Communication method and related apparatus

Abstract

A communication method and a related apparatus. In the method, a first communication apparatus sends first information used for requesting position information of a target object, then receives second information, and determines the position information of the target object on the basis of the second information. In this way, different communication apparatuses can cooperate with each other to determine the position of a target object, so as to sense the target object. In some implementations, the first communication apparatus does not have an angle measurement capability or the angle measurement capability of the first communication apparatus satisfies a first condition, such that when the first communication apparatus is partially or entirely devoid of the angle measurement capability, the first communication apparatus can implement object sensing by means of cooperation with other communication apparatuses, thereby enhancing the flexibility and robustness of the communication apparatus when performing sensing tasks.

Description

A communication method and related apparatus

[0001] This application claims priority to Chinese Patent Application No. 202411049079.7, filed with the State Intellectual Property Office of China on July 31, 2024, entitled “A Communication Method and Related Device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and in particular to a communication method and related apparatus. Background Technology

[0003] Wireless communication can be a transmission communication between two or more communication nodes that does not propagate through conductors or cables. Generally, the communication node may include one or more network devices, and / or one or more terminal devices.

[0004] Currently, in communication systems, communication equipment can calculate and determine signal transmission resources, and transmit and receive signals on those resources. These transmission resources may include time-domain resources, frequency-domain resources, etc., used to carry signals. In this way, different communication devices can transmit service data related to communication services through the communication system to obtain communication services.

[0005] With the development of communication technology, future communication systems may provide not only communication services but also sensing services. However, for communication devices, how to achieve object sensing is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] This application provides a communication method and related apparatus for achieving object perception through cooperation between different communication devices.

[0007] The first aspect of this application provides a communication method. This method utilizes a first communication device, which may be a communication equipment (such as a terminal device or network device), or a component of the communication equipment (such as a processor, circuit, or chip responsible for communication functions (e.g., a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip, etc.). Alternatively, the first communication device may also be a logic module or software capable of implementing all or part of the functions of the communication equipment. The following description uses the first communication device as an example. In this method, the first communication device sends first information to request the location information of a target object; the first communication device receives second information to determine the location information of the target object; wherein the second information is determined based on the first information.

[0008] Based on the above scheme, after sending first information to request the location information of a target object, the first communication device can receive second information and determine the location information of the target object based on the second information. In this way, different communication devices can determine the location of the target object through mutual cooperation, thereby achieving the perception of the target object.

[0009] Optionally, the second information may come from other communication devices (such as the second communication device) that are different from the first communication device. That is, the first communication device and the second communication device can cooperate to perceive the target object. This process can be performed without the target object performing signal processing, so that the above scheme can be applied to the perception scenario of passive objects (that is, the target object can be a passive object).

[0010] In one possible implementation of the first aspect, if the first communication device (or the communication equipment in which the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, resulting in the first communication device having partial or complete lack of angle measurement capability, the first communication device can achieve object perception through the cooperation of other communication devices, thereby enhancing the flexibility and robustness of the first communication device (or the communication equipment in which the first communication device is located) when performing perception tasks.

[0011] For example, the first condition indicates one or more of the following:

[0012] The angle measurement capability of the first communication device is inferior to the pre-configured capability (for example, the measurement accuracy (e.g., accuracy, precision, or sensitivity) of the measurement result obtained by the first communication device based on the angle measurement is lower than a certain threshold, which is the measurement accuracy threshold indicated by the pre-configured capability; or the deviation (or error) of the measurement result obtained by the first communication device based on the angle measurement is higher than or equal to a threshold, which is the deviation (or error) threshold indicated by the pre-configured capability).

[0013] The angle measurement capability information of the first communication device is lower than a threshold, wherein the value of the capability information is positively correlated with the quality of the capability (i.e., the higher the value of the capability information, the better the capability; conversely, the lower the value of the capability information, the worse the capability); or, the angle measurement capability information of the first communication device is higher than or equal to the threshold, wherein the value of the capability information is negatively correlated with the quality of the capability (i.e., the higher the value of the capability information, the worse the capability; conversely, the lower the value of the capability information, the better the capability).

[0014] Optionally, the aforementioned angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. This allows the first communication device to achieve object perception through the cooperation of other communication devices, even when one or more of these measurement capabilities are lacking. This enhances the flexibility and robustness of the first communication device (or the communication equipment containing the first communication device) when performing perception tasks.

[0015] In one possible implementation of the first aspect, the second information includes angle information between the second communication device and the target object; wherein the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0016] Based on the above scheme, the second information received by the first communication device can come from the second communication device, and the second information includes the angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information contained in the second information and the other information mentioned above.

[0017] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes the angle information between the second communication device and the target object, so that the position information of the target object can be determined by the second communication device providing the angle measurement result (i.e., angle information), which can simplify the implementation complexity of the second communication device and reduce the processing latency.

[0018] In one possible implementation of the first aspect, the second information includes N distance information between N second communication devices and the target object, where N is an integer greater than 1; wherein the N distance information, the position information of the N second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0019] Based on the above scheme, the second information received by the first communication device can come from N second communication devices, and the N distance information contained in the second information respectively indicates the distance between the N second communication devices and the target object, so that the first communication device can determine the location information of the target object based on the N distance information contained in the second information and the other information mentioned above.

[0020] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes distance information between each second communication device and the target object. This allows the second communication device to provide distance measurement results (i.e., distance information), thereby enabling the determination of the target object's location information. This simplifies the implementation complexity of the second communication device and reduces processing latency.

[0021] In one possible implementation of the first aspect, the second information includes angle information between the second communication device and the target object and distance information between the second communication device and the target object, where N is an integer greater than 1; wherein the angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

[0022] Based on the above scheme, the second information received by the first communication device can come from the second communication device, and the second information includes the angle information and distance information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information, distance information and other information included in the second information.

[0023] In one possible implementation of the first aspect, the second information includes the location information of the target object.

[0024] Based on the above scheme, the second information received by the first communication device may include the location information of the target object, so that the first communication device can obtain the location information of the target object through the received second information, thereby reducing the processing complexity and processing latency of the first communication device.

[0025] Optionally, the location information of the target object mentioned above is determined based on any of the following:

[0026] The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; or,

[0027] N distance information between N second communication devices and the target object, the location information of the N second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device, where N is an integer greater than 1; or,

[0028] The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device.

[0029] In one possible implementation of the first aspect, the method further includes: the first communication device sending at least one of the following:

[0030] The first indication information indicates that the first communication device (or the communication equipment where the first communication device is located) does not have angle measurement capability or that the angle measurement capability of the first communication device meets the first condition;

[0031] The second indication information indicates the distance information between the first communication device (or the communication equipment where the first communication device is located) and the target object; or

[0032] The third instruction information indicates the location information of the first communication device (or the communication equipment where the first communication device is located).

[0033] Based on the above scheme, the first communication device can also send at least one of the above information, so that the recipient of the at least one of the above information (e.g., the second communication device) can determine the second information based on this information, thereby simplifying the complexity of the recipient in determining the second information and reducing processing latency.

[0034] For example, when the first communication device sends the first instruction information, the receiver can determine based on the first instruction information that the first communication device has a partial or complete lack of angle measurement capability, and assist the first communication device in realizing object perception through cooperation, which can enhance the flexibility and robustness of the first communication device (or the communication equipment where the first communication device is located) when performing perception tasks.

[0035] For example, when the first communication device sends the second instruction information and / or the third instruction information, the receiver can measure the target object within a specified range based on the second instruction information and / or the third instruction information, thereby improving the receiver's processing efficiency in obtaining the second information and reducing processing latency.

[0036] Optionally, among the first instruction information, second instruction information, third instruction information and first information mentioned above, different information can be carried in different messages / signaling / information, or at least two pieces of information can be carried in the same message / signaling / information, without limitation here.

[0037] In one possible implementation of the first aspect, the method further includes: the first communication device receiving third information indicating the sensing assistance capability of the second communication device.

[0038] Based on the above scheme, the first communication device can receive third information and determine the perception assistance capability of the second communication device based on the third information, so that the first communication device can request a cooperation request that matches the perception assistance capability from the second communication device, thereby improving the perception success rate.

[0039] Optionally, the perception-assisted capability includes angle measurement capability and / or distance measurement capability.

[0040] In one possible implementation of the first aspect, the first communication device sending first information includes: the first communication device sending the first information when a second condition is met; the second condition includes:

[0041] The measurement accuracy of the first communication device, based on the measurement results obtained from angle measurement, is lower than the threshold.

[0042] The communication performance of the first communication device based on the measurement result is below the threshold.

[0043] The first information is periodically transmitted information and the transmission period of the first information has expired;

[0044] The fourth message is received, which instructs the first communication device to acquire the location information of the target object.

[0045] Based on the above scheme, under the condition of the second condition, the first communication device can determine that it needs to cooperate with other communication devices to complete the perception of the target object. To this end, the first communication device can request the cooperation of other communication devices through the first information, so that different communication devices can determine the position of the target object through mutual cooperation, so as to realize the perception of the target object.

[0046] It should be noted that the thresholds involved in this application (e.g., thresholds corresponding to measurement accuracy, communication performance, and measurement capability) can be determined in various ways. For example, the communication device can determine the thresholds through pre-configuration, or through configuration by network devices, servers, or other devices. Optionally, different thresholds can be equal or unequal; this is not limited here.

[0047] A second aspect of this application provides a communication method applied to a second communication device. For example, the second communication device may be a communication equipment (e.g., a terminal device or a network device), or it may be a component of a communication equipment (e.g., a processor, circuit, or chip responsible for communication functions (e.g., a modem chip, also known as a baseband chip, or a SoC chip or SIP chip containing a modem core, etc.), or it may be a logic module or software capable of implementing all or part of the functions of a communication equipment. The following description uses a first communication device as an example. In this method, the second communication device receives first information from the first communication device, which is used to request the location information of a target object; the second communication device sends second information, which is used to determine the location information of the target object; wherein the second information is determined based on the first information.

