling client to the first device, or can be sent by the sensing-enabling server to the first device.

[0218] S630 can be performed by the sensing-enabling client or the sensing-enabling server. The following are described respectively.

[0219] In the case where the sensing-enabling client fuses the first sensing data and the second sensing data, the sensing-enabling client sends the first indication information to the first device.

[0220] In one possible implementation, the sensing-enabling client determines that the first sensing data does not meet the sensing requirement, and determines that the first sensing data and the second sensing data need to be fused. In other words, when the first sensing data does not meet the sensing requirement, the sensing-enabling client determines that the first sensing data and the second sensing data need to be fused. Taking the sensing resolution as the sensing requirement as an example, for example, the sensing resolution in the sensing requirement is 8 m, but the sensing resolution of the sensing target in the first sensing data is 10 m, which does not meet the sensing requirement, and the sensing-enabling client determines that the first sensing data and the second sensing data need to be fused.

[0221] In other words, the sensing-enabling client determines that the first sensing data does not meet the sensing requirement, and further determines that the fused first sensing data and the second sensing data need to be acquired. In still another way, the sensing-enabling client or the sensing-enabling server determines that the first sensing data does not meet the sensing requirement, and further determines that the second sensing data needs to be acquired.

[0222] Optionally, the perception enabled client can determine a perception blind area and / or a location of the perception target according to the first perception data. Further, based on the perception blind area and / or the location of the perception target, the perception enabled client can determine at least one of the following: an identity of the first device, an adjustment angle of the first device, or a location of the first device; and / or, determine the first device according to the perception requirement and a perception capability of the first device, the perception capability of the first device including at least one of a perception range, location information, perception accuracy, or perception resolution of the first device. The first device can send capability information (also referred to as perception capability information) to the perception enabled client or the perception enabled server, and correspondingly, the perception enabled client or the perception enabled server receives the capability information, which indicates the perception capability of the first device.

[0223] Optionally, the perception enabled client can determine a perception blind area and / or a location of the perception target according to the first perception data. Further, based on the perception blind area and / or the location of the perception target, the perception enabled client can determine at least one of the following: an identity of the first device, an adjustment angle of the first device, or a location of the first device; and / or, determine the first device according to the perception requirement and a perception capability of the first device, the perception capability of the first device including at least one of a perception range, location information, perception accuracy, or perception resolution of the first device. The first device can send capability information (also referred to as perception capability information) to the perception enabled client or the perception enabled server, and correspondingly, the perception enabled client or the perception enabled server receives the capability information, which indicates the perception capability of the first device.

[0224] Optionally, when there are multiple N-3GPP devices, the multiple N-3GPP devices can send the capability information to the perception enabled client respectively, or the multiple N-3GPP devices can send the capability information to one of the devices, which sends the capability information to the perception enabled client. In this way, the perception enabled client obtains the capability of each N-3GPP device. Alternatively, the perception enabled client obtains the overall capability of the multiple N-3GPP devices.

[0225] Optionally, the perception enabled client can be pre-configured with a correspondence between the N-3GPP device and the perception capability, such as a correspondence between the identity of the N-3GPP device and the perception capability. The N-3GPP device can send the identity information to the perception enabled client, and the perception enabled client can determine the capability of the N-3GPP device according to the identity information and the correspondence between the device identity and the perception capability.

[0226] In one possible implementation, the perception enabled server determines that the first perception data does not meet the perception requirement, and accordingly determines that the first perception data and the second perception data need to be fused. Alternatively, when the first perception data does not meet the perception requirement, the perception enabled server determines that the first perception data and the second perception data need to be fused. Taking the perception resolution as an example of the perception requirement, for example, the perception resolution in the perception requirement is 8m, but the perception resolution for the perception target in the first perception data is 10m, which does not meet the perception requirement. The perception enabled server determines that the first perception data and the second perception data need to be fused accordingly.

[0227] Alternatively, the perception-enabling server determines that the first perception data does not satisfy the perception requirement, and further determines that the fused first perception data and the second perception data need to be acquired. Alternatively, the perception-enabling server determines that the first perception data does not satisfy the perception requirement, and further determines that the second perception data need to be acquired.

[0228] Optionally, the perception-enabling server can determine a perception blind area and / or a location of the perception target according to the first perception data. Further, at least one of the following is determined based on the perception blind area and / or the location of the perception target: an identifier of the first device, an adjustment angle of the first device, or a location of the first device; and / or, the first device is determined according to the perception requirement and a perception capability of the first device, the perception capability of the first device including at least one of a perception range, location information, perception accuracy, or perception resolution of the first device. The first device can send capability information (also referred to as perception capability information) to the perception-enabling client or the perception-enabling server, and correspondingly, the perception-enabling server receives the capability information, which indicates the perception capability of the first device.

[0229] In one possible implementation, the perception-enabling server determines one or more perception-enabling clients according to the perception requirement and the first perception data, the one or more perception-enabling clients including the perception-enabling client associated with the first device. The perception-enabling server can send second indication information to the one or more perception-enabling clients, the second indication information being used to trigger the one or more perception-enabling clients to send the second perception data, such as sending the second perception data to the perception-enabling server. For example, the perception requirement includes multiple perception locations, the first perception data does not satisfy the perception requirement, and in addition, one perception-enabling client can not be able to satisfy the perception requirement, so that multiple perception-enabling clients can perform perception on the perception target to acquire perception data satisfying the perception requirement. Further, the perception-enabling client is determined according to a perception capability of a device associated with the perception-enabling client. For example, the perception-enabling client A is associated with the device A, and the perception range of the device A includes the location A in the perception requirement, so that the perception-enabling server can determine to send the second indication information to the perception-enabling client.

[0230] In a case where the perception-enabling server fuses the first perception data and the second perception data, the perception-enabling server sends indication information #1 to the perception-enabling client, and the perception-enabling client sends indication information #2 to the first device. The indication information #1 and the indication information #2 can be the same or different. For example, the indication information #1 can indicate that N-3GPP data needs to be called or that the data of the 3GPP device does not meet the requirements or that the perception data of the 3GPP. After receiving the indication information #1, the perception-enabling client determines that N-3GPP perception data needs to be called and instructs the corresponding N-3GPP device (i.e., the first device), such as instructing the first device to obtain N-3GPP data.

[0231] The perception-enabling server can also obtain the capability of the first device.

[0232] The perception-enabling server can also obtain the capability of the first device.

[0233] Alternatively, when there are multiple N-3GPP devices, the multiple N-3GPP devices can send the capability information to the perception-enabling client respectively, or the multiple N-3GPP devices can send the capability information to one of the devices, and the device sends the capability information to the perception-enabling client uniformly. The perception-enabling client thereby obtains the capability of each N-3GPP device (i.e., per N-3GPP device level capability). Alternatively, the perception-enabling client obtains the overall capability of the multiple N-3GPP devices. The perception-enabling client sends capability information 3 to the perception-enabling server, and the capability information 3 indicates the capability of the multiple N-3GPP devices or the overall capability of the multiple N-3GPP devices (i.e., per client level).

[0234] For example, the perception-enabling client sends the capability of the first device to the perception-enabling server. When there are multiple N-3GPP devices, the perception-enabling client can send the capability of the multiple N-3GPP devices to the perception-enabling server (i.e., per N-3GPP device level capability), or the perception-enabling client can send the overall capability of the multiple N-3GPP devices (i.e., per client level).

[0235] The perception-enabling client further sends, to the perception server, an identifier (such as an ID) corresponding to the at least one N-3GPP device and / or an identifier (such as an ID) of the perception-enabling client. The carrying of the information can refer to the description in S820-S830 below.

[0236] S640, obtaining second perception data.

[0237] For example, the first device sends the second perception data to the perception-enabling client, and correspondingly, the perception-enabling client receives the second perception data.

[0238] In one example 1, after the perception-enabling server determines that the N-3GPP devices corresponding to multiple perception-enabling clients need to be invoked, the other perception-enabling clients can send the perception data to one of the perception-enabling clients first, and then the perception-enabling client sends all the perception data to the perception-enabling server. In this case, after the perception-enabling client receives the perception data sent by the other perception-enabling clients, the perception-enabling client can process the perception data and then send the processed perception data (i.e., the second perception data) to the perception-enabling server. Alternatively, each of the multiple perception-enabling clients can send the perception data (an example of the second perception data) to the perception-enabling server respectively.

[0239] In another example 2, when multiple first devices are involved, the perception-enabling client receives the perception data sent by the at least one first device, and sends the perception data (an example of the second perception data) to the perception-enabling server respectively; or the perception-enabling client receives the perception data sent by the at least one first device, processes the perception data (i.e., obtains the second perception data), and then sends the processed perception data to the perception-enabling server.

[0240] In another example 3, the perception-enabling client can obtain the second perception data from the first device or multiple first devices. For example, the first device or multiple first devices can send the perception data to the perception-enabling client, or the first device or multiple first devices can send the processed perception data to the perception-enabling client.

[0241] S650, obtaining a perception result of the perception target, the perception result being obtained based on the first perception data and the second perception data.

[0242] For example, the perception result is obtained based on the fusion of the first perception data and the second perception data. The second perception data can be used as a supplement to the first perception data. For example, the information of a feature not included in the first perception data can be provided through the second perception data.

[0243] The fusion of the first perception data and the second perception data can be completed by the perception-enabled client, the perception-enabled server, the AC, the SF, or the AS. The following will be described respectively.

[0244] Implementation A: When the perception-enabled server fuses the perception data, the perception-enabled server obtains the second perception data from the perception-enabled client, such as the perception data sent by multiple perception-enabled clients respectively, or the perception data processed by the perception-enabled client, or the perception data received from multiple first devices respectively, or the perception data of multiple first devices processed by the perception-enabled client. The perception-enabled server fuses the second perception data and the first perception data to obtain the perception result.

[0245] Implementation B: When the perception-enabled client fuses the perception data, the perception-enabled client can obtain the second perception data from the first device or multiple first devices, such as the perception data sent by the first device or multiple first devices to the perception-enabled client, or the perception data processed by the first device or multiple first devices and sent to the perception-enabled client. The perception-enabled client can obtain the first perception data from the UE or the AC. The manner in which the UE obtains the first perception data can refer to the description in S620. The first perception data obtained by the perception-enabled client from the AC can be the 3GPP perception data sent by the SF to the AS through the NEF, and the AC obtains the first perception data from the AS.

[0246] Implementation C: When the AC fuses the perception data, the AC can obtain the N-3GPP perception data (an example of the second perception data) from the perception-enabled client. For the 3GPP perception data, the AC can obtain it from the UE. For example, the UE obtains the perception data (the first perception data or the processed first perception data) from the core network. The manner in which the UE obtains the first perception data can refer to the description in S620.

[0247] Implementation D: When the SF fuses the perception data, the SF can obtain the 3GPP perception data (the first perception data). For the N-3GPP perception data (the second perception data), the SF can obtain it from the perception-enabled server. Alternatively, the SF can obtain it from the perception-enabled client. For example, the perception-enabled client sends the second perception data to the RAN, the RAN sends the second perception data to the AMF, the AMF sends the second perception data to the SF, or the RAN can directly send the second perception data to the SF. It should be understood that the second perception data can be processed during the transmission, such as data fusion, deduplication, etc.

[0248] Implementation E: When the AS fuses the perception data, the AS obtains the 3GPP perception data (an example of the first perception data) from the SF, and for the N-3GPP perception data (an example of the second perception data), the AS can obtain from the perception enabling server or through the AC from the perception enabling client.

[0249] It should be understood that the way of obtaining the second perception data in this application is only an example and is not limited.

[0250] It should also be understood that the implementations A-E can be applied to the steps of fusing the first perception data and the second perception data in the following implementations, which will not be repeated here.

[0251] In this method, by judging the 3GPP perception data, when the perception requirement is not met, the N-3GPP perception data can be requested, and the 3GPP perception data and the N-3GPP perception data are fused to obtain more comprehensive or accurate perception data, which can improve the accuracy of perception and further improve the user experience.

[0252] The following gives some examples of specific implementation processes.

[0253] Implementation 1: The determination of whether to call the N-3GPP perception data is completed by the perception enabling client, and the fusion of the perception data can be completed by the perception enabling client.

[0254] As shown in FIG. 7, the following steps are included:

[0255] S710, the N-3GPP device A sends the N-3GPP device information of the N-3GPP device and the corresponding capability information to the perception enabling client, and correspondingly, the perception enabling client receives the N-3GPP device information and the corresponding capability information.

[0256] The N-3GPP device information includes the identification (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the perception range (including horizontal range / angle, vertical range / angle), perception position information, perception accuracy information, and perception resolution of the N-3GPP.

[0257] It should be understood that the perception-enabled client can pre-configure the correspondence between the N-3GPP device and the perception capability, such as the correspondence between the identifier of the N-3GPP device and the perception capability, so that in S710, the N-3GPP device can send the identifier information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the perception capability, which can save overhead. Specifically, reference can be made to the description of S630 regarding the correspondence between the N-3GPP device and the perception capability pre-configured by the perception-enabled client.

[0258] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S710. Alternatively, the perception-enabled client pre-configures the capability information of at least one first device (i.e., N-3GPP device). Specifically, reference can be made to the description of S630 regarding the way in which the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0259] Alternatively, the perception-enabled client can pre-configure all the information in S710, in which case S710 need not be performed.

[0260] S720, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0261] The request message can carry the identifier information of the perception-enabled client and the like.

[0262] S730, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0263] The registration request response message indicates success or failure of registration.

[0264] S740, the perception-enabled client receives a request message A.

[0265] The request message is used to request a perception service.

[0266] Specifically, it can be a request for obstacle positioning and the like, and the request message A can carry the requested perception area, perception requirement (e.g., one or more of perception accuracy, perception latency, perception resolution, etc.). Specifically, the perception requirement can refer to the description in S610, which will not be repeated.

[0267] This step is optional.

[0268] Specifically, the step can refer to the description of the way in which the perception-enabled client obtains the request message in the foregoing. The perception-enabled client can obtain the perception request message from the AC or from the perception-enabled server, such as the example 1 or the example 2 in S610, which will not be repeated. The application does not limit the way in which the perception-enabled client receives the request message, as long as the perception-enabled client can obtain the request message and complete the start (or triggering) of the perception process.

[0269] S750, the perception-enabled client sends a request message B to the perception-enabled server, and correspondingly, the perception-enabled server receives the request message B.

[0270] The request message B is used to request a perception service.

[0271] For example, an obstacle positioning function can be requested, and the request message B can carry a requested perception area and a perception requirement (for example, one or more of a perception accuracy, a perception time delay, and a perception resolution). Specifically, the perception requirement can refer to the description in S610, which will not be repeated.

[0272] The step is optional.

[0273] The application does not limit the way in which the perception-enabled server receives the request message, as long as the perception-enabled server can obtain the request message and complete the start (or triggering) of the perception process.

[0274] That is, the perception-enabled client sends the received request of the AC to the perception-enabled server again. The description of the example 4 in S610 can be referred to.

[0275] It should also be understood that the perception-enabled server can also obtain the perception request message from the AS. Specifically, the description of the example 3 in S610 can be referred to.

[0276] S760, the perception-enabled server sends a request message C to the SF through the NEF, and correspondingly, the SF receives the request message C.

[0277] The request message C is used to request a perception service.

[0278] For example, an obstacle positioning function can be requested, and the request message C can carry a requested perception area and a perception requirement (for example, one or more of a perception accuracy, a perception time delay, and a perception resolution). Specifically, the perception requirement can refer to the description in S610, which will not be repeated.

[0279] It should be understood that S760 can also be described as: the perception enabling server sends a request message C1 to the NEF, the message C1 is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the NEF sends a request message C2 to the SF, the message C2 is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the information carried in the request message C1 and the request message C2 can be the same or different, which is not limited in the present application. For details, reference can be made to the description in S620.

[0280] S770, the perception enabling server receives the perception data A.

[0281] The perception data A can indicate position information (such as whether there is an object at the position), and can also indicate the shape, size, etc. of the perception target. The perception data A is an example of the first perception data. Specifically, the perception data A can refer to the description of the first perception data in S620.

[0282] The perception data A can also be point cloud data in the required perception range, and the point cloud data includes information of at least one object. The position information or feature information (such as shape and size) of the object in the perception range can be determined from the point cloud data.