[0048] Based on the above scheme, after receiving the first information requesting the location information of a target object, the second communication device can send a second information to the first communication device, enabling the first communication device to determine the location information of the target object based on the second information. In this way, different communication devices can cooperate to determine the location of a target object, thereby achieving the perception of the target object.

[0049] Optionally, the first information may come from a different communication device than the second communication device (e.g., the first communication device). That is, the first and second communication devices can cooperate to perceive the target object. This process can be performed without the target object performing signal processing, so that the above scheme can be applied to the perception scenario of passive objects (i.e., the target object can be a passive object).

[0050] In one possible implementation of the first aspect, if the first communication device (or the communication equipment in which the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, resulting in the first communication device having partial or complete lack of angle measurement capability, the first communication device can achieve object perception through the cooperation of other communication devices, thereby enhancing the flexibility and robustness of the first communication device (or the communication equipment in which the first communication device is located) when performing perception tasks.

[0051] For example, the first condition indicates one or more of the following:

[0052] The angle measurement capability of the first communication device is inferior to the pre-configured capability (for example, the measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than a certain threshold, which is the measurement accuracy threshold indicated by the pre-configured capability; or, the measurement delay of the measurement result obtained by the first communication device based on the angle measurement is higher than or equal to a threshold, which is the measurement delay threshold indicated by the pre-configured capability).

[0053] The angle measurement capability information of the first communication device is lower than or equal to a threshold, wherein the value of the capability information is positively correlated with the quality of the capability (i.e., the higher the value of the capability information, the better the capability; conversely, the lower the value of the capability information, the worse the capability); or, the angle measurement capability information of the first communication device is higher than or equal to the threshold, wherein the value of the capability information is negatively correlated with the quality of the capability (i.e., the higher the value of the capability information, the worse the capability; conversely, the lower the value of the capability information, the better the capability).

[0054] Optionally, the aforementioned angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. This allows the first communication device to achieve object perception through the cooperation of other communication devices, even when one or more of these measurement capabilities are lacking. This enhances the flexibility and robustness of the first communication device (or the communication equipment containing the first communication device) when performing perception tasks.

[0055] In one possible implementation of the second aspect, the second information includes angle information between the second communication device and the target object; wherein the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0056] Based on the above scheme, the second information sent by the second communication device to the first communication device may include the angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information contained in the second information and the other information mentioned above.

[0057] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes the angle information between the second communication device and the target object, so that the position information of the target object can be determined by the second communication device providing the angle measurement result (i.e., angle information), which can simplify the implementation complexity of the second communication device and reduce the processing latency.

[0058] In one possible implementation of the second aspect, the second information includes one of N distance information between N second communication devices and the target object, where N is an integer greater than 1; wherein the N distance information, the location information of the N second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device are used to determine the location information of the target object.

[0059] Based on the above scheme, the second information received by the first communication device can come from N second communication devices, and the N distance information contained in the second information respectively indicates the distance between the N second communication devices and the target object, so that the first communication device can determine the location information of the target object based on the N distance information contained in the second information and the other information mentioned above.

[0060] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes the distance information between the second communication device itself and the target object. This allows the second communication device to provide distance measurement results (i.e., distance information) so that the location information of the target object can be determined, which simplifies the implementation complexity of the second communication device and reduces processing latency.

[0061] In one possible implementation of the second aspect, the second information includes angle information between the second communication device and the target object and distance information between the second communication device and the target object, where N is an integer greater than 1; wherein the angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

[0062] Based on the above scheme, the second information sent by the second communication device to the first communication device may include angle information and distance information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information, distance information and other information contained in the second information.

[0063] In one possible implementation of the second aspect, the second information includes the location information of the target object.

[0064] Based on the above scheme, the second information received by the first communication device may include the location information of the target object, so that the first communication device can obtain the location information of the target object through the received second information, thereby reducing the processing complexity and processing latency of the first communication device.

[0065] Optionally, the location information of the target object is determined based on any of the following:

[0066] The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; or,

[0067] N distance information between N second communication devices and the target object, the location information of the N second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device, where N is an integer greater than 1; or,

[0068] The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device.

[0069] In one possible implementation of the second aspect, the method further includes: the second communication device receiving at least one of the following:

[0070] The first indication information indicates that the first communication device (or the communication equipment where the first communication device is located) does not have angle measurement capability or that the angle measurement capability of the first communication device meets the first condition;

[0071] The second indication information indicates the distance information between the first communication device (or the communication equipment where the first communication device is located) and the target object; or

[0072] The third instruction information indicates the location information of the first communication device (or the communication equipment where the first communication device is located).

[0073] Based on the above scheme, the first communication device can also send at least one of the above information, so that the recipient of the at least one of the above information (e.g., the second communication device) can determine the second information based on this information, thereby simplifying the complexity of the recipient in determining the second information and reducing processing latency.

[0074] For example, when the first communication device sends the first instruction information, the receiver can determine based on the first instruction information that the first communication device has a partial or complete lack of angle measurement capability, and assist the first communication device in realizing object perception through cooperation, which can enhance the flexibility and robustness of the first communication device (or the communication equipment where the first communication device is located) when performing perception tasks.

[0075] For example, when the first communication device sends the second instruction information and / or the third instruction information, the receiver can measure the target object within a specified range based on the second instruction information and / or the third instruction information, thereby improving the receiver's processing efficiency in obtaining the second information and reducing processing latency.

[0076] Optionally, among the first instruction information, second instruction information, third instruction information and first information mentioned above, different information can be carried in different messages / signaling / information, or at least two pieces of information can be carried in the same message / signaling / information, without limitation here.

[0077] In one possible implementation of the second aspect, the method further includes: the second communication device sending third information indicating the sensing assistance capability of the second communication device.

[0078] Based on the above scheme, the second communication device can send third information to the first communication device, so that the first communication device can determine the second communication device's perception assistance capability based on the third information, and request a cooperation request matching the perception assistance capability from the second communication device based on the perception assistance capability, so as to improve the perception success rate.

[0079] Optionally, the perception-assisted capability includes angle measurement capability and / or distance measurement capability.

[0080] In one possible implementation of the second aspect, the second communication device receives the first information, including: receiving the first information when a second condition is met; the second condition includes:

[0081] The measurement accuracy of the first communication device, based on the measurement results obtained from angle measurement, is lower than the threshold.

[0082] The communication performance of the first communication device based on the measurement result is below the threshold.

[0083] The first information is periodically transmitted information and the transmission period of the first information has expired;

[0084] The second communication device sends a fourth message, which instructs the first communication device to obtain the location information of the target object.

[0085] Based on the above scheme, under the condition of the second condition, the first communication device can determine that it needs to cooperate with other communication devices to complete the perception of the target object. To this end, the first communication device can request the cooperation of other communication devices through the first information, so that different communication devices can determine the position of the target object through mutual cooperation, so as to realize the perception of the target object.

[0086] A third aspect of this application provides a communication device, which is a first communication device, comprising a transceiver unit and a processing unit; the processing unit is used to determine first information; the transceiver unit is used to send the first information, which is used to request the location information of a target object; the transceiver unit is also used to receive second information, which is used to determine the location information of the target object; wherein the second information is determined based on the first information.

[0087] In the third aspect of this application, the constituent modules of the communication device can also be used to execute the steps performed in various possible implementations of the first aspect and achieve the corresponding technical effects. For details, please refer to the first aspect, which will not be repeated here.

[0088] A fourth aspect of this application provides a communication device, which is a second communication device. The communication device includes a transceiver unit and a processing unit. The transceiver unit is used to receive first information from a first communication device, the first information being used to request the location information of a target object. The processing unit is used to determine second information. The transceiver unit is also used to send the second information, the second information being used to determine the location information of the target object. The second information is determined based on the first information.

[0089] In the fourth aspect of this application, the constituent modules of the communication device can also be used to perform the steps executed in various possible implementations of the second aspect and achieve the corresponding technical effects. For details, please refer to the second aspect, which will not be repeated here.

[0090] The fifth aspect of this application provides a communication device including at least one processor for executing computer programs or instructions to enable the communication device to implement the method described in any possible implementation of the first or second aspect.

[0091] Optionally, the communication device may include the memory, and / or the at least one processor is coupled to the memory; wherein the memory is used to store programs or instructions.

[0092] The sixth aspect of this application provides a communication device including at least one logic circuit; the logic circuit is configured to perform the method as described in any one of the possible implementations of the first to second aspects described above.

[0093] The seventh aspect of this application provides a communication system, which includes the first communication device and the second communication device described above.

[0094] An eighth aspect of this application provides a computer-readable storage medium for storing one or more computer-executable instructions, which, when executed by a processor, perform the method as described in any possible implementation of any of the first to second aspects described above.

[0095] The ninth aspect of this application provides a computer program product (or computer program) that, when executed by a processor, performs the method described in any possible implementation of any of the first to second aspects described above.

[0096] The tenth aspect of this application provides a chip system including at least one processor for supporting a communication device in implementing the method described in any possible implementation of any of the first to second aspects.

[0097] In one possible design, the chip system may further include a memory for storing program instructions and data necessary for the communication device. The chip system may be composed of chips or may include chips and other discrete devices. Optionally, the chip system may also include interface circuitry that provides program instructions and / or data to the at least one processor.

[0098] The technical effects of any of the design methods in aspects three through ten can be found in the technical effects of the different design methods in aspects one through two above, and will not be repeated here. Attached Figure Description

[0099] Figures 1a and 1b are some schematic diagrams of the communication system provided in this application;

[0100] Figure 2 is a schematic diagram of the communication system provided in this application;

[0101] Figures 3a to 3e are some schematic diagrams of the communication system provided in this application;

[0102] Figure 4 is a schematic diagram of the communication method provided in this application;

[0103] Figure 5a is a schematic diagram of an application scenario of the communication method provided in this application;

[0104] Figure 5b is another schematic diagram of the communication method provided in this application;

[0105] Figures 6a to 6c are some schematic diagrams showing the application of the communication method provided in this application;

[0106] Figures 7 to 11 are some schematic diagrams of the communication device provided in this application. Detailed Implementation

[0107] First, some terms used in the embodiments of this application will be explained to facilitate understanding by those skilled in the art.

[0108] (1) Terminal device: can be a wireless terminal device that can receive network device scheduling and instruction information. The wireless terminal device can be a device that provides voice and / or data connectivity to the user, or a handheld device with wireless connection function, or other processing device connected to a wireless modem.

[0109] Terminal devices can communicate with one or more core networks or the Internet via a radio access network (RAN). Terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones), computers, and data cards. For example, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), tablets, and computers with wireless transceiver capabilities. Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station (MS), remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, subscriber station (SS), customer premises equipment (CPE), terminal, user equipment (UE), mobile terminal (MT), drone, etc. Terminal equipment can also be wearable devices and next-generation communication systems, such as terminal equipment in 5G communication systems or terminal equipment in future public land mobile networks (PLMNs).

[0110] (2) Network equipment (or network element): This can be equipment in a wireless network. For example, network equipment can be a RAN node (or device) that connects terminal devices to the wireless network, and can also be called a base station. Currently, some examples of RAN equipment include: base station, evolved NodeB (eNodeB), gNB (gNodeB) in 5G communication systems, transmission reception point (TRP), evolved Node B (eNB), radio network controller (RNC), Node B (NB), home base station (e.g., home evolved Node B, or home Node B, HNB), base band unit (BBU), or wireless fidelity (Wi-Fi) access point (AP), etc. In addition, in a network structure, network equipment can include centralized unit (CU) nodes, distributed unit (DU) nodes, or RAN equipment including CU nodes and DU nodes.

[0111] Optionally, RAN nodes can also be macro base stations, micro base stations, indoor stations, relay nodes, donor nodes, or radio controllers in cloud radio access network (CRAN) scenarios. RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, the access network equipment in V2X technology can be a roadside unit (RSU).

[0112] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with each RAN node performing a portion of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0113] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an open access network (open RAN, O-RAN, or ORAN) system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0114] Communication between access network devices and terminal devices follows a specific protocol layer structure. This protocol layer may include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer may include at least one of the following: radio resource control (RRC) layer, packet data convergence protocol (PDCP) layer, radio link control (RLC) layer, media access control (MAC) layer, or physical (PHY) layer, etc. The user plane protocol layer may include at least one of the following: service data adaptation protocol (SDAP) layer, PDCP layer, RLC layer, MAC layer, or physical layer, etc.

[0115] The correspondence between network elements and their achievable protocol layer functions in the ORAN system can be found in Table 1 below.

[0116] Table 1

[0117] Network devices can be other devices that provide wireless communication functions for terminal devices. The embodiments of this application do not limit the specific technology or form of the network device. For ease of description, the embodiments of this application are not limited.

[0118] Network equipment may also include core network equipment, such as the Mobility Management Entity (MME), Home Subscriber Server (HSS), Serving Gateway (S-GW), Policy and Charging Rules Function (PCRF), and Public Data Network Gateway (PDN Gateway, P-GW) in 4th generation (4G) networks; and AMF, User Plane Function (UPF), or Session Management Function (SMF) in 5G networks. Furthermore, this core network equipment may also include other core network equipment in 5G networks and next-generation networks of 5G networks.

[0119] In this application embodiment, the device for implementing the function of the network device can be the network device itself, or it can be a device capable of supporting the network device in implementing that function, such as a chip system, which can be installed in the network device. In the technical solutions provided in this application embodiment, the example of a network device being used to implement the function of the network device is used to describe the technical solutions provided in this application embodiment.

[0120] (3) Configuration and Pre-configuration: In this application, both configuration and pre-configuration are used. Configuration refers to the network device sending configuration information or parameter values ​​of some parameters to the terminal device through messages or signaling, so that the terminal device can determine the communication parameters or resources during transmission based on these values ​​or information. Pre-configuration is similar to configuration; it can be parameter information or parameter values ​​that the network device and the terminal device have negotiated in advance, or it can be parameter information or parameter values ​​that the network device or the terminal device uses as specified by the standard protocol, or it can be parameter information or parameter values ​​that are pre-stored in the network device or the terminal device. This application does not limit this.

[0121] Furthermore, these values ​​and parameters can be changed or updated.

[0122] (4) The terms "system" and "network" in the embodiments of this application can be used interchangeably. "At least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of A, B and C" includes A, B, C, AB, AC, BC or ABC. And, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, sequence, priority or importance of multiple objects.

[0123] (5) In the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include sending directly through the air interface or sending indirectly through the air interface by other units or modules. "Receive information from YY" can be understood as the source of the information being YY, which may include receiving directly from YY through the air interface or receiving indirectly from YY through the air interface by other units or modules. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface.

[0124] In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, wiring, or interfaces.

[0125] It is understandable that information may undergo necessary processing, such as encoding and modulation, between the source and destination, but the destination can understand the valid information from the source. Similar statements in this application can be interpreted in a similar way and will not be elaborated further.

[0126] (6) In the embodiments of this application, "instruction" may include direct instruction and indirect instruction, as well as explicit instruction and implicit instruction. The information indicated by a certain piece of information (as described below, the instruction information) is called the information to be instructed. In the specific implementation process, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is an association between the other information and the information to be instructed; or it can only indicate a part of the information to be instructed, while the other parts of the information to be instructed are known or pre-agreed upon. For example, the instruction can be implemented by using a pre-agreed (e.g., protocol predefined) arrangement order of various information, thereby reducing the instruction overhead to a certain extent. This application does not limit the specific method of instruction. It is understood that for the sender of the instruction information, the instruction information can be used to indicate the information to be instructed, and for the receiver of the instruction information, the instruction information can be used to determine the information to be instructed.

[0127] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. In the various embodiments of this application, and in the various implementation methods / methods / implementations within each embodiment, unless otherwise specified or logically conflicting, the terminology and / or descriptions between different embodiments and between the various implementation methods / methods / implementations within each embodiment are consistent and can be mutually referenced. The technical features in different embodiments and the various implementation methods / methods / implementations within each embodiment can be combined according to their inherent logical relationships to form new embodiments, implementation methods, methods, or implementation approaches. The embodiments described below do not constitute a limitation on the scope of protection of this application.

[0128] To facilitate understanding of the methods provided in the embodiments of this application, the system architecture of the methods provided in the embodiments of this application will be described below. It is understood that the system architecture described in the embodiments of this application is for the purpose of more clearly illustrating the solutions of the embodiments of this application and does not constitute a limitation on the solutions provided in the embodiments of this application.

[0129] Please refer to Figure 1a, which is a schematic diagram of the architecture of the communication system 10 used in the embodiments of this application. As shown in Figure 1a, the communication system includes a RAN 100 and a core network 200. Optionally, the communication system 10 may also include an Internet 300. The RAN 100 includes at least one RAN node (110a and 110b in Figure 1a, collectively referred to as 110), and may also include at least one terminal (120a-120j in Figure 1a, collectively referred to as 120). The RAN 100 may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1a). The terminal 120 is wirelessly connected to the RAN node 110, and the RAN node 110 is wirelessly or wiredly connected to the core network 200. The core network equipment in the core network 200 and the RAN node 110 in the RAN 100 can be independent and different physical devices, or they can be the same physical device integrating the logical functions of the core network equipment and the logical functions of the RAN node. Terminals can be connected to each other, as can RAN nodes, via wired or wireless means.

[0130] The core network equipment that may be involved in this application includes:

[0131] Access and mobility management function (AMF) devices / network elements / entities are deployed in the wireless core network to manage the access and mobility of terminal devices, performing registration, connection, reachability, and mobility management. AMF can also provide a session management message transmission channel for terminal devices and session management function (SMF) network elements, providing authentication and authorization functions for user access, and serving as an access point for the terminal and the wireless core network control plane.

[0132] User plane function (UPF) devices / network elements / entities refer to the user plane, which carries data traffic and is responsible for forwarding traffic between the radio access network and the Internet, reporting traffic usage, and enforcing quality of service (QoS) policies.

[0133] Figure 1b illustrates an example of an O-RAN system, which may include components other than those shown in the figure. As shown, the access network device (RAN, such as an eNB, gNB, or next-generation access network device) communicates with the core network (CN) via a backhaul link and with the UE via an air interface.

[0134] In one possible implementation, this application can be applied to long-term evolution (LTE) wireless communication systems, NR wireless communication systems, and future new radio (NR) wireless communication systems. For example, this application can be applied to orthogonal frequency division multiplexing (OFDM) systems in LTE, OFDM systems in NR, future OFDM systems, and OFDM-like systems.

[0135] In wireless communication systems (such as the systems shown in Figure 1a or Figure 1b), wireless communication sensing fusion is one of the key technologies in current communication network research, and it can be widely used in typical application scenarios such as intelligent transportation, intelligent low-altitude airspace, and intelligent networks. Communication sensing fusion achieves unified design of communication and sensing functions through signal joint design and hardware sharing. Sensing in communication sensing fusion can be understood as wireless sensing technology based on the communication system. For example, terminal devices or network devices transmit wireless signals to a target area or object and receive the echo signals reflected by the object. By analyzing the received signals, corresponding sensing measurements are obtained, such as the number, location, speed, and identification of the target object.

[0136] In other words, with the development of communication technology, future communication systems may provide sensing services in addition to communication services. Such networks can be understood as integrated sensing and communication (ISAC) networks. However, for communication devices, how to achieve object sensing is a technical problem that urgently needs to be solved.

[0137] As an example, taking access network devices and / or terminal devices as sensing devices, sensing signals may be transmitted between access network devices and terminal devices, between terminal devices, and between access network devices. The following will be described in conjunction with the process shown in Figure 2, with the target object being a vehicle as an example.