[0283] It should be understood that the perception enabling server can obtain the perception data from the SF, the perception enabling client or the AS / VAL server. For details, reference can be made to the description of different ways of obtaining the first perception data by the perception enabling server in S620.

[0284] S780, the perception enabling client receives the perception data A or the perception data H.

[0285] The perception data H can be the same as or different from the perception data A. For example, the perception data H can be data obtained by processing the perception data A.

[0286] For example, the perception enabling server sends the perception data A or the perception data H to the perception enabling client, and correspondingly, the perception enabling client receives the perception data A or the perception data H.

[0287] Optionally, the perception-enabling server can process the perception data A before sending the perception data to the perception-enabling client. For example, the perception-enabling server can obtain at least one perception data A sent by multiple SFs, perform data processing to obtain perception data H; or the perception-enabling server performs data processing on the perception data A to obtain the perception data H (for example, the perception-enabling client requests perception data in the range H, the perception-enabling server receives requests from multiple perception-enabling clients, and comprehensively determines that the perception data in the perception range A is requested from the SF, at this time, the perception-enabling server needs to determine the perception data H of each perception-enabling client (per client)).

[0288] Specifically, the perception-enabling client can obtain the first perception data from the perception-enabling server, or obtain the perception data from the AC, or obtain the first perception data from the UE. For details, refer to the manner A, manner B, and manner C in S620.

[0289] It should be understood that this step does not limit the manner in which the perception-enabling client receives the first perception data. The perception-enabling client can obtain the first perception data and complete data fusion according to the first perception data and the second perception data. The manner in S780 is only an example.

[0290] It should be noted that S750-S780 can be replaced by: the perception-enabling client requests a perception service from the network side. For example, the UE corresponding to the perception-enabling client sends a request message to the AMF through the RAN, and the AMF requests a perception service from the SF. The SF sends the perception data A to the perception-enabling client through the RAN, or the SF directly sends the perception data A to the UE. Further, the perception-enabling client can obtain the perception data A from the UE.

[0291] It should be understood that in the following implementations, the step of obtaining the first perception data by the perception-enabling client can also refer to the alternative description herein, which will not be repeated.

[0292] S790, the perception-enabling client determines, according to the perception data A and the perception requirement, that the perception data A and the N-3GPP perception data need to be fused.

[0293] Alternatively, the perception-enabling client determines, according to the perception data H and the perception requirement, that the perception data H and the N-3GPP perception data need to be fused.

[0294] That is, the perception-enabling client determines that the N-3GPP perception data needs to be obtained. For example, the perception-enabling client determines to obtain the N-3GPP data by judging that the perception data A (or the perception data H) does not meet the perception requirement. For details, refer to the description in S630.

[0295] It should be understood that where the following refers to the perception data A, it can be replaced by the perception data A or the perception data H.

[0296] S7100, the perception enabled client determines the called N-3GPP device according to the capability of the N-3GPP.

[0297] For example, when the perception enabled client associates one N-3GPP device, the perception enabled client can determine the location of the obstacle according to the perception data A, or the blind area, determine whether to call the device, further determine whether the N-3GPP device needs to adjust the angle and / or position, and if so, further determine the angle and position that need to be adjusted. When the perception enabled client associates multiple N-3GPP devices, the identity of the N-3GPP device that needs to be called needs to be determined in combination with the capability of the N-3GPP device (such as the perception range), further determine whether at least one N-3GPP device needs to adjust the angle, further determine the angle / position information of the at least one N-3GPP device that needs to be adjusted, etc. For details, please refer to the description in S630, which is not repeated here.

[0298] S7110, the perception enabled client sends the indication information E to the N-3GPP device A, and correspondingly, the N-3GPP device A receives the indication information E.

[0299] The indication information E is an example of the first indication information in S630, and the N-3GPP device A is an example of the first device.

[0300] The indication information E indicates that the N-3GPP device A acquires the N-3GPP perception data, and optionally indicates whether to adjust the angle, position, etc. of the N-3GPP device.

[0301] Corresponding to S7100, the indication information E can be sent to one N-3GPP device, or can be sent to multiple N-3GPP devices associated with the perception enabled client respectively.

[0302] For details, please refer to the description of the first indication information in S630, which is not repeated here.

[0303] S7120, the N-3GPP device A sends the perception data B to the perception enabled client, and correspondingly, the perception enabled client receives the perception data B.

[0304] The perception data B is the N-3GPP perception data of a specified range, angle or position. The perception data B is an example of the second perception data. Optionally, the N-3GPP device can adjust the angle and / or position of the N-3GPP device according to the indication information E, so as to acquire the N-3GPP perception data of the specified range, angle or position of the perception enabled client.

[0305] It should be noted that the perception-enabled client can obtain the second perception data from the first device or multiple first devices, which can be referred to the description of the way in which the perception-enabled client obtains the second perception data in S640.

[0306] S7130, the perception-enabled client determines the perception result.

[0307] For example, the perception-enabled client fuses the perception data A and the perception data B to determine the perception result.

[0308] For example, the perception-enabled client determines the specific type of the obstacle according to the N-3GPP data of the obstacle, and determines the complete perception result in a certain area according to the N-3GPP supplemented blind area data. For example, the perception data (perception data A) provided by the 5GC indicates that there is an obstacle at position A, but the specific type of the obstacle cannot be determined. The device invoking the N-3GPP obtains the perception data at position A, for example, when the N-3GPP device is a camera, the camera can be instructed to take a photo of position A, and the perception-enabled client can determine the specific type of the obstacle according to the perception data of the camera.

[0309] It should be noted that the perception data B can be one or more. For example, the perception data B can be perception data from multiple first devices.

[0310] Specifically, the description of the way in which the perception-enabled client fuses the first perception data and the second perception data in S630 can be referred to.

[0311] S7140, optionally, the perception-enabled client sends the perception result.

[0312] When the perception request in S760 is triggered by the perception-enabled server, the perception result can be sent to the perception-enabled server. Of course, the sharing of the perception result is not limited in the present application. For example, the perception result can be sent to any device that needs the perception result. Optionally, the perception-enabled server can send the above information to the AS after obtaining the information.

[0313] When the perception request in S760 is triggered by the AC, the perception result can be sent to the AC.

[0314] It should be noted that the perception-enabled client or the perception-enabled server can be preconfigured with a rule, i.e., whether to prefer to request perception data from the 5GC. There are the following possible ways:

[0315] Way 1: The perception-enabled client or the perception-enabled server can be preconfigured to prefer to request perception data from the 5GC.

[0316] For example, the perception-enabled client / server determines whether the perception data provided by the 5GC can meet the requirements of the AC. If the perception data provided by the 5GC can meet the requirements of the AC, the perception-enabled client / server does not need to request the perception data from the N-3GPP. If the perception data provided by the 5GC cannot meet the requirements of the AC, the perception-enabled client / server determines that additional N-3GPP perception data needs to be called.

[0317] Optionally, when the preconfigured rule is mode 1, the steps in the above implementation mode can remain unchanged. S750-S780 are executed first, and after the perception-enabled client determines that the first perception data and the second perception data need to be fused in S790, S7110 and S7210 are executed.

[0318] Mode 2: The preconfigured rule of the perception-enabled client / server is to prefer to call the N-3GPP perception data. The perception-enabled client / server preferentially acquires the perception data from the N-3GPP device, and determines whether the N-3GPP perception data can meet the perception requirements. If yes, the perception-enabled client / server does not need to request the perception data from the 5GC. If no, the perception-enabled client / server needs to adjust the location, angle, etc. of the N-3GPP, or determine to call other N-3GPP devices, or request the perception data from the 5GC, so as to provide the AC with the perception data that meets the requirements.

[0319] Optionally, when the preconfigured rule is mode 2, the step of acquiring the first perception data is executed again after it is determined that the second perception data does not meet the requirements of the AC. For example, S7100 and S7200 are executed first, and then S790-S7100 are executed. After it is determined that the first perception data and the second perception data need to be fused, S750-S780 can be executed.

[0320] That is, the perception-enabled client / server can determine according to the preconfigured rule before it is determined to acquire the first perception data or the second perception data.

[0321] The specific implementation process can refer to the description in the following different implementations.

[0322] In this implementation, the perception-enabled client fuses the 3GPP perception data and the N-3GPP perception data, and provides the perception result to the perception-enabled server, thereby providing the perception-enabled server with more accurate and higher-precision perception data.

[0323] Implementation 2: The work of determining whether to call the N-3GPP perception data is completed by the perception-enabled server.

[0324] As shown in FIG. 8, the following steps are included:

[0325] S810, the N-3GPP device sends capability information of the N-3GPP device to the perception-enabled client, and the perception-enabled client receives the capability information.

[0326] The information of the N-3GPP device includes an identifier (such as an ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the following: a perception range (including a horizontal range / angle, a vertical range / angle) of the N-3GPP device, perception location information, perception accuracy information, and perception resolution.

[0327] It should be understood that the perception-enabled client can preconfigure a correspondence between the N-3GPP device and the perception capability, such as a correspondence between the identifier of the N-3GPP device and the perception capability, so that in S810, the N-3GPP device can send identifier information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the perception capability, which can save overhead. For details, refer to the description of S630 regarding the correspondence between the N-3GPP device and the perception capability preconfigured by the perception-enabled client.

[0328] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S810. Alternatively, the perception-enabled client preconfigures the capability information of at least one first device (i.e., the N-3GPP device). For details, refer to the description of S630 regarding the manner in which the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0329] Alternatively, the perception-enabled client can preconfigure all the information in S810, in which case S810 need not be performed.

[0330] S820, the perception-enabled client sends a registration request message to the perception-enabled server, and the perception-enabled server receives the registration request message.

[0331] In implementation 1, the registration request message carries at least one ID corresponding to an N-3GPP device and capability information of the corresponding N-3GPP device.

[0332] In implementation 2, the request message carries an ID of the perception-enabled client and N-3GPP capability corresponding to the perception-enabled client. It should be noted that the N-3GPP capability corresponding to the perception-enabled client is N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on perception capability information reported by multiple N-3GPP devices corresponding to the perception-enabled client.

[0333] S830, the perception enabling server sends a registration request response message to the perception enabling client, and correspondingly, the perception enabling client receives the registration request response message.

[0334] The registration request response message indicates success or failure of the registration.

[0335] It should be noted that the information in S820 and S830 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to the at least one N-3GPP device, and the capability information of the corresponding N-3GPP device, or the ID of the perception enabling client, or the N-3GPP capability corresponding to the perception enabling client, and the like, are not bound to the registration request message.

[0336] S810-S830 are optional steps, and the perception enabling server can obtain the capability of the N-3GPP corresponding to the perception enabling client through pre-configuration, and at this time, S810-S830 do not need to be performed.

[0337] S840, the perception enabling server receives a request message D.

[0338] The request message D is used to request a perception service.

[0339] For example, an obstacle positioning function can be requested, and the request message D can carry a requested perception area, a perception requirement (such as one or more of perception accuracy, perception delay, and perception resolution). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0340] This step is optional.

[0341] The present application does not limit the way in which the perception enabling server receives the request message, as long as the perception enabling server can obtain the request message and complete the start (or trigger) of the perception process.

[0342] That is, the perception enabling client sends the received request of the AC to the perception enabling server again. For details, reference can be made to the description of example 4 in S610. It should also be understood that the perception enabling server can also obtain the perception request message from the AS. For details, reference can be made to the description of example 3 in S610.

[0343] S850, the perception enabling server sends a request message E to the SF, and correspondingly, the SF receives the request message E.

[0344] The request message E is used to request a perception service.

[0345] For example, the obstacle positioning function can be requested, and the request message E can carry the requested perception area, one or more of the perception requirements (e.g., perception accuracy, perception latency, perception resolution, etc.).

[0346] Specifically, the perception enabling server can send the request message E to the SF through the NEF.

[0347] It should be understood that S850 can also be described as: the perception enabling server sends a request message E1 to the NEF, the message E1 is used to request a perception service, and the request message can carry the requested perception area, one or more of the perception requirements (e.g., perception accuracy, perception latency, perception resolution, etc.), the NEF sends a request message E2 to the SF, the message E2 is used to request a perception service, and the request message can carry the requested perception area, one or more of the perception requirements (e.g., perception accuracy, perception latency, perception resolution, etc.), the information carried in the request message E1 and the request message E2 can be the same or different, which is not limited in the present application. For details, please refer to the description in S620.

[0348] S860, the perception enabling server receives the perception data C.

[0349] The perception data C can indicate position information (such as whether there is an object at the position), and can also indicate the shape, size, etc. of the perception target. The perception data C is an example of the first perception data. Specifically, the perception data C can refer to the description of the first perception data in S620, or can refer to the description of the perception data A in S770.

[0350] For example, the SF sends the perception data C to the perception enabling server through the NEF. Alternatively, the SF can also send the perception data C directly to the perception enabling server without going through the NEF. It should be understood that the SF can obtain 3GPP data, and the SF can also calculate the 3GPP data.

[0351] It should be understood that the perception enabling server can obtain the perception data from the SF, or from the perception enabling client, or from the AS / VAL server. For details, please refer to the description of different ways of obtaining the first perception data by the perception enabling server in S620.

[0352] S870, the perception enabling server determines, according to the perception data C and the perception requirements, that the perception data C and the N-3GPP perception data need to be fused.

[0353] That is, the perception enabling server determines that the N-3GPP perception data needs to be called (or obtained). For details, please refer to the description in S630.

[0354] S880, the perception enabling server determines the called perception enabling client according to the capability of N-3GPP.

[0355] In an implementation, the perception enabling server can determine the location of the obstacle according to the perception data C, or the blind area, and further determine the identity of the called N-3GPP device in combination with the capability (such as the perception range) of the N-3GPP device, for example, corresponding to the implementation 1 in S820, the perception enabling server can directly determine the N-3GPP device to be called. Corresponding to the implementation 2 in S820, the perception enabling server determines the perception enabling client to be called, specifically, the perception enabling server determines the location of the obstacle according to the perception data C, or the blind area, and further determines the identity of the called perception enabling client in combination with the capability (such as the perception range) of the N-3GPP device corresponding to the perception enabling client, the perception enabling client further determines the N-3GPP device to be called and determines whether the N-3GPP device needs to adjust the angle and / or position, for details, please refer to the description in S630, which is not repeated here.

[0356] For example, corresponding to S880, if the perception enabling server determines the perception enabling client to be called, the perception enabling client needs to determine which N-3GPP device to be called.

[0357] S890, the perception enabling server sends the indication information F to the perception enabling client, and the perception enabling client receives the indication information F.

[0358] For the implementation 1 in S820, the indication information F can be an indication of the N-3GPP data corresponding to the angle and position of the N-3GPP device to be called, for example, when S880 determines the perception data of two N-3GPP devices (device 1, device 2) to be called, the indication information F includes the device identity information (device 1 identity, device 2 identity) to be called and the angle, position and other information of the N-3GPP perception data to be reported by device 1, the N-3GPP perception data of device 1, and the angle, position and other information of the N-3GPP perception data to be reported by device 2, and optionally can indicate the angle and position information of device 1 and device 2 to be adjusted.

[0359] For the implementation 2 in S820, the indication information F can be an indication that the N-3GPP perception data or 3GPP data cannot meet the requirements of the perception service KPI, and an indication that the N-3GPP perception data corresponding to the position, angle and range needs to be obtained.

[0360] S8100, the perception enabled client sends the indication information G to the N-3GPP device B, and correspondingly, the N-3GPP device B receives the indication information G.

[0361] The indication information G is an example of the first indication information in S630, and the N-3GPP device B is an example of the first device.

[0362] The indication information G indicates that the N-3GPP device B acquires the perception data, and optionally indicates whether to adjust the angle, position, etc. of the N-3GPP device B.

[0363] Corresponding to S800, the indication information F can be sent to one N-3GPP device, or can be sent to multiple N-3GPP devices associated with the perception enabled client respectively.

[0364] Specifically, the manner in which the perception enabled client sends the indication information to the first device in S620 can be referred to.

[0365] Alternatively, corresponding to S880, if the perception enabled server directly determines the N-3GPP device to be called, the perception enabled client does not need to determine which N-3GPP device to be called. For example, the perception enabled server sends the indication information G to the N-3GPP device B, and correspondingly, the N-3GPP device B receives the indication information G. Alternatively, the perception enabled server sends the indication information G to the perception enabled client, and the perception enabled client sends the indication information G to the N-3GPP device, or processes the information obtained by the indication information G. The indication information G can include the identifier of the N-3GPP device determined by the perception enabled client to be called.

[0366] Specifically, for the implementation manner 1 of S880, the indication information G can include the identifier of the N-3GPP device, and the angle and / or position, etc. that the N-3GPP device needs to adjust, or the N-3GPP perception data that needs to be acquired in the corresponding schedule, position, range, etc. When the indication information G includes multiple indication information, each indication information can include the identifier of the N-3GPP device, and the angle and / or position, etc. that the N-3GPP device needs to adjust, or the N-3GPP perception data that needs to be acquired in the corresponding schedule, position, range, etc.

[0367] For S880 implementation 2, the indication information G can include the angle, the location range information corresponding to the N-3GPP awareness data to be acquired, or the angle and / or the location to be adjusted by the N-3GPP device, and the like. At this time, after the awareness-enabling client receives the above information at S8110, the awareness-enabling client determines the N-3GPP device to be invoked according to the identifier of the N-3GPP device associated therewith, the capability information corresponding to the N-3GPP device, and the indication information G. Optionally, the N-3GPP device to be adjusted and the corresponding angle and / or location information can be determined according to the indication information G.

[0368] S8110, the N-3GPP device B sends the awareness data D to the awareness-enabling client, and correspondingly, the awareness-enabling client receives the awareness data D.

[0369] The awareness data D is the N-3GPP awareness data of a specified range, angle, or location. The awareness data D is an example of the second awareness data. Optionally, the N-3GPP device can adjust the angle and / or the location of the N-3GPP device according to the indication information F.

[0370] The awareness-enabling client can acquire the second awareness data from the first device or multiple first devices. For details, refer to the description of the manner in which the awareness-enabling client acquires the second awareness data at S640.

[0371] S8120, the awareness-enabling client sends the awareness data D to the awareness-enabling server, and correspondingly, the awareness-enabling server receives the awareness data D.

[0372] It should be understood that the awareness-enabling client can send the acquired awareness data D to the awareness-enabling server. The awareness-enabling client can also send the processed awareness data to the awareness-enabling server, where the awareness data includes the content of the awareness data D. For example, the awareness data at S8110 is D1, and the awareness data at S8120 is D2. The awareness data D1 and the awareness data D2 can be the same or different.

[0373] The awareness-enabling server can acquire the second awareness data from multiple awareness-enabling clients or from one awareness-enabling client. For details, refer to the description of the manner in which the awareness-enabling server acquires the second awareness data at S640.

[0374] S8130, the awareness-enabling server determines the awareness result.

[0375] For example, the awareness-enabling server fuses the awareness data C and the awareness data D.

[0376] For example, the perception-enabling server determines the specific type of the obstacle according to the N-3GPP data of the obstacle, and determines the complete perception result in a certain area according to the N-3GPP supplemented blind area data. For example, the perception data (perception data C) provided by the 5GC indicates that there is an obstacle at position A, but the specific type of the obstacle cannot be determined. The device invoking the N-3GPP obtains the perception data (perception data D) at position A, for example, when the N-3GPP device is a camera, the perception-enabling client can instruct the camera to take a photo of position A, and the perception-enabling client can determine the specific type of the obstacle according to the perception data of the camera.

[0377] It should be noted that the perception data D can be one or more.

[0378] S8140, optionally, the perception-enabling server sends the perception result.

[0379] It should be understood that the perception-enabling server can also send the perception result to the perception-enabling client. The present application is not limited thereto, for example, the perception result can be sent to any device that needs the perception result. Optionally, the perception-enabling server obtains the above information and sends it to the AS. When the perception request in S760 is AC triggered, the perception result can be sent to the AC.

[0380] In this implementation, the perception-enabling server fuses the 3GPP perception data and the N-3GPP perception data, and provides the perception result to the AS, thereby providing the AS with more accurate and higher-precision perception data.

[0381] Implementation 3: The work of determining whether to invoke N-3GPP perception data is completed by the perception-enabling server, and the perception data of multiple N-3GPP devices can be fused by the perception-enabling server.

[0382] As shown in FIG. 9, the following steps are included:

[0383] S910, the N-3GPP device sends the information of the N-3GPP device and the corresponding capability information to the perception-enabling client, and correspondingly, the perception-enabling client receives the information of the N-3GPP device and the corresponding capability information.

[0384] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the perception range (including horizontal range / angle, vertical range / angle), perception position information, perception accuracy information, and perception resolution of the N-3GPP.

[0385] It should be understood that the perception-enabled client can pre-configure the correspondence between the N-3GPP device and the perception capability, such as pre-configure the correspondence between the identification of the N-3GPP device and the perception capability, so that in S910, the N-3GPP device can send identification information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identification information and the correspondence between the device identification and the perception capability, which can save overhead. Specifically, please refer to the description of S630 for the correspondence between the N-3GPP device and the perception capability pre-configured by the perception-enabled client.

[0386] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S910. Alternatively, the perception-enabled client pre-configures the capability information of at least one first device (i.e. N-3GPP device). Specifically, please refer to the description of S630 for the way in which the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0387] Alternatively, the perception-enabled client can pre-configure all the information in S910, in which case S910 does not need to be performed.

[0388] S920, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0389] The request message can carry identification information of the perception-enabled client and the like.

[0390] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device. For details, please refer to the description in S810.

[0391] In implementation 2, the request message carries the perception-enabled client ID and the N-3GPP capability corresponding to the perception-enabled client. For details, please refer to the description in S820.

[0392] S930, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0393] The registration request response message indicates success or failure of registration.

[0394] It should be noted that the information in S920 and S930 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device, and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability corresponding to the perception-enabled client, and the like, are not bound to the registration request message.

[0395] S910-S930 are optional steps, and the perception-enabled server can obtain the N-3GPP capability corresponding to the perception-enabled client through pre-configuration, and at this time, S910-S930 do not need to be performed.

[0396] S940, the perception-enabled server receives a request message F.

[0397] The request message F is used to request a perception service.

[0398] For example, an obstacle positioning function can be requested, and the request message F can carry a requested perception area, a perception requirement (for example, one or more of perception accuracy, perception delay, and perception resolution). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0399] This step is optional.

[0400] The present application does not limit the way in which the perception-enabled server receives the request message, as long as the perception-enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0401] That is, the perception-enabled client sends the received request of the AC to the perception-enabled server again. For details, please refer to the description of example 4 in S610. It should also be understood that the perception-enabled server can also obtain the perception request message from the AS. For details, please refer to the description of example 3 in S610.

[0402] S950, the perception-enabled server sends a request message G to the SF, and correspondingly, the SF receives the request message G.

[0403] The request message G is used to request a perception service.

[0404] For example, an obstacle positioning function can be requested, and the request message G can carry a requested perception area, a perception requirement (for example, one or more of perception accuracy, perception delay, and perception resolution). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0405] Specifically, the perception-enabled server can send the request message G to the SF through the NEF.

[0406] It should be understood that S950 can also be described as: the perception enabling server sends a request message G1 to the NEF, the message G1 is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the NEF sends a request message G2 to the SF, the message G2 is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the information carried in the request message G1 and the request message G2 can be the same or different, which is not limited in the present application. For details, reference can be made to the description in S620.

[0407] S960, the perception enabling server receives perception data E.

[0408] The perception data E can indicate position information (such as whether there is an object at the position), and can also indicate the shape, size, etc. of the perception target. The perception data E is an example of the first perception data. Specifically, the perception data E can refer to the description of the first perception data in S620, or can refer to the description of the perception data A in S770.

[0409] The perception enabling server can obtain the perception data from the SF, or from the perception enabling client, or from the AS / VAL server. For details, reference can be made to the description of different ways of obtaining the first perception data by the perception enabling server in S620.

[0410] S970, the perception enabling server determines, according to the perception data E and the perception requirements, that the perception data E and the N-3GPP perception data need to be fused.

[0411] That is, the perception enabling server determines that the N-3GPP perception data needs to be called (or obtained). Further, the perception enabling server determines that the perception data of multiple N-3GPP devices needs to be called (or obtained). For example, the multiple N-3GPP data is obtained from multiple perception enabling clients, each of the multiple perception enabling clients is associated with at least one N-3GPP device. Of course, the perception enabling server also needs to determine which perception enabling client to call.

[0412] For example, corresponding to the implementation manner 1 in S920, the perception enabling server can directly determine the N-3GPP device that needs to be called. Corresponding to the implementation manner 2 in S920, the perception enabling server determines the perception enabling client that needs to be called, and the perception enabling client further determines the N-3GPP device that needs to be called. For details, reference can be made to the description in S630.

[0413] It should be understood that the information sent by the perception enabling server can be different corresponding to the two different manners. For example, corresponding to the implementation manner 1, the perception enabling server can indicate the relevant information that the N-3GPP device needs to adjust to the perception enabling client or to the N-3GPP device; and corresponding to the implementation manner 2, the perception enabling server can send a message to the perception enabling client to request to obtain the N-3GPP perception data. For details, reference can be made to the relevant description in S890-S8110, which will not be repeated here. The following takes the implementation manner 2 corresponding to S920 as an example for step description.

[0414] It should be noted that after obtaining the perception data E, the perception enabling server can optionally process the perception data E to obtain the perception data X, and the perception data X and the perception data E can be the same or different, which is not limited in the present application.

[0415] It should be understood that the perception enabling server can process the second perception data after obtaining the second perception data, which is applicable to each method or each implementation in the present application. The following will not be repeated, and reference can be made to the description herein.

[0416] S980, the perception enabling server sends an indication information G to the perception enabling client #1 and the perception enabling client #2, and correspondingly, the perception enabling client #1 and the perception enabling client #2 receive the indication information G.

[0417] The indication information G is used to request the perception enabling client to obtain the N-3GPP perception data. For example, the indication information G can include a plurality of indication information, and each indication information is sent to one perception enabling client.

[0418] For the implementation manner 1 of S970, the indication information G can include the N-3GPP device identifier, and the angle and / or position that the N-3GPP device needs to adjust and the like information, or the N-3GPP perception data that needs to be obtained on the corresponding schedule, position, range. When the indication information G includes a plurality of indication information, each indication information can include an N-3GPP device identifier, and the angle and / or position that the N-3GPP device needs to adjust and the like information, or the N-3GPP perception data that needs to be obtained on the corresponding schedule, position, range.

[0419] Or, when the perception-enabled client associates with an N-3GPP device, the perception-enabled client can determine the location of the obstacle or blind area according to the perception data E, determine whether to call the device, further determine whether the N-3GPP device needs to adjust the angle and / or position, and further determine the angle and position that need to be adjusted if needed. When the perception-enabled client associates with multiple N-3GPP devices, the identity of the N-3GPP device to be called needs to be determined in combination with the capability of the N-3GPP device (such as the perception range), further determine whether at least one N-3GPP device needs to adjust the angle, further determine the angle / position information of the at least one N-3GPP device to be called to adjust, etc. For details, please refer to the description in S630, which will not be repeated. Alternatively, the indication information G can also refer to the description of the indication information F in S890.

[0420] For the implementation manner 2 of S970, the indication information G can include the angle, position range information corresponding to the N-3GPP perception data that needs to be obtained, or the angle and / or position that the N-3GPP device needs to adjust, etc. At this time, after the perception-enabled client receives the above information in S990, the perception-enabled client determines the N-3GPP device to be called according to the identity of the N-3GPP device associated with the perception-enabled client, the capability information corresponding to the N-3GPP device, and the indication information G. Optionally, the N-3GPP device to be adjusted and the corresponding angle and / or position information, etc. can be determined according to the indication information G.

[0421] Optionally, the perception data X is also carried in S980.

[0422] In S990, the perception-enabled client determines the N-3GPP device to be called according to the capability of the N-3GPP.

[0423] Optionally, the perception-enabled client can determine the location of the obstacle or blind area according to the perception data X, determine the identity of the N-3GPP device to be called in combination with the capability of the N-3GPP device (such as the perception range), and determine whether the N-3GPP device needs to adjust the angle and / or position.

[0424] For example, the perception-enabled client #1 can determine the N-3GPP device #1 according to the perception requirement, the first perception data, and the capability of the N-3GPP device.

[0425] Optionally, the perception-enabled server can determine the perception-enabled client to be called according to the capability of the N-3GPP. For example, the perception-enabled server can directly determine the N-3GPP device to be called, or the perception-enabled server can determine the perception-enabled client to be called, and the perception-enabled client further determines the N-3GPP device to be called. For details of the specific implementation, please refer to the description in S880.

[0426] S9100, the perception enabled client #1 and the perception enabled client #2 determine whether to adjust the corresponding N-3GPP device according to the indication information G.

[0427] Optionally, if adjustment is needed, S9110, the perception enabled client sends indication information H to the N-3GPP device #1, and correspondingly, the N-3GPP device #1 receives the indication information H.

[0428] The indication information H is an example of the first indication information in S630, and the N-3GPP device #1 is an example of the first device.

[0429] The indication information H indicates that the N-3GPP device #1 acquires perception data, and optionally, can indicate whether to adjust the angle, position, etc. of the N-3GPP device #1. For example, the indication information H can include information such as the angle and / or position that the N-3GPP device #1 needs to adjust. The sending manner of the indication information #1 can refer to the manner in which the perception enabled client sends the indication information to the first device in S620.

[0430] Alternatively, if the perception enabled server directly determines the N-3GPP device to be called, the perception enabled client does not need to determine which N-3GPP device to be called. For example, the perception enabled server sends indication information H to the N-3GPP device B, and correspondingly, the N-3GPP device B receives the indication information H. Alternatively, the perception enabled server sends indication information H to the perception enabled client, and the perception enabled client sends the indication information H to the N-3GPP device or processes the information obtained by processing the indication information H. The indication information H can include the identifier of the N-3GPP device determined by the perception enabled client to be called.

[0431] S9120, the perception enabled client sends indication information J to the N-3GPP device #2, and correspondingly, the N-3GPP device #2 receives the indication information J.

[0432] The indication information J is an example of the first indication information in S630, and the N-3GPP device #2 is an example of the first device.

[0433] The indication information J indicates that the N-3GPP device #2 acquires perception data, and optionally, can indicate whether to adjust the angle, position, etc. of the N-3GPP device #2. For example, the indication information J can include information such as the angle and / or position that the N-3GPP device #2 needs to adjust. Specifically, the sending manner of the indication information can refer to the manner in which the perception enabled client sends the indication information to the first device in S620.

[0434] Alternatively, if the perception-enabling server directly determines the N-3GPP device to be invoked, the perception-enabling client does not need to determine which N-3GPP device to be invoked. For example, the perception-enabling server sends the indication information J to the N-3GPP device B, and the N-3GPP device B receives the indication information J. Alternatively, the perception-enabling server sends the indication information J to the perception-enabling client, and the perception-enabling client sends the indication information J to the N-3GPP device or processes the information obtained by processing the indication information J, which can include the identifier of the N-3GPP device to be invoked determined by the perception-enabling client.

[0435] S9130, the perception-enabling client #1 obtains the perception data F, and the perception-enabling client #2 obtains the perception data G.

[0436] For example, the N-3GPP device #1 sends the perception data F to the perception-enabling client #1, and the N-3GPP device #2 sends the perception data G to the perception-enabling client #2.

[0437] Optionally, the N-3GPP device #1 can adjust the angle and / or position of the N-3GPP device according to the indication information H. The N-3GPP device #2 can adjust the angle and / or position of the N-3GPP device according to the indication information J.

[0438] The perception-enabling client can obtain the second perception data from the first device or multiple first devices. For details, refer to the description of the manner in which the perception-enabling client obtains the second perception data in S640.

[0439] Optionally, after the perception-enabling client obtains the perception data from multiple N-3GPP devices, the perception-enabling client can process the perception data (data fusion, deduplication, etc.) to obtain processed perception data.

[0440] S9140, the perception-enabling client #1 sends the perception data J to the perception-enabling server, and the perception-enabling client #2 sends the perception data K to the perception-enabling server.

[0441] The perception data J can be the same as the perception data F, or can be data obtained by processing the perception data F.