[0138] As shown in Figure 2, the sensing signal can have the following six modes:

[0139] (a) The access network device sends a sensing signal, and the access network device receives the sensing signal.

[0140] (b) The terminal device sends a sensing signal, and the terminal device receives the sensing signal.

[0141] (c) One access network device sends a sensing signal, and another access network device receives the sensing signal.

[0142] (d) One terminal device sends a sensing signal, and another terminal device receives the sensing signal.

[0143] (e) The access network device sends a sensing signal, and the terminal device receives the sensing signal.

[0144] (f) The terminal device sends a sensing signal, and the access network device receives the sensing signal.

[0145] Optionally, in the process shown in Figure 2, the target object can be an active object or a passive object, and there is no limitation here.

[0146] Furthermore, to enable the communication network to possess sensing function (SF), it may be necessary to deploy network elements with sensing capabilities in the network equipment. The following will introduce some possible deployment methods for network elements with sensing capabilities.

[0147] As shown in Figure 3a, devices / network elements / entities with sensing capabilities can be deployed in the core network, i.e., the SF shown in Figure 3a. The SF can be a network element in the core network that provides sensing-related functions, including at least one of the following: management of sensing nodes, coordination of sensing resources, processing of sensing measurements, and sharing of sensing results, etc., i.e., sensing-related functions.

[0148] In Figure 3a, access network devices can communicate with UPF network elements through the NG-U interface; access network devices can communicate with AMF network elements through the NG-C interface; access network devices can communicate with each other through the Xn interface; and terminal devices can communicate with access network devices through the Uu interface.

[0149] Optionally, access network devices can connect to the SF via the AMF or UPF. In a special case, the SF and the location management function (LMF) are combined, or the LMF is extended to implement the functions of the SF.

[0150] For example, as shown in Figure 3a, the SF can be divided into SF control plane (SF-C) network elements and SF user plane (SF-U) network elements. In this case, the access network equipment communicates with the SF-U network elements through the UPF network element and with the SF-C network elements through the AMF network element.

[0151] For example, access network devices can also connect directly to the SF, meaning they do not need to communicate with the SF through the UPF and AMF. In this case, the SF can also be divided into SF-C and SF-U.

[0152] It should be understood that the sensing functions deployed in the core network can have other names besides SF, such as sensing function network element, sensing requirement network element, sensing management network element, etc., and there is no limitation here.

[0153] As shown in Figures 3b and 3c, devices / network elements / entities with sensing capabilities can be deployed in the core network, specifically the sensing control (SC) devices / network elements / entities shown in Figure 3b. In Figure 3b, the SC can be a device / network element / entity independently set up in the access network equipment; in Figure 3c, the SC can be a device / network element / entity integrated into the access network equipment. In Figures 3b and 3c, the SF is an optional network element. That is, the SC can exist independently, or the SC and SF can be deployed simultaneously. When deployed simultaneously, the functions between the SC and SF network elements are not limited.

[0154] Here, SC represents a sensing-related network element set up on the RAN side. This network element can be a base station, a network element deployed on a base station, or a network element deployed independently of the base station. This network element may have at least one of the following capabilities:

[0155] It receives sensing requests from SF, manages sensing nodes, coordinates sensing resources within the region, processes sensing measurement results, and directly receives sensing requests (possessing all the functions of SF).

[0156] Optionally, the sensing function deployed in the access network can have other names besides SC, such as sensing control network element, control network element, sensing control node, edge sensing function, edge control network element, edge control node, etc., without limitation here.

[0157] As shown in Figures 3d and 3e, these are examples of scenarios where both the core network and the access network are equipped with sensing devices / network elements / entities.

[0158] For example, in Figure 3d, the devices / network elements / entities with sensing capabilities deployed in the access network may include SC network element #1 and SC network element #2, which are independent of the access network devices. Optionally, the relationship between the access network element and the SC network element can be one-to-one as shown in Figure 3d, or it can be one-to-many, or many-to-one; no limitation is made here.

[0159] For example, in Figure 3e, the devices / network elements / entities with sensing capabilities deployed in the access network may include SC network element #1 and SC network element #2 integrated into the access network devices.

[0160] For example, in Figures 3d and 3e, the sensing-enabled devices / network elements / entities deployed in the core network may include SF network elements.

[0161] It should be noted that Figures 3a to 3e above illustrate various potential ways to enable network devices to have sensing capabilities. In order to improve sensing performance, it is possible to deploy hardware modules and / or software modules with sensing capabilities in terminal devices, so that terminal devices can have sensing capabilities.

[0162] In one possible implementation, if only independent single-site sensing is used by each sensing node (e.g., in Figure 2(a) and (b)), performance in many aspects will be greatly limited, such as small sensing range, limited incident angle, and limited accuracy. To solve this problem, collaborative sensing and sensing data fusion using multiple nodes, multiple modes, and multiple frequencies can be employed (e.g., in Figure 2(c) and (d)). By fusing sensing data from multiple sites and different modes, the sensing capabilities of the integrated sensing network can be enhanced, sensing performance improved, and sensing gains achieved in terms of sensing coverage, sensing accuracy, and sensing resolution obtained. However, current published literature does not provide specific solutions for collaborative sensing between different communication devices. In other words, for a given communication device, determining what information it needs to obtain from other nodes to assist in performing a sensing task is a problem that urgently needs to be solved.

[0163] For example, in actual measurements, the limited angle measurement capabilities of some nodes may lead to missing sensing information. Consider a node where the missing sensing information includes angle information. Factors affecting a node's angle estimation capability include the signal-to-noise ratio (SNR) of the receiving path, antenna size, array size, beamwidth, and noise figure. These factors directly determine the accuracy of the angle estimation for that measurement. For instance, if a node (e.g., node A) has poor angle measurement capabilities or even fails to estimate its angle, the uncertainty of the angle measurement value is extremely high. Such angle information will severely impact sensing accuracy, and this can be considered as missing angle information for the current node. In this situation, there is currently no solution to what information node A needs to obtain from other nodes to assist it in sensing the target object.

[0164] To address the aforementioned problems, this application provides a communication method and related apparatus, which will be described in detail below with reference to the accompanying drawings.

[0165] Please refer to Figure 4, which is a schematic diagram of an implementation of the communication method provided in this application. The method includes the following steps.

[0166] It should be understood that in the following text, Figure 4 uses the first and second communication devices as examples to illustrate the method, but this application does not limit the execution subject of the interaction. For example, the communication device can be a communication equipment, or a chip, baseband chip, modem chip, system-on-chip (SoC) chip containing a modem core, system-in-package (SIP) chip, communication module, chip system, processor, logic module, or software in the communication equipment. Optionally, the communication equipment can be a terminal device or a network device (for example, the network device can be an access network device, access network element, etc.).

[0167] S401. The first communication device sends first information, and correspondingly, the second communication device receives the first information. The first information is used to request the location information of the target object.

[0168] S402. The second communication device sends second information, and correspondingly, the first communication device receives the second information. The second information is used to determine the location information of the target object; and the second information is determined based on the first information.

[0169] As an example of implementation, both the first communication device and the second communication device can be network devices. For example, the first communication device and the second communication device can be two access network devices in the scenario shown in Figure 2(c).

[0170] As an example of implementation, both the first communication device and the second communication device can be terminal devices. For example, the first communication device and the second communication device can be two terminal devices in the scenario shown in Figure 2(d).

[0171] As an example of implementation, the first communication device can be a network device and the second communication device can be a terminal device. For example, the first communication device can be the access network device in scenario (e) of Figure 2, and the second communication device can be the network device in scenario (e) of Figure 2.

[0172] As an example of implementation, the first communication device can be a terminal device, and the second communication device can be an access network device. For example, the first communication device can be the terminal device in scenario (f) shown in Figure 2, and the second communication device can be the access network device in scenario (f) shown in Figure 2.

[0173] It should be understood that the target object can be an object sensed by the communication device, including but not limited to active objects (such as communication devices with signal transmission and reception capabilities) and passive objects (such as communication devices without signal transmission and reception capabilities). Accordingly, the target object can be replaced with other descriptions, such as sensing object, scatterer, target, object, or obstacle.

[0174] Based on the scheme shown in Figure 4, after the first communication device sends first information requesting the location information of the target object in step S401, the first communication device can receive second information in step S402 and determine the location information of the target object based on the second information. In this way, different communication devices can determine the location of the target object through mutual cooperation, thereby achieving the perception of the target object.

[0175] Optionally, the second information may come from other communication devices (such as the second communication device) that are different from the first communication device. That is, the first communication device and the second communication device can cooperate to perceive the target object. This process can be performed without the target object performing signal processing, so that the above scheme can be applied to the perception scenario of passive objects (that is, the target object can be a passive object).

[0176] Optionally, after the first communication device determines the location information of the target object through the second information in step S402, the first communication device can perform a sensing task based on the location information of the target object. For example, the first communication device can generate / acquire / obtain the task result of the sensing task based on the location information of the target object. Alternatively, the first communication device can send the location information of the target object to other communication devices, enabling those other communication devices to obtain the task result of the sensing task through the cooperation of the first communication device.

[0177] In one possible implementation of the method shown in Figure 4, if the first communication device (or the communication equipment in which the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition, resulting in the first communication device having partial or complete lack of angle measurement capability, the first communication device can achieve object perception through the cooperation of other communication devices, thereby enhancing the flexibility and robustness of the first communication device (or the communication equipment in which the first communication device is located) when performing perception tasks.

[0178] For example, the first condition indicates the following conditions A and / or conditions B.

[0179] Condition A. The angle measurement capability of the first communication device is inferior to the pre-configured capability. For example, the measurement accuracy (e.g., accuracy, precision, or sensitivity) of the measurement result obtained by the first communication device based on the angle measurement is lower than a certain threshold, which is the measurement accuracy threshold indicated by the pre-configured capability; or the deviation (or error) of the measurement result obtained by the first communication device based on the angle measurement is higher than or equal to a threshold, which is the deviation (or error) threshold indicated by the pre-configured capability; or the measurement time taken by the first communication device to perform the angle measurement is higher than or equal to a threshold, which is the measurement time threshold indicated by the pre-configured capability (i.e., the first communication device fails to complete the angle measurement within the specified measurement time).