[0442] The perception data K can be the same as the perception data G, or can be data obtained by processing the perception data G.

[0443] The perception-enabling server can obtain the second perception data from multiple perception-enabling clients, or can obtain the second perception data of multiple devices from one perception-enabling client. For details, refer to the description of the manner in which the perception-enabling server obtains the second perception data in S640.

[0444] S9150, the perception enabling server determines the perception result.

[0445] For example, the perception enabling server fuses the perception data E, the perception data J and the perception data K. Specifically, refer to the foregoing description of the fusion of the perception data, and no further repetition is provided. For example, the perception enabling server can also fuse the perception data E, the perception data J and the perception data K to obtain the perception result. The SF can also fuse the perception data E, the perception data J and the perception data K to obtain the perception result.

[0446] S9160, optionally, the perception enabling server sends the perception result.

[0447] It should be understood that the perception enabling server can also send the perception result to other network elements or devices, for example, the perception enabling server sends the perception result to the perception enabling client, or sends the perception result to the SF, or sends the perception result to the AS, or sends the perception result to the AC. The present application is not limited thereto, for example, the perception result can be sent to any device that needs the perception result. Optionally, the perception enabling server can also send the above information to the AS after obtaining the information. When the perception request in S940 is triggered by the AS, the perception result can also be sent to the AS.

[0448] In this implementation, the perception enabling server fuses the 3GPP perception data and the plurality of N-3GPP perception data, and then provides the perception result to the AS, thereby providing the AS with more accurate and higher-precision perception data.

[0449] Implementation 4: The determination of whether to call the N-3GPP perception data is completed by the perception enabling server, and the calling of the perception data of the plurality of N-3GPP devices can be completed by the perception enabling client to fuse the perception data.

[0450] As shown in FIG. 10, the following steps are included:

[0451] S1010, the N-3GPP device sends the information of the N-3GPP device and the corresponding capability information of the N-3GPP device to the perception enabling client, and correspondingly, the perception enabling client receives the information of the N-3GPP device and the corresponding capability information.

[0452] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the perception range (including horizontal range / angle, vertical range / angle) of the N-3GPP, the perception position information, the perception precision information, the perception resolution and the like.

[0453] It should be understood that the perception-enabled client can pre-configure the correspondence between the N-3GPP device and the perception capability, such as pre-configure the correspondence between the identifier of the N-3GPP device and the perception capability, so that in S1010, the N-3GPP device can send the identifier information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the perception capability, which can save overhead. For details, please refer to the description of S630 about the perception-enabled client pre-configuring the correspondence between the N-3GPP device and the perception capability.

[0454] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S1010. Alternatively, the perception-enabled client pre-configures the capability information of at least one first device (i.e. N-3GPP device). For details, please refer to the description of S630 about the way the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0455] Alternatively, the perception-enabled client can pre-configure all the information in S1010, in which implementation, S1010 does not need to be performed.

[0456] S1020, the perception-enabled client sends a registration request message to the perception server, and correspondingly, the perception-enabled server receives the registration request message.

[0457] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, for details, please refer to the description in S810.

[0458] In implementation 2, the request message carries the perception-enabled client ID and the N-3GPP capability corresponding to the perception-enabled client, and it should be noted that the N-3GPP capability corresponding to the perception-enabled client is the N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on the perception capability information reported by the multiple N-3GPP devices corresponding to the perception-enabled client.

[0459] S1030, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0460] The registration request response message indicates success or failure of registration.

[0461] It should be noted that the information in S1020 and S1030 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device, and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability corresponding to the perception-enabled client, and the like, are not bound to the registration request message.

[0462] S1010-S1030 are optional steps, and the perception-enabled server can obtain the N-3GPP capability corresponding to the perception-enabled client through pre-configuration, and at this time, S1010-S1030 do not need to be performed.

[0463] In S1040, the perception-enabled client #1 receives the request message J.

[0464] The request message J is used to request a perception service.

[0465] For example, an obstacle positioning function can be requested, and the request message J can carry a requested perception area, a perception requirement (for example, one or more of a perception accuracy, a perception time delay, a perception resolution, and the like). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0466] This step is optional.

[0467] The present application does not limit the way in which the perception-enabled server receives the request message, as long as the perception-enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0468] That is, the perception-enabled client sends the request received from the AC to the perception-enabled server again. For details, reference can be made to the description of example 4 in S610. It should also be understood that the perception-enabled server can also obtain the perception request message from the AS. For details, reference can be made to the description of example 3 in S610.

[0469] In S1050, the perception-enabled server receives the request message K.

[0470] This step is optional. The present application does not limit the way in which the perception-enabled server receives the request message, as long as the perception-enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0471] That is, the perception-enabled client sends the request received from the AC to the perception-enabled server again. For details, reference can be made to the description of example 4 in S610.

[0472] Or the perception-enabled server receives a perception service request from the AS.

[0473] S1060, the perception enabling server sends a request message L to the SF, and the SF receives the request message L.

[0474] The request message L is used to request a perception service.

[0475] For example, an obstacle positioning function can be requested, and the request message L can carry a requested perception area, and one or more of a perception requirement (e.g., a perception accuracy, a perception time delay, a perception resolution, etc.).

[0476] Specifically, the perception enabling server can send the request message G to the SF through the NEF.

[0477] It should be understood that S1060 can also be described as: the perception enabling server sends a request message G1 to the NEF, the message G1 is used to request a perception service, and the request message can carry a requested perception area, and one or more of a perception requirement (e.g., a perception accuracy, a perception time delay, a perception resolution, etc.), the NEF sends a request message G2 to the SF, the message G2 is used to request a perception service, and the request message can carry a requested perception area, and one or more of a perception requirement (e.g., a perception accuracy, a perception time delay, a perception resolution, etc.), the information carried in the request message G1 and the request message G2 can be the same or different, which is not limited in the present application. For details, please refer to the description in S620.

[0478] It should also be understood that the 3GPP data can be obtained by the SF or calculated by the SF.

[0479] S1070, the perception enabling server receives the perception data L.

[0480] The perception data L can indicate position information (such as whether there is an object at the position), and can also indicate the shape, size, etc. of the perception target. The perception data L is an example of the first perception data. For details, please refer to the description of the first perception data in S620.

[0481] The perception data L can also be point cloud data within the required perception range, and the point cloud data includes information of at least one object. The position information or feature information (such as shape and size) of the object within the perception range can be determined from the point cloud data.

[0482] The perception enabling server can obtain the perception data from the SF, from the perception enabling client, or from the AS / VAL server. For details, please refer to the description of different ways of obtaining the first perception data by the perception enabling server in S620.

[0483] S1080, the perception enabling server determines, according to the perception data L and the perception requirement, that the perception data L and the N-3GPP perception data need to be fused.

[0484] That is, the perception enabling server determines that the N-3GPP perception data needs to be invoked (or said, acquired). Further, the perception enabling server determines that the perception data of multiple N-3GPP devices needs to be invoked (or said, acquired). For example, the multiple N-3GPP data is acquired from multiple perception enabling clients, each of which is associated with at least one N-3GPP device.

[0485] For example, corresponding to a possible way 1 in S1020, the perception enabling server can directly determine the N-3GPP device that needs to be invoked. Corresponding to a possible way 2 in S1020, the perception enabling server determines the perception enabling client that needs to be invoked, which further determines the N-3GPP device that needs to be invoked.

[0486] It should be understood that the information sent by the perception enabling server can be different corresponding to the two different ways. For example, corresponding to way 1, the perception enabling server can indicate to the perception enabling client or to the N-3GPP device the relevant information that needs to be adjusted by the device; corresponding to way 2, the perception enabling server can send a message to the perception enabling client requesting to acquire the N-3GPP perception data. For details, reference can be made to the relevant description in S890-S8110, which will not be repeated. The following step description takes the possible way 2 in S1020 as an example.

[0487] Further, the perception enabling server can also determine the perception enabling client that performs the fusion. For example, the perception enabling client #1 can be selected to acquire the perception data of other perception enabling clients according to whether the perception enabling client has data processing capability. For details, reference can be made to the description in S630.

[0488] S1090, the perception enabling client #1 receives the perception data L.

[0489] The perception enabling server can send the perception data L to the perception enabling client #1. Alternatively, the above-mentioned way in which the perception enabling client #1 acquires the perception data L can also be that the perception enabling client requests the perception service from the network side. For example, the UE corresponding to the perception enabling client sends a request message to the AMF through the RAN, and the AMF requests the perception service from the SF. The SF sends the perception data L to the perception enabling client through the AMF and the RAN, or the SF directly sends the perception data L to the UE, and the perception enabling client acquires the perception data L from the UE.

[0490] Specifically, the perception-enabled client can obtain the first perception data from the perception-enabled server, can obtain the perception data from the AC, or can obtain the first perception data from the UE. For details, refer to the manners A, B, and C in S620.

[0491] S10100, the perception-enabled server sends indication information J to the perception-enabled client #1, and the perception-enabled client #1 receives the indication information J.

[0492] The indication information J is used to request the perception-enabled client to obtain N-3GPP perception data. For example, the indication information J indicates the N-3GPP device associated with the perception-enabled client #1. The indication information J can also indicate that the N-3GPP perception data is obtained from the perception-enabled client #2.

[0493] For example, the perception-enabled server can determine the called N-3GPP device according to the capability of the N-3GPP. Optionally, the perception-enabled server can determine the location of the obstacle or the blind area according to the perception data L, and further determine the identity of the called N-3GPP device and whether the N-3GPP device needs to adjust the angle and / or position in combination with the capability (such as the perception range) of the N-3GPP device.

[0494] For example, the perception-enabled server can determine the N-3GPP device according to the perception requirement and the capability of the N-3GPP device.

[0495] The indication information J can include the angle and / or position that the N-3GPP device needs to adjust and the like. When the indication information J includes multiple indication information, each indication information can include the angle and / or position that one N-3GPP device needs to adjust and the like. For details, refer to the manner in which the perception-enabled client sends the indication information to the first device in S620.

[0496] S10110, the perception-enabled client #1 sends a request message M to the perception-enabled client #2, and the perception-enabled client #2 receives the request message M.

[0497] The request message M is used to request the perception-enabled client #2 to provide the perception data. The request message M can include the identity of the N-3GPP device and the angle and / or position that needs to be adjusted and the like.

[0498] S10120, the perception-enabled client #2 determines whether to adjust the N-3GPP device according to the request message M.

[0499] Optionally, if adjustment is needed, the perception enabled client #2 sends indication information K to the N-3GPP device #2, and correspondingly, the N-3GPP device #2 receives the indication information K.

[0500] The indication information K is an example of the first indication information in S630, and the N-3GPP device #1 is an example of the first device.

[0501] The indication information K indicates that the N-3GPP device #2 acquires perception data, and optionally can indicate whether to adjust the angle, position, etc. of the N-3GPP device #2.

[0502] In S10130, the perception enabled client #1 acquires the perception data M and the perception data N.

[0503] For example, the N-3GPP device #1 sends the perception data M to the perception enabled client #1, the N-3GPP device #2 sends the perception data N to the perception enabled client #2, and the perception enabled client #2 sends the perception data N to the perception enabled client #1. It should be understood that the perception enabled client #2 can directly send the perception data N to the perception enabled client #1, or can send the processed perception data N to the perception enabled client #1.

[0504] In S10140, the perception enabled client #1 determines the perception result.

[0505] For example, the perception enabled client #1 fuses the perception data L, the perception data M and the perception data N. Specifically, reference can be made to the foregoing description of the fusion of perception data, which will not be repeated here. For example, the perception enabled server can fuse the perception data L, the perception data M and the perception data N to obtain the perception result. The SF can also fuse the perception data L, the perception data M and the perception data N to obtain the perception result.

[0506] Optionally, in S10150, the perception enabled client #1 sends the perception result.

[0507] It should be understood that the perception enabled client #1 can send the perception result to other network elements or devices, for example, the perception enabled client #1 sends the perception result to the perception enabled server, or sends the perception result to the SF, or sends the perception result to the AC. The present application is not limited thereto, for example, the perception result can be sent to any device that needs the perception result.

[0508] In this implementation, the perception enabled client #1 requests other perception enabled clients to acquire N-3GPP perception data, and finally fuses the acquired 3GPP and N-3GPP data, and opens to the AC, so that the AC can acquire more accurate and more comprehensive perception data.

[0509] The application further provides a sensing method, which can achieve the same effect as the method shown in FIG. 6. As shown in FIG. 11, the method comprises the following steps:

[0510] S1110, acquiring sensing requirements for the sensing target.

[0511] Specifically, the sensing requirements can refer to the description in S610.

[0512] S1120, acquiring third sensing data.

[0513] The third sensing data comprises feature information of the sensing target, and the third sensing data is from a first device, and the first device is of an N-3GPP type.

[0514] That is, the third sensing data can refer to the description of the second sensing data in S630, and will not be repeated here.

[0515] S1130, determining, according to the third sensing data and the sensing requirements, that the third sensing data and fourth sensing data need to be fused, wherein the fourth sensing data is from a core network, and the fourth sensing data comprises feature information of the sensing target.

[0516] The fourth sensing data can refer to the description of the first sensing data in S620, and will not be repeated here.

[0517] In this step, the sensing-enabling client can determine, according to the third sensing data and the sensing requirements, that the third sensing data and the fourth sensing data need to be fused, or the sensing-enabling server can determine, according to the third sensing data and the sensing requirements, that the third sensing data and the fourth sensing data need to be fused. The specific determination method can refer to the description in S630, and the difference lies in that the determination is based on N-3GPP data here, and the determination in S630 is based on 3GPP data.

[0518] S1140, acquiring fourth sensing data.

[0519] S1150, acquiring a sensing result of the sensing target, wherein the sensing result is obtained based on the fusion of the third sensing data and the fourth sensing data.

[0520] It should be understood that the method is different from the method shown in FIG. 6 in that, in the method shown in FIG. 6, the perception-enabled client or the perception-enabled server first acquires the 3GPP perception data, and determines whether the 3GPP perception data and the N-3GPP perception data need to be fused according to the 3GPP perception data and the perception requirement. In the method, the perception-enabled client or the perception-enabled server first acquires the N-3GPP perception data, and determines whether the 3GPP perception data and the N-3GPP perception data need to be fused according to the N-3GPP perception data and the perception requirement. Therefore, the related steps can be referred to the description in FIG. 6, which will not be described herein.

[0521] In the method, it is first determined whether the perception requirement is met according to the N-3GPP data, and in the case that the N-3GPP data meets the perception requirement, the 3GPP perception data does not need to be called in the perception process, which further reduces the overhead and reduces the perception delay.

[0522] The following gives some examples of specific implementation processes.

[0523] Implementation 5: The work of determining whether to call the 3GPP perception data is completed by the perception-enabled client, and the fusion of the perception data can be completed by the perception-enabled server.

[0524] As shown in FIG. 12, the following steps are included:

[0525] S1210: The N-3GPP device sends the information of the N-3GPP device and the corresponding capability information of the N-3GPP device to the perception-enabled client, and correspondingly, the perception-enabled client receives the information of the N-3GPP device and the corresponding capability information.

[0526] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the perception range (including horizontal range / angle, vertical range / angle), perception position information, perception accuracy information, and perception resolution of the N-3GPP.

[0527] It should be understood that the perception-enabled client can be preconfigured with the correspondence between the N-3GPP device and the perception capability, such as the correspondence between the identifier of the N-3GPP device and the perception capability, so that in S1210, the N-3GPP device can send the identifier information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the perception capability, which can save the overhead. Specifically, it can be referred to the description of the perception-enabled client being preconfigured with the correspondence between the N-3GPP device and the perception capability in S630.

[0528] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S1210. Alternatively, the perception-enabled client preconfigures the capability information of at least one first device (namely, the N-3GPP device). Specifically, reference can be made to the description in S630 about the way in which the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0529] Alternatively, the perception-enabled client can preconfigure all the information in S1210, and in this implementation, S1210 does not need to be performed.

[0530] S1220, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0531] The request message can carry the identification information of the perception-enabled client and the like.

[0532] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, and specific reference can be made to the description in S820.