[0180] It should be noted that the thresholds involved in this application (e.g., thresholds corresponding to measurement accuracy, communication performance, and measurement capability) can be determined in various ways. For example, the communication device can determine the thresholds through pre-configuration, or through configuration by network devices, servers, or other devices. Optionally, different thresholds can be equal or unequal; this is not limited here.

[0181] Condition B. The angle measurement capability information of the first communication device is lower than the threshold, wherein the value of the capability information is positively correlated with the quality of the capability (i.e., the higher the value of the capability information, the better the capability; conversely, the lower the value of the capability information, the worse the capability); or, the angle measurement capability information of the first communication device is higher than or equal to the threshold, wherein the value of the capability information is negatively correlated with the quality of the capability (i.e., the higher the value of the capability information, the worse the capability; conversely, the lower the value of the capability information, the better the capability).

[0182] Optionally, the aforementioned angle measurement can be replaced by one or more of the following: distance measurement, speed measurement, or position measurement, etc. This allows the first communication device to achieve object perception through the cooperation of other communication devices, even when one or more of these measurement capabilities are lacking. This enhances the flexibility and robustness of the first communication device (or the communication equipment containing the first communication device) when performing perception tasks.

[0183] The following section will use the scenario shown in Figure 5a, taking the first communication device as an access network device as an example, to introduce the perception process of the first communication device for the target object.

[0184] As shown in Figure 5a, in a sensor-integrated network, the first communication device undertakes both communication and sensing tasks simultaneously. A basic sensing mode is called monostatic sensing. The first communication device can receive echoes generated by surrounding target objects, analyze the echo signals to extract the direction and distance of the target objects, and ultimately complete the sensing of the target's spatial location.

[0185] For example, in distance measurement, the first communication device can calculate the distance to the target object using the time delay information of the echo signal, satisfying:

[0186] Where r is the distance, τ is the time delay, and c is the speed of light.

[0187] For example, for angle measurement, the beamwidth of the transmitted beam of the first communication device satisfies:

[0188] Where Δθ is the beamwidth (Δθ can be understood as the measurement result of the first communication device on the angle measurement), λ is the wavelength, d is the antenna array spacing, and N is the number of antenna array elements.

[0189] Generally, beamwidth describes the angular range of radiation or reception by an antenna or other radiating or receiving device in a specific direction. For example, the beamwidth (Δθ) of a beam can be represented by the angle value corresponding to that beam. The larger the angle value, the lower the antenna resolution of the antenna transmitting that beam, enabling coarse-grained beam scanning; conversely, the smaller the angle value, the higher the antenna resolution of the antenna transmitting that beam, enabling fine-grained beam scanning.

[0190] Furthermore, if the antenna resolution is too low, the error in the angle measurement information will be extremely large, resulting in a significant deviation in the perceived target position. In special cases, angle estimation may even fail or angle information may be missing. In such situations, the first communication device can determine that the aforementioned first condition is met.

[0191] The following example, taking condition A as an example, illustrates how the first communication device determines that the first condition is met. For instance, the first communication device estimates the deviation (or error) of its perception measurement of the target object in the following manner: Δr≈rΔθ (3)

[0192] Wherein, Δr represents the deviation (e.g., precision deviation, accuracy deviation, etc.), and r and Δθ are determined by (1) and (2) above.

[0193] It should be understood that there is no single method for estimating perceptual bias. Equation (3) here provides one such estimation method as an example.

[0194] Furthermore, the first communication device can determine the sensing accuracy threshold (Sensing_accuracy_threshold) through network device configuration or pre-configuration (e.g., setting Sensing_accuracy_threshold = 1m, 2m, or 0.5m, where m represents meters), and compare the sensing accuracy Δr with this threshold. If the measurement accuracy is less than the threshold, condition A is considered not met, meaning the current angle measurement information is valid; if the measurement accuracy is greater than or equal to the threshold, condition A is considered met, meaning the angle measurement information is missing.

[0195] In one possible implementation, in step S401, the process of the first communication device sending the first information includes: when a second condition is met, the first communication device sends the first information; the second condition includes at least one of the following conditions C to F.

[0196] Condition C. The measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than the threshold. For example, the first communication device can determine whether condition C is met through the process of the above equation (3).

[0197] Condition D. The communication performance of the first communication device based on the measurement result is lower than a threshold. For example, the first communication device can determine the communication parameters (such as precoding information, power control parameters, etc.) based on the measurement result obtained from the angle measurement, and then obtain the corresponding communication performance (such as one or more of the following: reference signal received power (RSRP), reference signal received power quality (RSRQ), or signal and interference plus noise ratio (SINR)) during the communication process based on the communication parameters. If the communication performance is lower than the threshold, the first communication device can determine that the above measurement result may not be accurate enough, that is, determine that condition D is satisfied.

[0198] Condition E. The first information is periodically transmitted and the transmission period of the first information has expired. For example, the first communication device can request the location information of a target object from other communication devices (such as the second communication device) by periodically transmitting the first information.

[0199] Condition F. Receive fourth information, which instructs the first communication device to acquire the location information of the target object. For example, condition F can be applied to a scenario where the sender of the fourth information perceives the target object through the cooperation of one or more communication devices (including the first communication device).

[0200] Therefore, when the second condition is met, the first communication device can determine that it needs the cooperation of other communication devices to complete the perception of the target object. To this end, the first communication device can request the cooperation of other communication devices through the first information, so that different communication devices can determine the position of the target object through mutual cooperation, thereby realizing the perception of the target object.

[0201] In one possible implementation, as shown in Figure 5b, the method shown in Figure 4 further includes: the first communication device sending at least one of the following:

[0202] Step A. First indication information, indicating that the first communication device (or the communication equipment where the first communication device is located) does not have angle measurement capability or the angle measurement capability of the first communication device meets the first condition;

[0203] Step B. Second indication information, indicating the distance information between the first communication device (or the communication equipment where the first communication device is located) and the target object; or

[0204] Step C. Third indication information, indicating the location information of the first communication device (or the communication equipment where the first communication device is located).

[0205] Therefore, the first communication device can also send at least one of the above-mentioned information, so that the recipient of the at least one of the above-mentioned information (e.g., the second communication device) can determine the second information based on the information, thereby simplifying the complexity of the recipient in determining the second information and reducing processing latency.

[0206] For example, when the first communication device sends the first instruction information, the receiver can determine based on the first instruction information that the first communication device has a partial or complete lack of angle measurement capability, and assist the first communication device in realizing object perception through cooperation, which can enhance the flexibility and robustness of the first communication device (or the communication equipment where the first communication device is located) when performing perception tasks.

[0207] For example, when the first communication device sends the second instruction information and / or the third instruction information, the receiver can measure the target object within a specified range based on the second instruction information and / or the third instruction information, thereby improving the receiver's processing efficiency in obtaining the second information and reducing processing latency.

[0208] Optionally, among the first instruction information, second instruction information, third instruction information and first information mentioned above, different information can be carried in different messages / signaling / information, or at least two pieces of information can be carried in the same message / signaling / information, without limitation here.

[0209] In one possible implementation, as shown in Figure 5b, the method shown in Figure 4 further includes:

[0210] Step D. The second communication device sends third information, and correspondingly, the first communication device receives the third information. This third information indicates the sensing assistance capability of the second communication device. In other words, the first communication device can receive the third information and determine the sensing assistance capability of the second communication device based on it, enabling the first communication device to request a matching cooperation request from the second communication device based on this sensing assistance capability, thereby improving the sensing success rate.

[0211] Optionally, the perception-assisted capability includes angle measurement capability and / or distance measurement capability.

[0212] As an implementation example, a node can mobilize other nearby sensing nodes to assist the current node in passively sensing target objects. The node that initiates the cooperation request (e.g., the first communication device) is called the "primary sensing node"; the node mobilized to assist (e.g., the second communication device) is called the "auxiliary sensing node". Optionally, both the "primary sensing node" and the "auxiliary sensing node" can be any of the following: access network equipment (e.g., base station (BS)), SMF, UE, RSU, etc.

[0213] For example, the first communication device, acting as the primary sensing node, can broadcast a "cooperation request message" (which is an example of an implementation of the first information mentioned above) to the surrounding area. This message can contain "Primary_Node_Info", the data format of which is shown in Table 2.

[0214] Table 2

[0215] In Table 2, NodeA_ID represents the main sensing node number, NodeA_Position represents the main sensing node position (i.e., an implementation example of the third indication information in step C), and Angular_Missing represents the main sensing node angle missing flag (i.e., an implementation example of the first indication information in step A).

[0216] Optionally, NodeA_Position is the three-dimensional coordinates (x, y, z) of the master sensing node.

[0217] Optionally, the value of Angular_Missing can be 1 or 0, where 1 represents missing angle information and 0 represents not missing angle information (or, 0 represents missing angle information and 1 represents not missing angle information). Alternatively, a collaboration request message containing the Angular_Missing field indicates missing angle information; a collaboration request message not containing the Angular_Missing field indicates not missing angle information.

[0218] Furthermore, after receiving the "cooperation request message," auxiliary sensing nodes (such as a second communication device) around the primary sensing node assess their own capability to assist the primary node in sensing. If they are capable of assisting, they respond to the primary sensing node. The response message (which is an example of an implementation of the third information in step D above) may contain information about the auxiliary node, referred to as "Secondary Sensing Node Information," and its data format is shown in Table 3.

[0219] Table 3

[0220] In Table 3, NodeB_ID represents the auxiliary node number, NodeB_Position represents the auxiliary node position, and NodeB_Measurement_Capability represents the auxiliary node's measurement capability flag.

[0221] Optionally, NodeB_Position is the three-dimensional coordinates (x, y, z) of the auxiliary node; NodeB_Measurement_Capability represents the measurement capability of the auxiliary node, the specific content of which can be implemented through Table 4 below.

[0222] Table 4

[0223] In Table 4, a third message sent by an auxiliary node (e.g., a second communication device) may carry a "NodeB_Measurement_Capability" field. A value of 0 indicates that the auxiliary node does not have angle measurement capability and does not have distance measurement capability; a value of 1 indicates that the auxiliary node has angle measurement capability and does not have distance measurement capability; a value of 2 indicates that the auxiliary node does not have angle measurement capability and has distance measurement capability; and a value of 3 indicates that the auxiliary node has both angle measurement capability and distance measurement capability.

[0224] Subsequently, if the auxiliary sensing node is capable of assisting the main sensing node, the auxiliary node can perform a measurement based on the request of the first information in step S401 above, and indicate the measurement result of the auxiliary node through the second information in step S402, so that the main sensing node (i.e. the first communication device) can determine the position information of the target object through the second information, so as to realize the collaborative sensing of multiple nodes.

[0225] As can be seen from the above process, the second communication device (i.e., the auxiliary sensing node) may have a variety of different capabilities. Therefore, the second communication device indicates the corresponding measurement results in the second information in step S402 based on its own capabilities. The following will describe it in conjunction with more implementation examples.

[0226] Example 1: The second communication device must have at least angle measurement capability.

[0227] In Example 1, the second information sent by the second communication device in step S402 may include angle information between the second communication device and the target object; wherein, the angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object.

[0228] Specifically, the second information received by the first communication device may come from the second communication device, and the second information includes angle information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information contained in the second information and the other information mentioned above.

[0229] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes the angle information between the second communication device and the target object, so that the position information of the target object can be determined by the second communication device providing the angle measurement result (i.e., angle information), which can simplify the implementation complexity of the second communication device and reduce the processing latency.

[0230] As an implementation example, considering the scenario shown in Figure 6a, with point A representing the location of the first communication device, point B representing the location of the second communication device, and point P representing the location of the target object, this will be explained. In this implementation example, the second communication device (or the communication equipment containing the second communication device) has angle measurement capabilities. Furthermore, the second communication device can perform angle measurement based on a request from the first communication device to obtain the angle information between the second communication device and the target object (this angle information can be indicated by ∠YBP, i.e., θ, for point B). The direction is a reference direction (e.g., the direction of the horizon, the direction perpendicular to the horizon, etc.). Subsequently, the first communication device can use this angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device to determine the position information of the target object.

[0231] For example, the first communication device can determine the location information of the target object in the following manner:

[0232] In equation (4), Let A be the set of vectors with origin at point A and magnitude r1. Representing vectors with vector The angle between them is θ. The position coordinates of point P satisfy equation (4), that is, a circle is determined with point A as the origin (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object). The intersection of the angle θ indicated by the angle information obtained by the first communication device through the second information and the circle is the position coordinates of point P (i.e., the position information of the target object).

[0233] It should be understood that the first communication device can obtain the location information of the second communication device through the third information or the second information in step D above, or through other means (such as pre-configuration). Furthermore, the first communication device can determine the distance information between itself and the target object, as well as the location information of the first communication device, based on its own measurements or pre-configured information.

[0234] Optionally, in the scenario shown in Figure 6a, the first communication device can also, through the implementation process of steps B and C above, enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device, so that the second communication device can perform measurements within a specified range based on at least one of these two pieces of information, thereby improving the processing efficiency of the receiver in obtaining the second information and reducing the processing latency.

[0235] For example, the second communication device can determine a circle in Figure 6a with point A as the origin (i.e., the position information of the first communication device) and a radius of r1 (i.e., the distance information between the first communication device and the target object) based on these two pieces of information. Furthermore, the second communication device can perform angle measurements within the area containing this circle to obtain the angle information between the second communication device and the target object. In this way, the second communication device does not need to perform angle measurements in other areas of the region containing the circle, which can greatly improve the processing efficiency of the second communication device and reduce processing latency.

[0236] Example 2: The second communication device must have at least distance measurement capability.

[0237] In Example 2, the second information sent by the second communication device in step S402 includes N distance information between the second communication device and the target object, where N is an integer greater than 1; wherein, the N distance information, the N location information of the second communication device, the distance information between the first communication device and the target object, and the location information of the first communication device are used to determine the location information of the target object.

[0238] Specifically, the second information received by the first communication device may come from N second communication devices, and the N distance information contained in the second information respectively indicates the distance between the N second communication devices and the target object, so that the first communication device can determine the location information of the target object based on the N distance information contained in the second information and the other information mentioned above.

[0239] Furthermore, in the above scheme, the second information sent by the second communication device to the first communication device includes distance information between each second communication device and the target object. This allows the second communication device to provide distance measurement results (i.e., distance information), thereby enabling the determination of the target object's location information. This simplifies the implementation complexity of the second communication device and reduces processing latency.

[0240] As an implementation example, as shown in Figure 6b, with the location of the first communication device as point A, the number of second communication devices being 2 (i.e., N is 2), and the locations of the two second communication devices being points B and C respectively, and the location of the target object being point P, this example will be used for illustration. In implementation example two, the second communication device (or the communication device containing the second communication device) has distance measurement capabilities. Furthermore, the second communication device can perform distance measurement based on the request of the first communication device to obtain the distance information between the second communication device and the target object (this distance information can be indicated by r2 and r3 in the figure). Subsequently, the first communication device can use the distance information (i.e., r2 and r3) measured by the two second communication devices respectively, the location information of the two second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device to determine the location information of the target object.

[0241] For example, the first communication device can determine the location information of the target object in the following manner:

[0242] In equation (5), Let A be the set of vectors with origin at point A and magnitude r1. Let B be the set of vectors with origin at point B and magnitude r2. Let P be the set of vectors with origin C and magnitude r3. The position coordinates of point P satisfy equation (5), that is, the first circle is determined with origin A (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object); the second circle is determined with origin B (i.e., the position information of a certain second communication device) and radius r2 (i.e., the distance information between a certain second communication device and the target object); the third circle is determined with origin C (i.e., the position information of a certain second communication device) and radius r3 (i.e., the distance information between a certain second communication device and the target object); thereafter, the first communication device can determine the position coordinates of point P (i.e., the position information of the target object) by the intersection of these three circles.

[0243] It should be understood that the first communication device can obtain the location information (i.e., the coordinates of points B and C) of the two second communication devices through the third or second information in step D above, or through other means (such as pre-configuration). Furthermore, the first communication device can determine the distance information between itself and the target object, as well as its location information, based on its own measurements or pre-configured information.

[0244] Optionally, in the scenario shown in Figure 6b, the first communication device can also, through the implementation processes of steps B and C above, enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device. This allows the second communication device to perform measurements within a specified range based on at least one of these two pieces of information, thereby improving the processing efficiency of the receiver in obtaining the second information and reducing processing latency. For example, any second communication device can determine a circle in Figure 6a with point A as the origin (i.e., the position information of the first communication device) and a radius of r1 (i.e., the distance information between the first communication device and the target object) based on these two pieces of information. Furthermore, any second communication device can perform angle measurements in the area containing this circle to obtain the angle information between the second communication device and the target object. In this way, any second communication device does not need to perform angle measurements in other areas of the area containing the circle, which can greatly improve the processing efficiency of the second communication device and reduce processing latency.

[0245] Example 3: The second communication device shall have at least angle measurement capability and distance measurement capability.

[0246] In Example 3, the second information sent by the second communication device in step S402 includes the angle information between the second communication device and the target object and the distance information between the second communication device and the target object, where N is an integer greater than 1; wherein the angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

[0247] Specifically, the second information received by the first communication device may come from the second communication device, and the second information includes angle information and distance information between the second communication device and the target object, so that the first communication device can determine the position information of the target object based on the angle information, distance information and other information included in the second information.

[0248] As an implementation example, as shown in Figure 6c, with point A representing the location of the first communication device, point B representing the location of the second communication device, and point P representing the location of the target object, this example will be used for illustration. In implementation example three, the second communication device (or the communication equipment containing the second communication device) has angle measurement and distance measurement capabilities. Furthermore, the second communication device can perform angle and distance measurements based on the request of the first communication device to obtain angle information and distance information between the second communication device and the target object (the angle information can be indicated by ∠YBP, i.e., θ, in the figure, and the distance information can be indicated by r2 in the figure). Subsequently, the first communication device can use the angle information, the distance information, and the position information of the second communication device to determine the position information of the target object.

[0249] For example, the first communication device can determine the location information of the target object in the following manner:

[0250] In equation (6), Let A be the set of vectors with origin at point A and magnitude r1. Let B be the set of vectors with origin at point B and magnitude r2. Representing vectors with vector The angle between them is θ. The position coordinates of point P satisfy equation (6), that is, a circle is determined with point A as the origin (i.e., the position information of the first communication device) and radius r1 (i.e., the distance information between the first communication device and the target object); another circle is determined with point B as the origin (i.e., the position information of the second communication device) and radius r2 (i.e., the distance information between the second communication device and the target object), and one of the intersection points of these two circles satisfies The intersection of these points is the position coordinate of point P (i.e., the position information of the target object).

[0251] It should be understood that the first communication device can obtain the location information of the second communication device through the third information or the second information in step D above, or through other means (such as pre-configuration).

[0252] Optionally, in the scenario shown in Figure 6c, the first communication device can also, through the implementation process of steps B and C above, enable the second communication device to determine the distance information between the first communication device and the target object and / or the position information of the first communication device, so that the second communication device can perform measurements within a specified range based on at least one of these two pieces of information, thereby improving the processing efficiency of the receiver in obtaining the second information and reducing the processing latency.