[0533] In implementation 2, the request message carries the ID of the perception-enabled client and the N-3GPP capability corresponding to the perception-enabled client. It should be noted that the N-3GPP capability corresponding to the perception-enabled client is the N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on the perception capability information reported by the multiple N-3GPP devices corresponding to the perception-enabled client.

[0534] S1230, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0535] The registration request response message indicates success or failure of registration.

[0536] It should be noted that the information in S1220 and S1230 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability corresponding to the perception-enabled client and the like are not bound to the registration request message.

[0537] S1210-S1230 are optional steps, and the perception-enabled server can obtain the N-3GPP capability corresponding to the perception-enabled client through preconfiguration, and at this time, S1210-S1230 do not need to be performed.

[0538] S1240, the perception enabled client receives the request message 1.

[0539] The request message 1 is used to request a perception service.

[0540] Specifically, it can be a request for obstacle positioning and the like function, and the request message 1 can carry a requested perception area, a perception requirement (such as one or more of a perception accuracy, a perception time delay, a perception resolution, and the like). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0541] This step is optional.

[0542] Specifically, this step can refer to the description of the way in which the perception enabled client obtains the request message, and the perception enabled client can obtain the perception request message from the AC or from the perception enabled server, such as the examples 1 or 2 in S610, which will not be repeated here. The present application does not limit the way in which the perception enabled client receives the request message, as long as the perception enabled client can obtain the request message and complete the start (or trigger) of the perception process.

[0543] S1250, the perception enabled client determines the called N-3GPP device according to the capability of the N-3GPP device.

[0544] Optionally, the perception enabled client can further determine the identity of the called N-3GPP device according to the capability (such as the perception range) of the N-3GPP device, and determine whether the N-3GPP device needs to adjust the angle and / or position.

[0545] For example, when the perception enabled client associates an N-3GPP device, the perception enabled client can determine the position of the obstacle or the blind area according to the perception data A, determine whether the device needs to be called, further determine whether the N-3GPP device needs to adjust the angle and / or position, and further determine the angle and position that need to be adjusted if needed. When the perception enabled client associates multiple N-3GPP devices, the identity of the called N-3GPP device needs to be determined in combination with the capability (such as the perception range) of the N-3GPP device, further determine whether at least one N-3GPP device needs to adjust the angle, further determine the angle / position information of the at least one N-3GPP device that needs to be adjusted, and the like. Specifically, it can refer to the description in S630, which will not be repeated here.

[0546] S1260, the perception enabled client sends an indication information 1 to the N-3GPP device, and correspondingly, the N-3GPP device receives the indication information 1.

[0547] The indication information 1 indicates the N-3GPP device to obtain the N-3GPP awareness data, and optionally indicates whether to adjust the angle, position, etc. of the N-3GPP device. For example, the indication information 1 can include the angle and / or position information that the N-3GPP device needs to adjust.

[0548] Corresponding to S1250, the indication information 1 can be sent to one N-3GPP device, or can be sent to multiple N-3GPP devices associated with the awareness-enabled client respectively.

[0549] Specifically, the indication information 1 can refer to the description of the first indication information in S630, and the N-3GPP device can refer to the description of the first device in FIG. 6, and can refer to the way in which the awareness-enabled client sends the indication information to the first device in S620. Details are omitted here.

[0550] It should be understood that the determination of the first device can also be performed by the awareness-enabled server. For example, the awareness-enabled server directly determines which N-3GPP device is the first device. Specifically, the sending manner of the indication information, the content of the indication information, and the determination manner of the N-3GPP device can refer to the description of S880-S8100.

[0551] S1270, the awareness-enabled client receives the awareness data 1.

[0552] The awareness data 1 is N-3GPP awareness data of a specified range, angle, or position. The awareness data 1 is an example of the third awareness data. Optionally, the N-3GPP device can adjust the angle and / or position, etc. of the N-3GPP device according to the indication information 1, so as to obtain the N-3GPP awareness data of the specified range, angle, or position of the awareness-enabled client.

[0553] It should be noted that the awareness-enabled client can obtain the second awareness data from the first device or multiple first devices. Details can refer to the description of the way in which the awareness-enabled client obtains the second awareness data in S640. Optionally, when the awareness-enabled client obtains the awareness data from multiple N-3GPP devices, the awareness-enabled client can process (data fusion, deduplication, etc.) the above awareness data to obtain processed awareness data.

[0554] S1280, the awareness-enabled client determines according to the awareness data 1 and the awareness requirement that the awareness data 1 and the 3GPP awareness data need to be fused.

[0555] That is, the awareness-enabled client determines to call (or obtain) the 3GPP awareness data. For example, the awareness-enabled client determines to obtain the 3GPP data when it judges that the awareness data 1 does not meet the awareness requirement. Details can refer to the description in S630.

[0556] S1290, the perception-enabling server receives the request message 1.

[0557] The request message 1 is used to request the perception service.

[0558] For example, the obstacle positioning function can be requested, and the requested perception area and the perception requirement (e.g., one or more of the perception accuracy, the perception time delay, the perception resolution, etc.) can be carried in the request message 1. Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0559] Optionally, the perception data 1 can also be included in the request message 1. It should be understood that the perception-enabling client can send the perception data 1 to the perception-enabling server in the request message 1, or can send the perception data 1 and the request message 1 separately. Alternatively, the perception-enabling client can send the perception data 1, and the perception-enabling server can understand the behavior of sending the perception data 1 as needing to fuse the perception data 1 with the 3GPP data. That is, the perception-enabling client can implicitly indicate the perception-enabling server to fuse the perception data 1 with the 3GPP data by sending the perception data 1.

[0560] This step is optional.

[0561] The present application does not limit the way in which the perception-enabling server receives the request message, as long as the perception-enabling server can obtain the request message and complete the start (or trigger) of the perception process.

[0562] That is, the perception-enabling client sends the request received from the AC to the perception-enabling server. For details, reference can be made to the description of example 4 in S610. It should also be understood that the perception-enabling server can also obtain the perception request message from the AS. For details, reference can be made to the description of example 3 in S610.

[0563] S12100, the perception-enabling server sends a request message 2 to the SF, and correspondingly, the SF receives the request message 2.

[0564] The request message 2 is used to request the perception service.

[0565] For example, the obstacle positioning function can be requested, and the requested perception area and the perception requirement (e.g., one or more of the perception accuracy, the perception time delay, the perception resolution, etc.) can be carried in the request message 2. Specifically, the perception requirement can refer to the description of the request message in S610, and will not be repeated here.

[0566] Specifically, the perception-enabling server can send the request message 2 to the SF through the NEF.

[0567] It should be understood that S1210 can also be described as: the perception enabling server sends a request message 2A to the NEF, the message 2A is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the NEF sends a request message 2B to the SF, the message 2B is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the information carried in the request message 2A and the request message 2B can be the same or different, which is not limited in the present application.

[0568] S12110, the perception enabling server receives perception data 2.

[0569] The perception data 2 can indicate position information (such as whether there is an object at the position), and can also indicate the shape, size, etc. of the perception target. The perception data 2 is an example of the fourth perception data. Specifically, the perception data 2 can refer to the description of the first perception data in S620.

[0570] The perception enabling server can obtain the perception data in the following ways: from the SF, from the perception enabling client, or from the AS / VAL server. Specifically, the description of the different ways in which the perception enabling server obtains the first perception data in S620 can be referred to. Alternatively, the description in S780 can be referred to.

[0571] S12120, the perception enabling server determines a perception result.

[0572] For example, the perception enabling server fuses the perception data 1 and the perception data 2. Specifically, the data fusion can refer to the description in S650, which is not repeated. For example, the perception enabling server can also fuse the perception data 1 and the perception data 2, or the SF can fuse the perception data 1 and the perception data 2 to obtain the perception result.

[0573] S12130, optionally, the perception enabling server sends a perception result.

[0574] The sharing of the perception result is not limited in the present application. For example, the perception result can be sent to any device that needs the perception result. For example, the perception enabling server sends the perception result to the perception enabling client. The perception enabling client can also send the perception result to the AC, and correspondingly, the AC receives the perception result. For example, the perception enabling server can send the above information to the AS optionally. When the perception request in S1290 is triggered by the AS, the perception result can be sent to the AS.

[0575] In this implementation, the perception enabling server fuses the 3GPP perception data and the N-3GPP perception data, and finally provides the perception result to the AC, so as to provide the AC with more accurate and higher-precision perception data.

[0576] Implementation 6: The determination of whether to invoke the 3GPP perception data is completed by the perception enabling client, and the fusion of the perception data can be completed by the SF.

[0577] As shown in FIG. 13, this implementation includes the following steps:

[0578] S1310: The N-3GPP device sends, to the perception enabling client, the information of the N-3GPP device of the N-3GPP device and the corresponding capability information, and correspondingly, the perception enabling client receives the information of the N-3GPP device and the corresponding capability information.

[0579] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the perception range (including horizontal range / angle, vertical range / angle) of the N-3GPP, the perception location information, the perception precision information, and the perception resolution.

[0580] It should be understood that the perception enabling client can preconfigure the correspondence between the N-3GPP device and the perception capability, such as the correspondence between the identifier of the N-3GPP device and the perception capability, so that in S1310, the N-3GPP device can send the identifier information to the perception enabling client, and the perception enabling client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the perception capability, which can save the overhead. For details, reference can be made to the description in S630 about the correspondence between the N-3GPP device and the perception capability preconfigured by the perception enabling client.

[0581] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S1310. Alternatively, the perception enabling client preconfigures the capability information of at least one first device (i.e., N-3GPP device). For details, reference can be made to the description in S630 about the manner in which the perception enabling client obtains the device perception capability when there are multiple N-3GPP devices.

[0582] Alternatively, the perception enabling client can preconfigure all the information in S1310, in which case S1310 need not be performed.

[0583] S1320: The perception enabling client sends, to the perception enabling server, a registration request message, and correspondingly, the perception enabling server receives the registration request message.

[0584] The request message can carry identification information of the perception-enabled client and the like.

[0585] In implementation 1, the registration request message carries at least one ID of an N-3GPP device and capability information of the corresponding N-3GPP device. For details, refer to the description in S710.

[0586] In implementation 2, the request message carries a perception-enabled client ID and N-3GPP capability of the perception-enabled client. It should be noted that the N-3GPP capability of the perception-enabled client is determined by the perception-enabled client based on perception capability information reported by multiple N-3GPP devices associated with the perception-enabled client.

[0587] S1330, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0588] The registration request response message indicates success or failure of the registration.

[0589] It should be noted that the information in S1320 and S1330 can be carried in other messages, and the message name is not limited. That is, the at least one ID of the N-3GPP device and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability of the perception-enabled client, and the like are not bound to the registration request message.

[0590] S1310-S1330 are optional steps. The perception-enabled server can obtain the N-3GPP capability of the perception-enabled client through pre-configuration, and S1310-S1330 do not need to be performed at this time.

[0591] S1340, the perception-enabled client receives a request message 2.

[0592] The request message 2 is used to request a perception service.

[0593] Specifically, it can be a request for obstacle positioning and the like. The request message 2 can carry a requested perception area, perception requirements (for example, one or more of perception accuracy, perception time delay, and perception resolution), and the like. For details, refer to the description in S610, which will not be repeated.

[0594] This step is optional.

[0595] Specifically, the step can refer to the description of the way in which the perception-enabled client obtains the request message in the foregoing. The perception-enabled client can obtain the perception request message from the AC or from the perception-enabled server, such as the example 1 or the example 2 in S610, and will not be described in detail herein. The application does not limit the way in which the perception-enabled client receives the request message, as long as the perception-enabled client can obtain the request message and complete the starting (or triggering) of the perception process.

[0596] S1350, the perception-enabled client determines the called N-3GPP device according to the capability of the N-3GPP device.

[0597] Optionally, the perception-enabled client can further determine the identifier of the called N-3GPP device according to the capability (such as the perception range) of the N-3GPP device, and determine whether the N-3GPP device needs to adjust the angle and / or the position.

[0598] S1360, the perception-enabled client sends indication information 2 to the N-3GPP device, and correspondingly, the N-3GPP device receives the indication information 2.

[0599] The indication information 2 is an example of the first indication information in S630, and the N-3GPP device is an example of the first device.

[0600] The indication information 2 indicates that the N-3GPP device obtains the perception data, and optionally indicates whether to adjust the angle, the position, and the like of the N-3GPP device. For example, the indication information 2 can include information such as the angle and / or the position that the N-3GPP device needs to adjust. Optionally, the N-3GPP device can adjust the angle and / or the position of the N-3GPP device according to the indication information 2, so as to obtain the N-3GPP perception data in the range, angle, or position specified by the perception-enabled client. The way in which the perception-enabled client sends the indication information to the first device can be referred to S620.

[0601] It should be understood that the determination of the first device can also be performed by the perception-enabled server. For example, the perception-enabled server directly determines which N-3GPP device is the first device. Specifically, the sending manner of the indication information, the content of the indication information, and the determination manner of the N-3GPP device can be referred to the description of S880-S8100. The perception-enabled client can be associated with one N-3GPP device or multiple N-3GPP devices, and the specific determination manner of the N-3GPP device can be referred to the description of S7100.

[0602] S1370, the perception-enabled client receives the perception data 3.

[0603] The perception data 3 is N-3GPP perception data of a specified range, angle, or location. The perception data 3 is an example of the third perception data.

[0604] It should be noted that the perception-enabled client can obtain the second perception data from the first device or multiple first devices, and details can be referred to the description of the manner in which the perception-enabled client obtains the second perception data in S640. Optionally, when the perception-enabled client obtains the perception data from multiple N-3GPP devices, the perception-enabled client can process (data fusion, deduplication, etc.) the perception data to obtain processed perception data.

[0605] S1380, the perception-enabled client determines, according to the perception data 3 and the perception requirement, that the perception data 3 and the 3GPP perception data need to be fused.

[0606] That is, the perception-enabled client determines that the 3GPP perception data needs to be called (or obtained). For example, the perception-enabled client determines to obtain the 3GPP data because the perception data 3 does not meet the perception requirement. Details can be referred to the description in S630.

[0607] S1390, the perception-enabled server receives the request message 3.

[0608] The request message 3 is used to request a perception service.

[0609] For example, the request message 3 can request an obstacle positioning function, and can carry a requested perception area and a perception requirement (e.g., one or more of perception accuracy, perception latency, perception resolution, etc.) in the request message 3.

[0610] This step is optional.

[0611] The application does not limit the manner in which the perception-enabled server receives the request message, as long as the perception-enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0612] That is, the perception-enabled client sends the request received from the AC to the perception-enabled server. Details can be referred to the description of Example 4 in S610. It should also be understood that the perception-enabled server can also obtain the perception request message from the AS, and details can be referred to the description of Example 3 in S610.

[0613] S13100, the perception-enabled server sends a request message 4 to the SF, and correspondingly, the SF receives the request message 4.

[0614] The request message 4 is used to request a perception service.

[0615] For example, the obstacle positioning function can be requested, and the request message 4 can carry the requested perception area, the perception requirement (e.g., one or more of the perception accuracy, the perception time delay, the perception resolution, etc.). Specifically, the perception requirement can refer to the description in S610, and will not be repeated here.

[0616] Specifically, the perception enabling server can send the request message 4 to the SF through the NEF.

[0617] It should be understood that S13100 can also be described as: the perception enabling server sends the request message 4A to the NEF, the message 4A is used to request the perception service, the request message can carry the requested perception area, the perception requirement (e.g., one or more of the perception accuracy, the perception time delay, the perception resolution, etc.), the NEF sends the request message 4B to the SF, the message 4B is used to request the perception service, the request message can carry the requested perception area, the perception requirement (e.g., one or more of the perception accuracy, the perception time delay, the perception resolution, etc.), the information carried in the request message 4A and the request message 4B can be the same or different, which is not limited in the present application.

[0618] Optionally, the request message 4 can also include the perception data 3. It should be understood that the perception enabling client can send the perception data 3 to the SF in the request message 4, or can send the perception data 3 and the request message 4 separately. Alternatively, the perception enabling client can send the perception data 3, and the SF can understand the behavior of sending the perception data 3 as needing to fuse the perception data 3 with the 3GPP data. That is, the perception enabling client can implicitly indicate the SF to fuse the perception data 3 with the 3GPP data by sending the perception data 3.

[0619] S13110, the SF determines the perception result.