[0253] For example, the second communication device can determine a circle in Figure 6c with point A as the origin (i.e., the position information of the first communication device) and a radius of r1 (i.e., the distance information between the first communication device and the target object) based on these two pieces of information. Furthermore, the second communication device can perform angle measurements within the area containing this circle to obtain the angle and distance information between the second communication device and the target object. In this way, the second communication device does not need to perform angle and distance measurements in other areas of the region containing the circle, which greatly improves the processing efficiency of the second communication device and reduces processing latency.

[0254] Optionally, in any of the above implementation examples one to three, the second information includes the location information of the target object. In other words, the second information received by the first communication device may include the location information of the target object, enabling the first communication device to obtain the location information of the target object through the received second information, thereby reducing the processing complexity and processing latency of the first communication device.

[0255] For example, the location information of the target object is determined by the second communication device based on any of the following:

[0256] The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device (i.e., implementation example one); or,

[0257] N distance information between N second communication devices and the target object, the location information of the N second communication devices, the distance information between the first communication device and the target object, and the location information of the first communication device, where N is an integer greater than 1 (i.e., in Example 2, a certain second communication device can receive / aggregate / collect information from other N-1 second communication devices and determine the location information of the target object); or,

[0258] The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device (i.e., implementation example three).

[0259] Referring to Figure 7, this application embodiment provides a communication device 700. This communication device 700 can implement the functions of the first communication device (or the second communication device, the third communication device, or the fourth communication device) in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. In this application embodiment, the communication device 700 can be the first communication device (or the second communication device, the third communication device, or the fourth communication device), or it can be an integrated circuit or component inside the first communication device (or the second communication device, the third communication device, or the fourth communication device), such as a chip, baseband chip, modem chip, SoC chip (e.g., an SoC chip containing a modem core), SIP chip, communication module, chip system, processor, etc.

[0260] It should be noted that the transceiver unit 702 may include a transmitting unit and a receiving unit, which are used to perform transmitting and receiving respectively.

[0261] In one possible implementation, when the device 700 is used to execute the method performed by the first communication device in the embodiment shown in FIG4, the device 700 includes a processing unit 701 and a transceiver unit 702; the processing unit 701 is used to determine first information; the transceiver unit 702 is used to send the first information, which is used to request the location information of a target object; the transceiver unit 702 is also used to receive second information, which is used to determine the location information of the target object; wherein the second information is determined based on the first information.

[0262] In one possible implementation, when the device 700 is used to execute the method performed by the second communication device in the embodiment shown in FIG4, the device 700 includes a processing unit 701 and a transceiver unit 702; the transceiver unit 702 is used to receive first information from the first communication device, the first information being used to request the location information of a target object; the processing unit 701 is used to determine second information; the transceiver unit 702 is also used to send the second information, the second information being used to determine the location information of the target object; wherein, the second information is determined based on the first information.

[0263] It should be noted that the information execution process of the unit of the above-mentioned communication device 700 can be specifically described in the method embodiment shown above in this application, and will not be repeated here.

[0264] Please refer to Figure 8, which is another schematic structural diagram of the communication device 800 provided in this application. The communication device 800 includes a logic circuit 801 and an input / output interface 802. The communication device 800 can be a chip or an integrated circuit.

[0265] In Figure 7, the transceiver unit 702 can be a communication interface. Similarly, the input / output interface 802 in Figure 8 can also be a communication interface, which may include an input interface and an output interface. Alternatively, the input / output interface 802 can also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0266] Optionally, the logic circuit 801 is used to determine first information; the input / output interface 802 is used to send the first information, which is used to request the location information of the target object; the input / output interface 802 is also used to receive second information, which is used to determine the location information of the target object; wherein, the second information is determined based on the first information.

[0267] Optionally, the input / output interface 802 is used to receive first information from the first communication device, the first information being used to request the location information of the target object; the logic circuit 801 is used to determine second information; the input / output interface 802 is also used to send the second information, the second information being used to determine the location information of the target object; wherein the second information is determined based on the first information.

[0268] The logic circuit 801 and the input / output interface 802 can also perform other steps performed by the first or second communication device in any embodiment and achieve corresponding beneficial effects, which will not be elaborated here.

[0269] In one possible implementation, the processing unit 701 shown in FIG7 can be the logic circuit 801 in FIG8.

[0270] Optionally, the logic circuit 801 can be a processing device, the functions of which can be partially or entirely implemented in software.

[0271] Optionally, the processing apparatus may include a memory and a processor, wherein the memory is used to store a computer program, and the processor reads and executes the computer program stored in the memory to perform the corresponding processing and / or steps in any of the method embodiments.

[0272] Optionally, the processing device may consist of only a processor. A memory for storing computer programs is located outside the processing device, and the processor is connected to the memory via circuitry / wires to read and execute the computer programs stored in the memory. The memory and processor may be integrated together or physically independent of each other.

[0273] Optionally, the processing device may be one or more chips, or one or more integrated circuits. For example, the processing device may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system-on-chips (SoCs), central processing units (CPUs), network processors (NPs), digital signal processors (DSPs), microcontroller units (MCUs), programmable logic devices (PLDs), or other integrated chips, or any combination of the above chips or processors.

[0274] Please refer to Figure 9, which shows the communication device 900 involved in the above embodiments provided in the embodiments of this application. Specifically, the communication device 900 can be the communication device as a terminal device in the above embodiments. The communication device shown in Figure 9 is implemented through a terminal device (or a component in the terminal device).

[0275] The present invention provides a possible logical structure diagram of the communication device 900, which may include, but is not limited to, at least one processor 901 and a communication port 902.

[0276] In Figure 7, the transceiver unit 702 can be a communication interface, which can be the communication port 902 in Figure 9. The communication port 902 can include an input interface and an output interface. Alternatively, the communication port 902 can also be a transceiver circuit, which can include an input interface circuit and an output interface circuit.

[0277] Further optionally, the device may also include at least one of a memory 903 and a bus 904. In the embodiments of this application, the at least one processor 901 is used to control the operation of the communication device 900.

[0278] Furthermore, the processor 901 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0279] It should be noted that the communication device 900 shown in Figure 9 can be used to implement the steps implemented by the terminal device in the aforementioned method embodiments and to achieve the corresponding technical effects of the terminal device. The specific implementation of the communication device shown in Figure 9 can be referred to the description in the aforementioned method embodiments, and will not be repeated here.

[0280] Please refer to Figure 10, which is a schematic diagram of the structure of the communication device 1000 involved in the above embodiments provided in the embodiments of this application. The communication device 1000 can specifically be a communication device as a network device in the above embodiments. The communication device shown in Figure 10 is implemented through a network device (or a component in a network device). The structure of the communication device can refer to the structure shown in Figure 10.

[0281] The communication device 1000 includes at least one processor 1011 and at least one network interface 1014. Optionally, the communication device further includes at least one memory 1012, at least one transceiver 1013, and one or more antennas 1015. The processor 1011, memory 1012, transceiver 1013, and network interface 1014 are connected, for example, via a bus. In this embodiment, the connection may include various interfaces, transmission lines, or buses, etc., and this embodiment is not limited thereto. The antenna 1015 is connected to the transceiver 1013. The network interface 1014 enables the communication device to communicate with other communication devices through a communication link. For example, the network interface 1014 may include a network interface between the communication device and core network equipment, such as an S1 interface; the network interface may also include a network interface between the communication device and other communication devices (e.g., other network devices or core network equipment), such as an X2 or Xn interface.

[0282] In this context, the transceiver unit 702 shown in Figure 7 can be a communication interface, which can be the network interface 1014 in Figure 10. The network interface 1014 can include an input interface and an output interface. Alternatively, the network interface 1014 can also be a transceiver circuit, which can include an input interface circuit and an output interface circuit.

[0283] The processor 1011 is primarily used to process communication protocols and communication data, control the entire communication device, execute software programs, and process data from these programs, for example, to support the actions described in the embodiments of the communication device. The communication device may include a baseband processor and a central processing unit (CPU). The baseband processor is primarily used to process communication protocols and communication data, while the CPU is primarily used to control the entire terminal device, execute software programs, and process data from these programs. The processor 1011 in Figure 10 can integrate the functions of both a baseband processor and a CPU. Those skilled in the art will understand that the baseband processor and CPU can also be independent processors interconnected via technologies such as buses. Those skilled in the art will understand that a terminal device can include multiple baseband processors to adapt to different network standards, and multiple CPUs to enhance its processing capabilities. Various components of the terminal device can be connected via various buses. The baseband processor can also be described as a baseband processing circuit or a baseband processing chip. The CPU can also be described as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor or stored in memory as a software program, which is then executed by the processor to implement the baseband processing function.

[0284] The memory is primarily used to store software programs and data. The memory 1012 can exist independently or be connected to the processor 1011. Optionally, the memory 1012 can be integrated with the processor 1011, for example, integrated within a single chip. The memory 1012 can store program code that executes the technical solutions of the embodiments of this application, and its execution is controlled by the processor 1011. The various types of computer program code being executed can also be considered as drivers for the processor 1011.

[0285] Figure 10 shows only one memory and one processor. In actual terminal devices, there may be multiple processors and multiple memories. Memory can also be called storage medium or storage device, etc. Memory can be a storage element on the same chip as the processor, i.e., an on-chip storage element, or it can be a separate storage element; this application does not limit this.

[0286] Transceiver 1013 can be used to support the reception or transmission of radio frequency (RF) signals between a communication device and a terminal. Transceiver 1013 can be connected to antenna 1015. Transceiver 1013 includes a transmitter Tx and a receiver Rx. Specifically, one or more antennas 1015 can receive RF signals. The receiver Rx of transceiver 1013 is used to receive the RF signals from the antennas, convert the RF signals into digital baseband signals or digital intermediate frequency (IF) signals, and provide the digital baseband signals or IF signals to processor 1011 so that processor 1011 can perform further processing on the digital baseband signals or IF signals, such as demodulation and decoding. In addition, the transmitter Tx in transceiver 1013 is also used to receive modulated digital baseband signals or IF signals from processor 1011, convert the modulated digital baseband signals or IF signals into RF signals, and transmit the RF signals through one or more antennas 1015. Specifically, the receiver Rx can selectively perform one or more stages of downmixing and analog-to-digital conversion on the radio frequency signal to obtain a digital baseband signal or a digital intermediate frequency (IF) signal. The order of these downmixing and IF conversion processes is adjustable. The transmitter Tx can selectively perform one or more stages of upmixing and digital-to-analog conversion on the modulated digital baseband signal or digital IF signal to obtain a radio frequency signal. The order of these upmixing and IF conversion processes is also adjustable. The digital baseband signal and the digital IF signal can be collectively referred to as digital signals.