[0620] For example, the SF fuses the perception data 3 and the perception data 4. Specifically, the data fusion can refer to the description in S650, and will not be repeated here. The perception data 4 is an example of the fourth perception data. Specifically, the perception data 4 can refer to the description of the first perception data in S620. The perception data 4 can be obtained by the SF itself. Specifically, the data fusion can refer to the description in S650, and will not be repeated here. For example, the perception enabling server can also fuse the perception data 3 and the perception data 4, or the perception enabling client can fuse the perception data 3 and the perception data 4 to obtain the perception result.

[0621] S13120, optionally, the SF sends the perception result.

[0622] For example, the SF sends the sensing result to the perception enabler server through the NEF. The SF can also directly send the sensing result to the perception enabler server. It should be understood that the sharing of the sensing result is not limited in the present application. For example, the perception enabler server can also send the sensing result to the perception enabler client, and correspondingly, the perception enabler client receives the sensing result. Or the perception enabler server sends the sensing result to the AC. Optionally, the perception enabler server sends the above information to the AS after obtaining the information. When the sensing request in S1390 is triggered by the AS, the sensing result can be sent to the AS.

[0623] The present application is not limited thereto. For example, the sensing result can be sent to any device that needs the sensing result.

[0624] In this implementation, the SF fuses the 3GPP sensing data and the N-3GPP sensing data, and then provides the sensing result to the AC, so that the sensing data obtained by the AC is more accurate and more accurate.

[0625] Implementation 7: The work of determining whether the N-3GPP sensing data meets the sensing requirement is completed by the AC, the work of determining whether to call 3GPP is completed by the perception enabler client, and the fusion of the sensing data can be completed by the SF.

[0626] As shown in FIG. 14, the implementation includes the following steps:

[0627] S1410, the N-3GPP device sends the information of the N-3GPP device and the corresponding capability information of the N-3GPP device to the perception enabler client, and correspondingly, the perception enabler client receives the information of the N-3GPP device and the corresponding capability information.

[0628] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the sensing range (including horizontal range / angle, vertical range / angle) of the N-3GPP, sensing position information, sensing accuracy information, sensing resolution, etc.

[0629] It should be understood that the perception enabler client can pre-configure the correspondence between the N-3GPP device and the sensing capability, such as the correspondence between the identifier of the N-3GPP device and the sensing capability, so that in S1410, the N-3GPP device can send the identifier information to the perception enabler client, and the perception enabler client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the sensing capability, which can save overhead. For details, reference can be made to the description of the correspondence between the N-3GPP device and the sensing capability that can be pre-configured by the perception enabler client in S630.

[0630] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S1410. Alternatively, the perception-enabled client preconfigures the capability information of at least one first device (namely, the N-3GPP device). Specifically, reference can be made to the description in S630 about the way in which the perception-enabled client obtains the device perception capability when there are multiple N-3GPP devices.

[0631] Alternatively, the perception-enabled client can preconfigure all the information in S1410, and in this implementation, S1410 does not need to be performed.

[0632] S1420, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0633] The request message can carry the identification information of the perception-enabled client and the like.

[0634] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, and specific reference can be made to the description in S710.

[0635] In implementation 2, the request message carries the ID of the perception-enabled client and the N-3GPP capability corresponding to the perception-enabled client. It should be noted that the N-3GPP capability corresponding to the perception-enabled client is the N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on the perception capability information reported by the multiple N-3GPP devices corresponding to the perception-enabled client.

[0636] S1430, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0637] The registration request response message indicates success or failure of registration.

[0638] It should be noted that the information in S1420 and S1430 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability corresponding to the perception-enabled client and the like are not bound to the registration request message.

[0639] S1410-S1430 are optional steps, and the perception-enabled server can obtain the N-3GPP capability corresponding to the perception-enabled client through preconfiguration, and at this time, S1410-S1430 do not need to be performed.

[0640] S1440, the perception enabled client receives the request message 5.

[0641] The request message 5 is used to request a perception service.

[0642] Specifically, it can be a request for obstacle positioning and the like function, and the request message 5 can carry a requested perception area, a perception requirement (such as one or more of perception accuracy, perception time delay, perception resolution, etc.). Specifically, the perception requirement can refer to the description in S610, which will not be repeated.

[0643] This step is optional.

[0644] Specifically, this step can refer to the description of the way in which the perception enabled client obtains the request message. The perception enabled client can obtain the perception request message from the AC, or can obtain the perception request message from the perception enabled server, such as the examples 1 or 2 in S610, which will not be repeated. The present application does not limit the way in which the perception enabled client receives the request message, as long as the perception enabled client can obtain the request message and complete the start (or trigger) of the perception process.

[0645] S1450, the perception enabled client determines the called N-3GPP device according to the capability of the N-3GPP device.

[0646] Optionally, the perception enabled client can further determine the identity of the called N-3GPP device according to the capability (such as the perception range) of the N-3GPP device, and determine whether the N-3GPP device needs to adjust the angle and / or position.

[0647] S1460, the perception enabled client sends indication information 4 to the N-3GPP device, and correspondingly, the N-3GPP device receives the indication information 4.

[0648] The indication information 4 is an example of the first indication information in S630, and the N-3GPP device is an example of the first device.

[0649] The indication information 4 indicates that the N-3GPP device obtains perception data, and optionally indicates whether to adjust the angle, position, etc. of the N-3GPP device. The way in which the perception enabled client sends the indication information to the first device can be referred to in S620.

[0650] It should be understood that the determination of the first device can also be performed by the perception enabled server. For example, the perception enabled server directly determines which N-3GPP device is the first device. Specifically, the sending manner of the indication information, the content of the indication information, and the determination manner of the N-3GPP device can refer to the description of S880-S8100.

[0651] S1470, the perception enabled client receives the perception data 5.

[0652] The perception data 5 is N-3GPP perception data of a specified range, angle or location. The perception data 5 is an example of the third perception data.

[0653] It should be noted that the perception enabled client can obtain the second perception data from the first device or multiple first devices. For details, refer to the description of the manner in which the perception enabled client obtains the second perception data in S640. Optionally, after the perception enabled client obtains the perception data from multiple N-3GPP devices, the perception enabled client can process the perception data (data fusion, deduplication, etc.) to obtain processed perception data.

[0654] S1480, the perception enabled client sends the perception data 5 to the AC, and correspondingly, the AC receives the perception data 5.

[0655] It should be understood that the perception enabled client can send the perception data 5 to the AC, or send data obtained after processing the perception data 5 to the AC.

[0656] S1490, the AC sends the indication information 5 to the perception enabled client, and correspondingly, the perception enabled client receives the indication information 5.

[0657] The indication information 5 indicates whether the current perception data 5 meets the perception requirement.

[0658] When the perception data 5 does not meet the perception requirement, S14100, the perception enabled client determines that the perception data 5 and the 3GPP perception data need to be fused.

[0659] That is, the perception enabled client determines that the 3GPP perception data needs to be called (or obtained).

[0660] S14100, the perception enabled server receives the request message 6.

[0661] The request message 6 is used to request a perception service.

[0662] For example, an obstacle positioning function can be requested. The request message 6 can carry a requested perception area and a perception requirement (e.g., one or more of perception accuracy, perception latency, perception resolution, etc.). For details, refer to the description in S610, which will not be repeated here.

[0663] This step is optional.

[0664] The present application does not limit the manner in which the perception enabled server receives the request message. As long as the perception enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0665] That is, the perception-enabled client sends the received request of the AC to the perception-enabled server again. Please refer to the description of example 4 in S610. It should also be understood that the perception-enabled server can also obtain the perception request message from the AS. Please refer to the description of example 3 in S610.

[0666] S14110, the perception-enabled server sends a request message 7 to the SF, and the SF receives the request message 7.

[0667] The request message 7 is used to request a perception service.

[0668] For example, an obstacle positioning function can be requested, and the request message 7 can carry a requested perception area, a perception requirement (for example, one or more of perception accuracy, perception time delay, perception resolution, etc.). Please refer to the description in S610 for the perception requirement, which will not be described here.

[0669] Specifically, the perception-enabled server can send the request message 7 to the SF through the NEF.

[0670] It should be understood that S14110 can also be described as: the perception-enabled server sends a request message 7A to the NEF, the message 7A is used to request a perception service, and the request message can carry a requested perception area, a perception requirement (for example, one or more of perception accuracy, perception time delay, perception resolution, etc.), the NEF sends a request message 7B to the SF, the message 7B is used to request a perception service, and the request message can carry a requested perception area, a perception requirement (for example, one or more of perception accuracy, perception time delay, perception resolution, etc.), the information carried in the request message 7A and the request message 7B can be the same or different, which is not limited in the present application.

[0671] Optionally, the request message 7 can also include the perception data 5. It should be understood that the perception-enabled client can carry the perception data 5 in the request message 7 and send it to the SF, or the perception data 5 and the request message 7 can be sent separately. Alternatively, the perception-enabled client can send the perception data 3, and the SF can understand the behavior of sending the perception data 5 as needing to fuse the perception data 5 with the 3GPP data. That is, the perception-enabled client can implicitly indicate the SF to fuse the perception data 5 with the 3GPP data by sending the perception data 5.

[0672] S14120, the SF determines a perception result.

[0673] For example, the SF fuses the perception data 5 and the perception data 6. Specifically, the data fusion can refer to the description in S650, and is not described herein again. The perception data 6 is an example of the fourth perception data. Specifically, the perception data 4 can refer to the description of the first perception data in S620. The perception data 6 can be acquired by the SF itself. Specifically, the data fusion can refer to the description in S650, and is not described herein again. For example, the perception data 5 and the perception data 6 can be fused by the perception enabler server, or can be fused by the perception enabler client, to obtain the perception result.

[0674] S14130, optionally, the SF sends the perception result.

[0675] For example, the SF sends the perception result to the perception enabler server through the NEF. The SF can also directly send the perception result to the perception enabler server. It should be understood that the sharing of the perception result is not limited in the present application. For example, the perception enabler server can also send the perception result to the perception enabler client, and correspondingly, the perception enabler client receives the perception result. Optionally, the perception enabler client can also send the perception result to the AC, and correspondingly, the AC receives the perception result. The AC calculates the final perception result according to the perception result. Optionally, the perception enabler server can also send the above information to the AS.

[0676] In this implementation, the application can determine whether to call the 3GPP perception data or the N-3GPP perception data according to its own perception requirement, so as to further improve the accuracy of the perception result.

[0677] It should be understood that the perception enabler client can also send the perception result to other network elements or devices, for example, the perception enabler client sends the perception result to the AS. The present application is not limited thereto, for example, the perception result can be sent to any device that needs the perception result.

[0678] Implementation 8: The work of determining whether to call the 3GPP perception data is completed by the perception enabler server, and the fusion of the perception data can be completed by the SF.

[0679] As shown in FIG. 15, the implementation includes the following steps:

[0680] S1510, the N-3GPP device sends the information of the N-3GPP device and the corresponding capability information of the N-3GPP device to the perception enabler client, and correspondingly, the perception enabler client receives the information of the N-3GPP device and the corresponding capability information.

[0681] The information of the N-3GPP device includes an identifier (such as an ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the following: a sensing range (including a horizontal range / angle, a vertical range / angle) of the N-3GPP device, sensing position information, sensing accuracy information, and sensing resolution.

[0682] It should be understood that the perception-enabled client can preconfigure a correspondence between the N-3GPP device and the sensing capability, such as a correspondence between the identifier of the N-3GPP device and the sensing capability, so that in S1510, the N-3GPP device can send the identifier information to the perception-enabled client, and the perception-enabled client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the sensing capability, which can save overhead. For details, refer to the description of S630 regarding the perception-enabled client preconfiguring the correspondence between the N-3GPP device and the sensing capability.

[0683] It should be noted that when there are multiple first devices, each of the multiple first devices can perform S1510. Alternatively, the perception-enabled client preconfigures the capability information of at least one first device (i.e., the N-3GPP device). For details, refer to the description of S630 regarding the manner in which the perception-enabled client obtains the device sensing capability when there are multiple N-3GPP devices.

[0684] Alternatively, the perception-enabled client can preconfigure all the information in S1510, and in this implementation, S1510 does not need to be performed.

[0685] S1520, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0686] The request message can carry identifier information of the perception-enabled client and the like.

[0687] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device. For details, refer to the description in S710.

[0688] In implementation 2, the request message carries the ID of the perception-enabled client and the N-3GPP capability corresponding to the perception-enabled client. It should be noted that the N-3GPP capability corresponding to the perception-enabled client is the N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on the sensing capability information reported by the multiple N-3GPP devices corresponding to the perception-enabled client.

[0689] S1530, the perception enabling server sends a registration request response message to the perception enabling client, and correspondingly, the perception enabling client receives the registration request response message.

[0690] The registration request response message indicates registration success or failure.

[0691] It should be noted that the information in S1520 and S1530 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device, and the capability information of the corresponding N-3GPP device, or the ID of the perception enabling client, or the N-3GPP capability corresponding to the perception enabling client, etc. are not bound to the registration request message.

[0692] S1510-S1530 are optional steps, and the perception enabling server can obtain the capability of the N-3GPP corresponding to the perception enabling client through pre-configuration, at which time S1510-S1530 do not need to be performed.

[0693] S1540, the perception enabling client receives a request message 8.

[0694] The request message 8 is used to request a perception service.

[0695] Specifically, it can be a request for obstacle positioning and the like, and the request message 8 can carry a requested perception area, a perception requirement (such as one or more of perception accuracy, perception delay, and perception resolution). Specifically, the perception requirement can refer to the description in S610, which will not be repeated.

[0696] This step is optional.

[0697] Specifically, this step can refer to the description of the way in which the perception enabling client obtains the request message in the foregoing, and the perception enabling client can obtain the perception request message from the AC or the perception enabling server, such as the example 1 or the example 2 in S610, which will not be repeated. The present application does not limit the way in which the perception enabling client receives the request message, as long as the perception enabling client can obtain the request message and complete the start (or trigger) of the perception process.

[0698] S1550, the perception enabling server sends an indication information 6 to the perception enabling client, and correspondingly, the perception enabling client receives the indication information 6.

[0699] The indication information 6 indicates that the perception enabling client obtains N-3GPP perception data. Optionally, it can indicate whether to adjust the identity, angle, position, etc. of the N-3GPP device.

[0700] S1560, the perception enabled client sends indication information 7 to the N-3GPP device, and the N-3GPP device receives the indication information 7.

[0701] The indication information 7 is an example of the first indication information in S630, and the N-3GPP device is an example of the first device.

[0702] The indication information 7 indicates that the N-3GPP device obtains the perception data, and optionally indicates whether to adjust the angle, position, etc. of the N-3GPP device. For details, refer to the manner in which the perception enabled client sends the indication information to the first device in S620.

[0703] It should be understood that the determination of the first device can also be performed by the perception enabled server. For example, the perception enabled server directly determines which N-3GPP device the first device is. For details, refer to the descriptions of S880-S8100 regarding the sending manner of the indication information, the content of the indication information, and the determination manner of the N-3GPP device. The perception enabled client can be associated with one N-3GPP device or multiple N-3GPP devices. For details, refer to the descriptions in S7100.

[0704] S1570, the perception enabled client receives the perception data 7.

[0705] The perception data 7 is N-3GPP perception data of a specified range, angle, or position. The perception data 7 is an example of the third perception data. Optionally, the N-3GPP device can adjust the angle and / or position, etc. of the N-3GPP device according to the indication information 7, so as to obtain the N-3GPP perception data of the range, angle, or position specified by the perception enabled client.

[0706] It should be noted that the perception enabled client can obtain the second perception data from the first device or multiple first devices. For details, refer to the descriptions of the manner in which the perception enabled client obtains the second perception data in S640. Optionally, after the perception enabled client obtains the perception data from multiple N-3GPP devices, the perception enabled client can process the perception data (data fusion, deduplication, etc.) to obtain processed perception data.

[0707] S1580, the perception enabled client sends the perception data 7 to the perception enabled server, and the perception enabled server receives the perception data 7.

[0708] The perception enabled client can directly send the perception data 7 to the perception enabled server, or send the processed perception data 7 to the perception enabled server.

[0709] The perception-enabling server can acquire the second perception data from multiple perception-enabling clients, or acquire the second perception data of multiple devices from one perception-enabling client. For details, refer to the description of the manner in which the perception-enabling server acquires the second perception data in S640.