[0287] The transceiver 1013 can also be called a transceiver unit, transceiver, transceiver device, etc. Optionally, the device in the transceiver unit that performs the receiving function can be regarded as the receiving unit, and the device in the transceiver unit that performs the transmitting function can be regarded as the transmitting unit. That is, the transceiver unit includes a receiving unit and a transmitting unit. The receiving unit can also be called a receiver, input port, receiving circuit, etc., and the transmitting unit can be called a transmitter, transmitter, or transmitting circuit, etc.

[0288] It should be noted that the communication device 1000 shown in Figure 10 can be used to implement the steps implemented by the network device in the aforementioned method embodiments and to achieve the corresponding technical effects of the network device. The specific implementation of the communication device 1000 shown in Figure 10 can be referred to the description in the aforementioned method embodiments, and will not be repeated here.

[0289] Please refer to Figure 11, which is a schematic diagram of the structure of the communication device involved in the above embodiments provided in the embodiments of this application.

[0290] It is understood that the communication device 110 includes, for example, modules, units, elements, circuits, or interfaces, which are appropriately configured together to execute the technical solutions provided in this application. The communication device 110 may be the terminal device or network device described above, or a component (e.g., a chip) within these devices, used to implement the methods described in the following method embodiments. The communication device 110 includes one or more processors 111. The processor 111 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (e.g., a RAN node, terminal, or chip), execute software programs, and process data from the software programs.

[0291] Optionally, in one design, the processor 111 may include a program 113 (sometimes also referred to as code or instructions) that can be executed on the processor 111 to cause the communication device 110 to perform the methods described in the embodiments below. In yet another possible design, the communication device 110 includes circuitry (not shown in FIG11).

[0292] Optionally, the communication device 110 may include one or more memories 112 storing a program 114 (sometimes referred to as code or instructions), which can be run on the processor 111 to cause the communication device 110 to perform the methods described in the above method embodiments.

[0293] Optionally, the processor 111 and / or memory 112 may include artificial intelligence (AI) modules 117 and 118, which are used to implement AI-related functions. The AI ​​modules can be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a radio intelligence control (RIC) module. For instance, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0294] Optionally, the processor 111 and / or memory 112 may also store data. The processor and memory may be configured separately or integrated together.

[0295] Optionally, the communication device 110 may further include a transceiver 115 and / or an antenna 116. The processor 111, sometimes referred to as a processing unit, controls the communication device (e.g., a RAN node or terminal). The transceiver 115, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to realize the transmission and reception functions of the communication device through the antenna 116.

[0296] In this context, the processing unit 701 shown in Figure 7 can be a processor 111. The transceiver unit 702 shown in Figure 7 can be a communication interface, which can be the transceiver 115 in Figure 11. The transceiver 115 can include an input interface and an output interface. Alternatively, the transceiver 115 can also be a transceiver circuit, which can include an input interface circuit and an output interface circuit.

[0297] This application also provides a computer-readable storage medium for storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor performs the method described in the possible implementations of the first or second communication device in the foregoing embodiments.

[0298] This application also provides a computer program product (or computer program) that, when executed by a processor, executes the method of the first, second, third, or fourth communication device as described above.

[0299] This application also provides a chip system including at least one processor for supporting a communication device in implementing the functions involved in the possible implementations of the communication device described above. Optionally, the chip system further includes an interface circuit that provides program instructions and / or data to the at least one processor. In one possible design, the chip system may further include a memory for storing the program instructions and data necessary for the communication device. The chip system may be composed of chips or may include chips and other discrete devices, wherein the communication device may specifically be the first, second, third, or fourth communication device in the aforementioned method embodiments.

[0300] This application also provides a communication system, which includes a first communication device and a second communication device from any of the above embodiments. Alternatively, the communication system includes a third communication device and / or a fourth communication device from any of the above embodiments.

[0301] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0302] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0303] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A communication method characterized by comprising: The method is applied to a first communication device, the first communication device does not have an angle measurement capability or an angle measurement capability of the first communication device meets a first condition, and the method comprises: sending first information, the first information being used for requesting position information of a target object; receiving second information, the second information being used for determining the position information of the target object; wherein the second information is determined based on the first information.

2. The method of claim 1, wherein, The second information comprises angle information between a second communication device and the target object. The angle information, position information of the second communication device, distance information between the first communication device and the target object, and position information of the first communication device are used to determine the position information of the target object.

3. The method of claim 1, wherein, The second information comprises N distance information between N second communication devices and the target object, N being an integer greater than 1. The N distance information, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device are used to determine the position information of the target object.

4. The method of claim 1, wherein, The second information comprises angle information between a second communication device and the target object and distance information between the second communication device and the target object, N being an integer greater than 1. The angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object.

5. The method according to any one of claims 1 to 4, characterized in that, The second information comprises position information of the target object, the position information of the target object being determined based on any one of the following: angle information between a second communication device and the target object, position information of the second communication device, distance information between the first communication device and the target object, and position information of the first communication device; or, N distance information between N second communication devices and the target object, position information of the N second communication devices, distance information between the first communication device and the target object, and position information of the first communication device, N being an integer greater than 1; or angle information between the second communication device and the target object, distance information between the second communication device and the target object, and position information of the second communication device.

6. The method according to any one of claims 1 to 5, characterized in that, The first condition indicates that the angle measurement capability of the first communication device is worse than a preconfigured capability, and / or the first condition indicates that angle measurement capability information of the first communication device is lower than a threshold value.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: sending at least one of the following: first indication information indicating that the first communication device does not have an angle measurement capability or an angle measurement capability of the first communication device meets the first condition; second indication information indicating distance information between the first communication device and the target object; or third indication information indicating position information of the first communication device.

8. The method according to any one of claims 1 to 7, characterized in that, The method further comprises: receiving third information, the third information indicating a perception assistance capability of a second communication device.

9. The method of claim 8, wherein, The perception assistance capability comprises an angle measurement capability and / or a distance measurement capability.

10. The method according to any one of claims 1 to 9, characterized in that, The sending the first information comprises: The sending the first information comprises: The measurement accuracy of the measurement result obtained by the first communication device based on the angle measurement is lower than a threshold value; The communication performance of the first communication device based on the measurement result is lower than a threshold value; The first information is periodically transmitted information and the transmission period of the first information expires; The receiving the fourth information comprises:

11. A communication method, comprising: The receiving the first information from the first communication device comprises: The sending the second information comprises: The second information comprises angle information between the second communication device and the target object; 12. The method of claim 11, wherein, The angle information, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object. The second information comprises one of N distance information between N second communication devices and the target object, N being an integer greater than 1; 13. The method of claim 11, wherein, The N distance information, the position information of the N second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device are used to determine the position information of the target object. The second information comprises angle information between the second communication device and the target object and distance information between the second communication device and the target object, N being an integer greater than 1; 14. The method of claim 11, wherein, The angle information, the distance information, and the position information of the second communication device are used to determine the position information of the target object. The second information comprises the position information of the target object, which is determined based on any one of the following:

15. The method according to any one of claims 11 to 14, characterized in that, The angle information between the second communication device and the target object, the position information of the second communication device, the distance information between the first communication device and the target object, and the position information of the first communication device; Or, The N distance information between N second communication devices and the target object, the position information of the N second communication devices, the distance information between the first communication device and the target object, and the position information of the first communication device, N being an integer greater than 1; or The angle information between the second communication device and the target object, the distance information between the second communication device and the target object, and the position information of the second communication device. The first condition indicates that the angle measurement capability of the first communication device is worse than a preconfigured capability, and / or the first condition indicates that the angle measurement capability information of the first communication device is lower than a threshold value.

16. The method according to any one of claims 11 to 15, characterized in that, The method further comprises:

17. The method according to any one of claims 11 to 16, characterized in that, ​ The receiving comprises: receiving first indication information, the first indication information indicating that the first communication device does not have an angle measurement capability or that an angle measurement capability of the first communication device meets the first condition; receiving second indication information, the second indication information indicating distance information between the first communication device and the target object; or receiving third indication information, the third indication information indicating position information of the first communication device.

18. The method according to any one of claims 11 to 17, characterized in that, The method further comprises: sending third information, the third information indicating a perception assistance capability of a second communication device.

19. The method of claim 18, wherein, The perception assistance capability comprises an angle measurement capability and / or a distance measurement capability.

20. The method according to any one of claims 11 to 19, characterized in that, The receiving the first information comprises: receiving the first information when a second condition is met; the second condition comprises: a measurement accuracy of a measurement result obtained by the first communication device based on angle measurement is lower than a threshold value; a communication performance of the first communication device based on the measurement result is lower than a threshold value; the first information is periodically transmitted information and a transmission period of the first information is expired; and sending fourth information, the fourth information indicating that the first communication device obtains position information of the target object.

21. A communications device, characterized by A module for performing the method according to any one of claims 1 to 20.

22. A communications device, characterized by At least one processor for performing the method according to any one of claims 1 to 20.

23. The communication apparatus according to claim 22, wherein, The communication device is a chip or a chip system.

24. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program or instructions, when the computer program or instructions are executed by the communication device, the method according to any one of claims 1 to 20 is implemented.

25. A computer program product, characterised in that, A computer program or instructions, when the computer program or instructions are executed by a computer, the method according to any one of claims 1 to 20 is implemented.

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