[0710] In S1590, the perception-enabling server determines, according to the perception data 7 and the perception requirement, that the perception data 7 and the 3GPP perception data need to be fused.

[0711] That is, the perception-enabling client determines that the 3GPP perception data needs to be invoked (or acquired). For example, the perception-enabling client determines to acquire the 3GPP data, because the perception data 3 does not meet the perception requirement. For details, refer to the description in S630.

[0712] In S15100, the perception-enabling server sends a request message 9 to the SF, and correspondingly, the SF receives the request message 9.

[0713] The request message 9 is used to request a perception service.

[0714] For example, the request message 9 can request an obstacle positioning function, and can carry a requested perception area and a perception requirement (for example, one or more of perception accuracy, perception time delay, and perception resolution) in the request message 9. For details, refer to the description of the perception requirement in S610, which will not be repeated here.

[0715] In this application, the manner in which the perception-enabling server receives the request message is not limited, as long as the perception-enabling server can acquire the request message and complete the start (or triggering) of the perception process.

[0716] That is, the perception-enabling client sends the received request of the AC to the perception-enabling server again. For details, refer to the description of example 4 in S610. It should also be understood that the perception-enabling server can also acquire the perception request message from the AS. For details, refer to the description of example 3 in S610.

[0717] Specifically, the perception-enabling server can send the request message 9 to the SF through the NEF.

[0718] It should be understood that S15100 can also be described as: the perception enabling server sends a request message 9A to the NEF, the message 9A is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the NEF sends a request message 9B to the SF, the message 9B is used to request a perception service, the request message can carry a requested perception area, one or more of perception requirements (such as perception accuracy, perception latency, perception resolution, etc.), the information carried in the request message 9A and the request message 9B can be the same or different, which is not limited in the present application.

[0719] Optionally, the request message 9 can also include the perception data 7. It should be understood that the perception enabling client can carry the perception data 7 in the request message 9 and send it to the SF, or can send the perception data 7 and the request message 9 separately. Alternatively, the perception enabling client can send the perception data 7, and the SF can understand the behavior of sending the perception data 7 as needing to fuse the perception data 7 with the 3GPP data. That is, the perception enabling client can implicitly indicate the SF to fuse the perception data 7 with the 3GPP data by sending the perception data 7.

[0720] S15110, the SF determines the perception result.

[0721] For example, the SF fuses the perception data 7 and the perception data 8. Specifically, the data fusion can refer to the description in S650, which is not repeated. The perception data 8 is an example of the fourth perception data. The perception data 8 can refer to the description of the first perception data in S620. The perception data 8 can be obtained by the SF itself. Specifically, the data fusion can refer to the description in S650, which is not repeated. For example, the perception enabling server can also fuse the perception data 7 and the perception data 8, or the perception enabling client can fuse the perception data 7 and the perception data 8 to obtain the perception result.

[0722] S15120, optionally, the SF sends the perception result.

[0723] For example, the SF sends the perception result to the perception enabling server through the NEF. The SF can also directly send the perception result to the perception enabling server. It should be understood that the sharing of the perception result is not limited in the present application. The perception enabling server can also send the perception result to the perception enabling client. The present application is not limited to this, for example, the perception result can be sent to any device that needs the perception result. Optionally, the perception enabling server can send the above information to the AS after obtaining it. When the perception request in S1540 is AC triggered, the perception result can be sent to the AC.

[0724] In this implementation, the SF fuses the 3GPP awareness data and the N-3GPP awareness data, and provides the awareness result to the AS, so as to provide the AS with more accurate and higher-precision awareness data.

[0725] It should be understood that the awareness-enabling server can also send the awareness result to other network elements or devices, for example, the awareness-enabling server sends the awareness result to the awareness-enabling client. The present application is not limited thereto, for example, the awareness result can be sent to any device that needs the awareness result.

[0726] Implementation 9: The determination of whether to invoke the 3GPP awareness data is completed by the awareness-enabling server, and the fusion of the awareness data can be completed by the AS.

[0727] As shown in FIG. 16, this implementation includes the following steps:

[0728] S1610: The N-3GPP device sends the information of the N-3GPP device and the corresponding capability information of the N-3GPP device to the awareness-enabling client, and correspondingly, the awareness-enabling client receives the information of the N-3GPP device and the corresponding capability information.

[0729] The information of the N-3GPP device includes the identifier (such as ID) and / or address information of the N-3GPP device, and the capability information includes one or more of the awareness range (including horizontal range / angle, vertical range / angle) of the N-3GPP, awareness location information, awareness precision information, and awareness resolution.

[0730] It should be understood that the awareness-enabling client can preconfigure the correspondence between the N-3GPP device and the awareness capability, for example, preconfigure the correspondence between the identifier of the N-3GPP device and the awareness capability, so that in S1610, the N-3GPP device can send the identifier information to the awareness-enabling client, and the awareness-enabling client can determine the capability of the N-3GPP device according to the identifier information and the correspondence between the device identifier and the awareness capability, which can save overhead. For details, reference can be made to the description of the correspondence between the N-3GPP device and the awareness capability that the awareness-enabling client can preconfigure in S630.

[0731] It should be understood that when there are multiple first devices, each of the multiple first devices can perform S1610. Alternatively, the awareness-enabling client preconfigures the capability information of at least one first device (i.e., N-3GPP device). For details, reference can be made to the description of the manner in which the awareness-enabling client acquires the device awareness capability when there are multiple N-3GPP devices in S630.

[0732] Alternatively, the perception-enabled client can pre-configure all the information in S1610, in which implementation, S1610 does not need to be performed.

[0733] S1620, the perception-enabled client sends a registration request message to the perception-enabled server, and correspondingly, the perception-enabled server receives the registration request message.

[0734] The request message can carry the identification information of the perception-enabled client, etc.

[0735] In implementation 1, the registration request message carries the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, for details, refer to the description in S710.

[0736] In implementation 2, the request message carries the ID of the perception-enabled client and the N-3GPP capability corresponding to the perception-enabled client, it is necessary to note that the N-3GPP capability corresponding to the perception-enabled client is the N-3GPP capability information associated with the perception-enabled client determined by the perception-enabled client based on the perception capability information reported by the multiple N-3GPP devices corresponding to the perception-enabled client.

[0737] S1630, the perception-enabled server sends a registration request response message to the perception-enabled client, and correspondingly, the perception-enabled client receives the registration request response message.

[0738] The registration request response message indicates success or failure of registration.

[0739] It is necessary to note that the information in S1620 and S1630 can be carried in other messages, and the message name is not limited. That is, the ID corresponding to at least one N-3GPP device and the capability information of the corresponding N-3GPP device, or the ID of the perception-enabled client, or the N-3GPP capability corresponding to the perception-enabled client, etc. are not bound to the registration request message.

[0740] S1610-S1630 are optional steps, the perception-enabled server can obtain the N-3GPP capability corresponding to the perception-enabled client through pre-configuration, at this time, S1610-S1630 do not need to be performed.

[0741] S1640, the perception-enabled client receives a request message 10.

[0742] The request message 10 is used to request a perception service.

[0743] Specifically, the request message 10 can carry a requested sensing area, sensing requirements (e.g., one or more of sensing accuracy, sensing latency, sensing resolution, etc.). The sensing requirements can refer to the description in S610, and will not be repeated here.

[0744] This step is optional.

[0745] Specifically, the sensing enabled client can obtain the request message from the AC or the sensing enabled server, such as the examples 1 or 2 in S610, and the description will not be repeated here. The application does not limit the way the sensing enabled client receives the request message, as long as the sensing enabled client can obtain the request message and complete the start (or trigger) of the sensing process.

[0746] S1650, the sensing enabled server sends an indication information 8 to the sensing enabled client, and correspondingly, the sensing enabled client receives the indication information 8.

[0747] The indication information 8 indicates that the sensing enabled client obtains N-3GPP sensing data. Optionally, it can indicate whether to adjust the identity, angle, position, etc. of the N-3GPP device.

[0748] S1660, the sensing enabled client sends an indication information 9 to the N-3GPP device, and correspondingly, the N-3GPP device receives the indication information 9.

[0749] The indication information 9 is an example of the first indication information in S630, and the N-3GPP device is an example of the first device.

[0750] The indication information 9 indicates that the N-3GPP device obtains sensing data, and optionally, it can indicate whether to adjust the angle, position, etc. of the N-3GPP device. The way the sensing enabled client sends the indication information to the first device in S620 can be referred to. Optionally, the N-3GPP device can adjust the angle and / or position, etc. of the N-3GPP device according to the indication information 9, so as to obtain the N-3GPP sensing data within the range, angle, or position specified by the sensing enabled client.

[0751] It should be understood that the determination of the first device can also be performed by the perception-enabling server. For example, the perception-enabling server directly determines which N-3GPP device the first device is. Specifically, the sending manner of the indication information, the content of the indication information, and the determination manner of the N-3GPP device can refer to the description of S880-S8100. The perception-enabling client can be associated with one N-3GPP device or multiple N-3GPP devices. Specifically, the manner of determining the N-3GPP device can also refer to the description in S7100.

[0752] S1670, the perception-enabling client receives the perception data 9.

[0753] The perception data 9 is N-3GPP perception data of a specified range, angle, or location. The perception data 7 is an example of the third perception data.

[0754] It should be noted that the perception-enabling client can obtain the second perception data from the first device or multiple first devices. Specifically, the manner of obtaining the second perception data by the perception-enabling client in S640 can be referred to.

[0755] S1680, the perception-enabling client sends the perception data 9 to the perception-enabling server, and correspondingly, the perception-enabling server receives the perception data 9.

[0756] The perception-enabling client can directly send the perception data 9 to the perception-enabling server, or send the processed perception data 9 to the perception-enabling server. The perception-enabling server can obtain the second perception data from multiple perception-enabling clients, or obtain the second perception data of multiple devices from one perception-enabling client. Specifically, the manner of obtaining the second perception data by the perception-enabling server in S640 can be referred to. Optionally, when the perception-enabling client obtains the perception data from multiple N-3GPP devices, the perception-enabling client can process the perception data (data fusion, deduplication, etc.) to obtain the processed perception data.

[0757] S1690, the perception-enabling server determines, according to the perception data 9 and the perception requirement, that the perception data 9 and the 3GPP perception data need to be fused.

[0758] That is, the perception-enabling client determines that the 3GPP perception data needs to be called (or obtained). For example, the perception-enabling client determines to obtain the 3GPP data when it is judged that the perception data 3 does not meet the perception requirement. Specifically, the description in S630 can be referred to.

[0759] S16100, the perception-enabling server sends a request message 11 to the SF, and correspondingly, the SF receives the request message 11.

[0760] The request message 11 is used to request a perception service.

[0761] For example, an obstacle positioning function can be requested, and the request message 11 can carry a requested perception area, a perception requirement (e.g., one or more of a perception accuracy, a perception latency, a perception resolution, etc.). Specifically, the perception requirement can refer to the description in S610, and will not be described again.

[0762] In this application, the way in which the perception-enabled server receives the request message is not limited, as long as the perception-enabled server can obtain the request message and complete the start (or trigger) of the perception process.

[0763] That is, the perception-enabled client sends the received request of the AC to the perception-enabled server again. For reference, see the description of example 4 in S610. It should also be understood that the perception-enabled server can also obtain the perception request message from the AS. Specifically, see the description of example 3 in S610.

[0764] Specifically, the perception-enabled server can send the request message 11 to the SF through the NEF.

[0765] It should be understood that S16100 can also be described as: the perception-enabled server sends a request message 11A to the NEF, the message 11A is used to request a perception service, and the request message 11A can carry a requested perception area, a perception requirement (e.g., one or more of a perception accuracy, a perception latency, a perception resolution, etc.), the NEF sends a request message 11B to the SF, the message 11B is used to request a perception service, and the request message 11B can carry a requested perception area, a perception requirement (e.g., one or more of a perception accuracy, a perception latency, a perception resolution, etc.), the information carried in the request message 11A and the request message 11B can be the same or different, which is not limited in this application.

[0766] It should also be understood that the 3GPP data can be obtained by the SF or calculated by the SF. For reference, see the description in S620.

[0767] Optionally, the request message 11 can also include the perception data 9. It should be understood that the perception-enabled client can send the perception data 9 to the SF in the request message 11, or can send the perception data 9 and the request message 11 separately. Alternatively, the perception-enabled client can send the perception data 9, and the SF can understand the behavior of sending the perception data 9 as needing to fuse the perception data 9 with the 3GPP data. That is, the perception-enabled client can implicitly indicate the SF to fuse the perception data 9 with the 3GPP data by sending the perception data 9.

[0768] S16110, the SF sends the perception data 10 to the perception enabling server, and the perception enabling server receives the perception data 10.

[0769] The perception data 10 is an example of the fourth perception data. Specifically, the perception data 10 can refer to the description of the first perception data in S620. The perception data 10 can be obtained by the SF itself.

[0770] For example, the SF sends the perception data 10 to the perception enabling server through the NEF. Alternatively, the SF can also send the perception data 10 to the perception enabling server directly without the NEF.

[0771] It should be understood that the perception enabling server can obtain the perception data from the SF, from the perception enabling client, or from the AS / VAL server. Specifically, the description of the different ways of obtaining the first perception data by the perception enabling server in S620 can be referred to.

[0772] S16120, the perception enabling server sends the perception data 9 and the perception data 10 to the AS, and the AS receives the perception data 9 and the perception data 10.

[0773] S16130, the AS determines the perception result.

[0774] For example, the AS fuses the perception data 9 and the perception data 10, or in other words, calculates the final perception result according to the perception data 9 and the perception data 10. Specifically, the data fusion can refer to the description in S650, which is not repeated here.

[0775] For example, the perception enabling server can also fuse the perception data 9 and the perception data 10, or the perception enabling client can also fuse the perception data 9 and the perception data 10 to obtain the perception result.

[0776] It should be understood that the perception enabling server can also send the perception result to the perception enabling client. The present application is not limited thereto, for example, the perception result can be sent to any device that needs the perception result. Optionally, the perception enabling server obtains the above information and sends it to the AS. When the perception request in S1640 is AC triggered, the perception result can be sent to the AC.

[0777] In this implementation, after the perception enabling server obtains the 3GPP perception data and the N-3GPP perception data, it sends them to the AS, and the AS fuses and calculates the perception data to provide the AS with more accurate and higher-precision perception data.

[0778] The perception result in the above can be the complete perception data of a certain area, or the specific image or type of a certain perception target.

[0779] The actions of the 3GPP device shown in various embodiments of the present application can be performed by a chip on the 3GPP device, a processing module of an operating system (OS), or a middleware client on the OS (for example, in the form of a software development kit (SDK)).

[0780] The various implementations described herein can be implemented as independent schemes or combined according to inherent logic, and all fall within the scope of the present application.

[0781] In the embodiments of the present application described above, the method provided by the embodiments of the present application is introduced from the perspective of interaction between each device. In order to implement each function in the method provided by the embodiments of the present application, the network device or the terminal device can include a hardware structure and / or a software module, and the above functions are implemented in the form of hardware structure, software module, or hardware structure plus software module. Whether a certain function in the above functions is executed in the form of hardware structure, software module, or hardware structure plus software module depends on the specific application of the technical solution and the design constraint conditions.

[0782] The division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, there can be another division manner. In addition, each functional module in each embodiment of the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The above integrated module can be realized in the form of hardware or in the form of a software functional module.

[0783] Based on the same concept, the embodiments of the present application also provide a communication apparatus. The communication apparatus can include a hardware structure and / or a software module corresponding to each function of the above method. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or hardware and computer software combined. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application scene and design constraint conditions of the technical solution.

[0784] FIG. 17 to FIG. 19 are structural schematic diagrams of possible communication apparatuses provided by the embodiments of the present application. The communication apparatuses can be used to implement the functions of the SF, the perception enabling server, the perception enabling client, the N3GPP device or the 3GPP device in the above-mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiments. In a possible implementation, the communication apparatuses can be components in the SF, the perception enabling server or the N3GPP device involved in the above-mentioned methods. For related details and effects, refer to the descriptions of the above-mentioned embodiments.

[0785] As shown in FIG. 17, the communication apparatus 1700 includes a processing unit 1710 and a communication unit 1720. The communication unit 1720 can implement corresponding communication functions, and the processing unit 1710 is configured to perform data processing, such as parsing / reading data or information received by the communication unit 1720, or triggering the communication unit 1720 to send data or information, or generating data or information to be sent, etc. The communication unit 1720 can also be a transceiver unit or an input / output interface, etc., used for the communication apparatus 1700 to perform the actions of receiving and / or sending. The communication apparatus 1700 can be used to implement the functions of the SF, the perception enabling server, the perception enabling client, the N3GPP device or the 3GPP device in any of the above-mentioned method embodiments shown in FIG. 6 to FIG. 16, and the actions that can be performed by the communication apparatus can be referred to the descriptions in the above-mentioned method embodiments, which will not be repeated here.

[0786] It can be understood that the division of modules in the embodiments of the present application is illustrative, and is merely a logical functional division. In actual implementation, there can be another division manner. In addition, each functional module in each embodiment of the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module.

[0787] As shown in FIG. 18, a communication apparatus 1800 provided by the embodiment of the present application is configured to implement the sensing method provided by the present application. The communication apparatus 1800 can be a communication apparatus applying the sensing method, a component in the communication apparatus, or a device capable of being used with the communication apparatus. The communication apparatus 1800 can be a device at the network side. The communication apparatus 1800 can be a chip system or a chip. In the embodiment of the present application, the chip system can be composed of a chip, or can include the chip and other discrete devices. The communication apparatus 1800 includes at least one processor 1820 configured to implement the sensing method provided by the embodiment of the present application. The communication apparatus 1800 can further include an input / output interface 1810. The input / output interface can include an input interface and / or an output interface. In the embodiment of the present application, the input / output interface 1810 can be configured to communicate with other devices through a transmission medium, and the functions thereof can include sending and / or receiving. For example, when the communication apparatus 1800 is a chip, the input / output interface 1810 is configured to communicate with other chips or devices. The processor 1820 can be configured to implement the method shown in the method embodiment.

[0788] For example, the processor 1820 can be configured to perform the actions performed by the processing unit 1710, and the input / output interface 1810 can be configured to perform the actions performed by the communication unit 1720, which will not be repeated here.

[0789] Optionally, the communication apparatus 1800 can further include at least one memory 1830 configured to store program instructions and / or data. The memory 1830 is coupled with the processor 1820. The coupling in the embodiment of the present application is indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information interaction between devices, units or modules. The processor 1820 can operate in cooperation with the memory 1830. The processor 1820 can execute the program instructions stored in the memory 1830. At least one of the at least one memory can be integrated with the processor.

[0790] In the embodiment of the present application, the memory 1830 can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), and can also be a volatile memory, such as a random-access memory (RAM). The memory can be any other medium capable of carrying or storing desired program codes in the form of instructions or data structures and capable of being accessed by a computer, but is not limited to this. The memory in the embodiment of the present application can also be a circuit or other any device capable of realizing a storage function, configured to store program instructions and / or data.

[0791] In the embodiments of the present application, the processor 1820 can be a general processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as hardware processor execution or executed by a combination of hardware and software modules in the processor.

[0792] As shown in FIG. 19, the communication apparatus 1900 provided by the embodiments of the present application is used to implement the sensing method provided by the present application. The communication apparatus 1900 can be a communication apparatus applying the sensing method shown in the embodiments of the present application, can be a component in the communication apparatus, or can be a device capable of matching the communication apparatus. The communication apparatus 1900 can be a first network element or a third network element. The communication apparatus 1900 can be a chip system or a chip. In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. Part or all of the sensing method provided in the above embodiments can be implemented by hardware or software. When implemented by hardware, the communication apparatus 1900 can include an input interface circuit 1901, a logic circuit 1902 and an output interface circuit 1903.

[0793] Optionally, taking the example of the device used to implement the function of the receiving end, the input interface circuit 1901 can be used to perform the receiving actions performed by the communication unit 1720, the output interface circuit 1903 can be used to perform the sending actions performed by the communication unit 1720, and the logic circuit 1902 can be used to perform the actions performed by the processing unit 1710. Details are not described herein.

[0794] Optionally, the communication apparatus 1900 can be a chip or an integrated circuit when specifically implemented.

[0795] Part or all of the operations and functions performed by the communication apparatus described in the above method embodiments of the present application can be completed by a chip or an integrated circuit.

[0796] The embodiments of the present application provide a computer readable storage medium storing a computer program, and the computer program includes instructions for executing the above method embodiments.

[0797] The embodiments of the present application provide a computer program product including instructions, which, when executed on a computer, cause the computer to execute the above method embodiments.

[0798] Embodiments of the present application provide a communication system, which includes a first network element and a second network element. The communication system can be used to perform any one or more of the processes of FIGS. 5-12.

[0799] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and 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, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0800] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. 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, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as high-density digital video disc (digital video disc, DVD)) or semiconductor media (such as SSD) and the like.

[0801] It should be noted that a part of the present patent application file contains copyrighted material. Except for making copies of the patent document content of the patent file or record of the patent office, the copyright owner reserves the copyright.

[0802] The SF, the perception enabling server, the device supporting N3GPP perception, or the first device in each of the above apparatus embodiments respectively corresponds to the SF, the perception enabling server, the device supporting N3GPP perception, or the first device in the method embodiments, and the corresponding steps are performed by the corresponding modules or units, for example, the communication unit (transceiver) performs the steps of receiving or sending in the method embodiments, and the steps other than sending and receiving can be performed by the processing unit (processor). The functions of the specific units can refer to the corresponding method embodiments. The processor can be one or more.

[0803] The terms "component," "module," "system," and the like as used herein refers to computer-related entities, hardware, software, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and / or thread of execution and a component can be localized, co-resident, and / or distributed among one computer and / or among multiple computers. Also, these components can execute from various computer readable media having various data structures stored thereon. The components can communicate by way of local and / or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and / or across a network such as the Internet with other systems via the signal).

[0804] Those of skill in the art would understand that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. The choice of whether to implement the described functionality in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0805] Those of skill in the art would understand that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. The choice of whether to implement the described functionality in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0806] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiment is only a logical function division, and there can be another division manner for the actual implementation, 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 displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0807] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to the actual needs to achieve the purposes of the embodiments of the present application.

[0808] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as separate units, or two or more units can be integrated in one unit. 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.

[0809] It should be noted that the structures shown in the present application do not constitute specific limitations on the sending device and the receiving device. For example, in some other embodiments of the present application, the network device or the sensing device (such as a 3GPP device or an N-3GPP device) can include more or fewer components than shown, or combine some components, or split some components, or different component arrangements. The components shown can be implemented in hardware, software or a combination of software and hardware.

[0810] When the above communication device is a chip applied to a sensing device (such as a 3GPP device or an N-3GPP device), the sensing device chip implements the functions of the sensing device in the above method embodiments. The sensing device chip receives information from other modules (such as a radio frequency module or an antenna) in the sensing device, and the information is sent by the network device to the sensing device; or the sensing device chip sends information to other modules (such as a radio frequency module or an antenna) in the sensing device, and the information is sent by the sensing device to the network device.

[0811] When the communication device is a chip applied to a network device, the network device chip implements the functions of the network device in the method embodiments. The network device chip receives information from other modules (such as a radio frequency module or an antenna) in the network device, and the information is sent by the terminal device to the network device; or the network device chip sends information to other modules (such as a radio frequency module or an antenna) in the network device, and the information is sent by the network device to the terminal device.

[0812] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and 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, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0813] The processor in the embodiments of the present application can be a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also exist as discrete components in the network device or the terminal device.

[0814] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage etc.) embodying computer readable program code.

[0815] The present application is described in reference to the flow diagrams and / or block diagrams of the methods, apparatus (systems) and computer program products according to this application. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0816] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flow diagrams and / or block diagrams block or blocks.

[0817] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0818] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and 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 by 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

A perception method characterized by, The method comprises: obtaining a perception requirement for a perception target; obtaining first perception data, the first perception data being from a core network, the first perception data comprising feature information of the perception target; determining, according to the first perception data and the perception requirement, that the first perception data and second perception data need to be fused, the second perception data being from a first device, the second perception data comprising feature information of the perception target, the first device being a non-third generation partnership project (N-3GPP) device; obtaining the second perception data; determining a perception result of the perception target, the perception result being based on the fusion of the first perception data and the second perception data. The method of claim 1, wherein The determining, according to the first perception data and the perception requirement, that the first perception data and second perception data need to be fused comprises: when the first perception data does not meet the perception requirement, determining that the first perception data and second perception data need to be fused. The method according to claim 1 or 2, characterized in that The method further comprises: determining, according to the first perception data, a perception blind area and / or a location of the perception target. The method according to claim 3, characterized in that The method further comprises: determining, based on the perception blind area and / or the location of the perception target, at least one of the following: an identifier of the first device, an adjustment angle of the first device, or a location of the first device; and / or determining the first device according to the perception requirement and a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the first device. The method according to claim 4, characterized in that The method further comprises: sending first indication information to the first device, the first indication information being used to trigger the first device to send the second perception data. The method according to claim 5, characterized in that The first indication information indicates at least one of a first range, a first location, or a first angle, so that the first device obtains perception data under at least one of the first range, the first location, or the first angle, the first range, the first location, or the first angle being determined according to the first perception data and the perception requirement. The method according to claim 6, characterized in that The obtaining the second perception data comprises: receiving the second perception data, the second perception data being perception data under at least one of a first range, a first location, or a first angle. The method according to claim 4, characterized in that The method is performed by a perception-enabling server, and the method further comprises: receiving perception capability information of at least one first device, the perception capability information of the at least one first device indicating a perception capability of the at least one first device, the perception capability of the at least one first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the at least one first device; The determining the first device according to the perception requirement and the perception capability of the first device comprises: determining one or more perception-enabling clients according to the perception requirement, the first perception data, and the perception capability of the first device, the one or more perception-enabling clients comprising a perception-enabling client associated with the first device; sending second indication information to the one or more perception-enabled clients, the second indication information being used to trigger the one or more perception-enabled clients to send the second perception data. The method according to any one of claims 1 to 8, characterized in that The perception requirement comprises at least one of a perception position, a perception accuracy, a perception time delay, or a perception resolution. The method according to any one of claims 1 to 9, characterized in that The first perception data is obtained by a third generation partnership project (3GPP) perception device. A perception method characterized by, The method is applied to a first device, the first device being an N-3GPP device, and comprises: receiving first indication information, the first indication information being used to trigger second perception data; obtaining the second perception data based on the first indication information; sending the second perception data. The method of claim 11, wherein The first indication information indicates at least one of a first range, a first position, or a first angle, the first range, the first position, or the first angle being determined according to first perception data and a perception requirement, the first perception data being from a core network, and the obtaining the second perception data based on the first indication information comprises: obtaining perception data under at least one of the first range, the first position, or the first angle. The method of claim 12, wherein The method further comprises: sending, to a perception-enabled server, perception capability information, the perception capability information indicating a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, position information, a perception accuracy, or a perception resolution of the first device. The method according to any one of claims 11 to 13, characterized in that The perception requirement comprises at least one of a perception position, a perception accuracy, a perception time delay, or a perception resolution. The method according to claim 12 or 13, characterized in that The first perception data is obtained by a 3GPP perception device. A perception method characterized in that, comprises: obtaining a perception requirement for a perception target; obtaining third perception data, the third perception data comprising feature information of the perception target, the third perception data being from a first device, the first device being of a type of an N-3GPP device; determining, according to the third perception data and the perception requirement, that the third perception data and fourth perception data need to be fused, the fourth perception data being from a core network, the fourth perception data comprising feature information of the perception target; obtaining the fourth perception data; determining a perception result of the perception target, the perception result being based on the fusion of the third perception data and the fourth perception data. The method of claim 16, wherein The determining, according to the third perception data and the perception requirement, that the third perception data and the fourth perception data need to be fused comprises: when the third perception data does not meet the perception requirement, determining, according to the third perception data and the perception requirement, that the third perception data and the fourth perception data need to be fused. The method according to claim 16 or 17, characterized in that The method further comprises: sending, to an application client (AC), the third perception data; receiving, from the AC, third indication information, the third indication information indicating that the third perception data and the fourth perception data need to be fused. The method according to any one of claims 16 to 18, characterized in that The method further comprises: determining a perception blind area and / or a position of the perception target. The method of claim 19, wherein The method further comprises: determining at least one of an identity of the first device, an adjustment angle of the first device, or a location of the first device based on the perception blind spot and / or the location of the perception target; and / or, determining the first device according to the perception requirement and a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, location information, perception accuracy, or perception resolution of the first device. The method of claim 20, wherein The method further comprises: sending fourth indication information, the fourth indication information being used to trigger the first device to send the third perception data. The method of claim 21, wherein The fourth indication information further indicates at least one of a first range, a first location, or a first angle, such that the first device obtains perception data under at least one of the first range, the first location, or the first angle, the first range, the first location, or the first angle being determined according to first perception data and the perception requirement. The method of claim 22, wherein The method is performed by a perception enabler server, and the method further comprises: receiving perception capability information of at least one of the first devices, the perception capability information of at least one of the first devices indicating a perception capability of at least one of the first devices, the perception capability of at least one of the first devices comprising at least one of a perception range, location information, perception accuracy, or perception resolution of at least one of the first devices; The determination of the first device according to the perception requirement and the perception capability of the first device comprises: determining one or more perception enabler clients according to the perception requirement, the first perception data, and the perception capability of the first device, the one or more perception enabler clients comprising a perception enabler client associated with the first device; sending fifth indication information to the one or more perception enabler clients, the fifth indication information being used to trigger the one or more perception enabler clients to send the third perception data. The method according to any one of claims 16 to 23, characterized in that The perception requirement comprises at least one of a perception location, a perception accuracy, a perception time delay, or a perception resolution. The method according to any one of claims 16 to 24, characterized in that The fourth perception data is obtained by a 3GPP perception device. The method according to any one of claims 16 to 25, characterized in that The method further comprises: sending the third perception data; receiving sixth indication information, the sixth indication information indicating the perception result, the perception result being obtained by a core network or a perception enabler server by fusing the third perception data and the fourth perception data. A perception method characterized by, Applied to a first device, the first device being an N-3GPP device, the method comprises: receiving fourth indication information, the fourth indication information being used to trigger the first device to send third perception data; obtaining the third perception data based on the fourth indication information; sending the third perception data. The method of claim 27, wherein The fourth indication information further indicates at least one of a first range, a first location, or a first angle, the first range, the first location, or the first angle being determined according to first perception data and a perception requirement, the first perception data being from a core network, and the obtaining of the third perception data based on the fourth indication information comprises: acquire the perception data in at least one of the first range, the first position, or the first angle. The method of claim 28, wherein transmit, to a perception enabling server, perception capability information indicating a perception capability of the first device, the perception capability of the first device comprising at least one of a perception range, position information, perception accuracy, or perception resolution of the first device. The method according to any one of claims 27 to 29, characterized in that The perception requirement comprises at least one of a perception position, a perception accuracy, a perception latency, or a perception resolution. The method according to claim 28 or 29, characterized in that The first perception data is obtained by a 3GPP perception device. A communication device, characterized by The apparatus comprises means or units for performing the method of any one of claims 1-10, or for performing the method of any one of claims 16-26. A communication device characterized by comprising: The apparatus comprises means or units for performing the method of any one of claims 11-15, or for performing the method of any one of claims 27-31. A computer-readable storage medium, characterized by The computer program or instructions are stored on a computer readable storage medium, and when executed on a communication device, cause the communication device to perform the method of any one of claims 1-10, or for performing the method of any one of claims 16-26, or, the method of any one of claims 11-15, or for performing the method of any one of claims 27-31. A computer program product, characterized in that The computer program product comprises computer program or instructions for performing the method of any one of claims 1-10, or for performing the method of any one of claims 16-26, or, the method of any one of claims 11-15, or for performing the method of any one of claims 27-31. A chip characterized by The chip comprises a processor and a communication interface, the processor reads instructions stored on a memory through the communication interface, and performs the method of any one of claims 1-10, or for performing the method of any one of claims 16-26, or, the method of any one of claims 11-15, or for performing the method of any one of claims 27-31.

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