Sensing method and related apparatus

Abstract

The present application relates to the technical field of wireless communications, and especially relates to a sensing method and a related apparatus. The method comprises: a first network element sending sensing assistance data to at least one first terminal device and at least one first network device, wherein the sensing assistance data may be used for the transmission and / or measurement of a sensing signal, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; the first network element receiving N1 pieces of sensing measurement information from the at least one first terminal device, wherein the N1 pieces of sensing measurement information are obtained on the basis of the measurement of the sensing signal, the sensing signal is sent by the at least one first network device and is received by the at least one first terminal device, and N1 is a positive integer greater than or equal to 1; and the first network element determining, on the basis of the N1 pieces of sensing measurement information, a sensing result of an object to be sensed. The sensing method provided in the present application has a large sensing coverage rate, high sensing accuracy, and good applicability and practicability.

Description

A sensing method and related apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411261794.7, filed on September 9, 2024, and entitled "A sensing method and related apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] With the evolution of wireless communication technology, Internet of Things, artificial intelligence, big data and automation technology are reshaping traditional industries, giving birth to intelligent applications such as smart cities and autonomous driving. These applications have raised challenges for high-speed, low-latency and high-reliability communication support. In order to meet the needs of these emerging applications, wireless sensing technology is proposed. Wireless sensing technology can measure the echo signal of the sensing signal after the sensing target surface effect (e.g., reflection, diffraction or scattering, etc.) to complete the sensing of the sensing target. However, the existing wireless sensing scheme has problems such as small sensing distance and limited sensing field of view, and its sensing performance is greatly limited, with poor applicability and practicability. SUMMARY

[0004] In order to solve the above problems, the present application provides a sensing method and related apparatus. The sensing method provided by the present application has high sensing coverage and high sensing accuracy, and has good applicability and practicability.

[0005] The present application is described below from multiple aspects. It is easy to understand that the implementation modes of the following multiple aspects can be mutually referenced.

[0006] In a first aspect, an embodiment of the present application provides a sensing method. The method is applicable to a first network element or a device in the first network element (such as a module in the first network element, a communication module, a circuit responsible for communication function and / or sensing function, a processor, a chip or a chip system, etc.). Or applicable to a logical node, a logical module or software capable of realizing all or part of the function of the first network element. The method comprises: sending sensing assistance data to at least one first terminal device and at least one first network device. It should be understood that each of the at least one first terminal device and each of the at least one first network device can obtain the sensing assistance data. The sensing assistance data can be used for transmission and / or measurement of a sensing signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. N1 pieces of sensing measurement information are received from the at least one first terminal device. The N1 pieces of sensing measurement information can be obtained based on measurement of a sensing signal. The sensing signal can be sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1. It should be understood that each of the at least one first network device will send a sensing signal. In the case that the transmission quality of the sensing signal is good, each of the at least one first terminal device can receive the sensing signal sent by each of the first network devices, and each of the first terminal devices can obtain the same number of sensing measurement information based on the sensing signal received. The first network element determines a sensing result of a to-be-sensed object according to the N1 pieces of sensing measurement information.

[0007] Through the above method, the first network element can send sensing assistance data to the at least one first network device and the at least one first terminal device, so that the at least one first network device can send a sensing signal based on the sensing assistance data, and the at least one first terminal device can receive a sensing signal based on the sensing assistance data and obtain N1 pieces of sensing measurement information, thereby completing downlink double-base sensing initiated by the first network element for the to-be-sensed object. Since the sensing method provided by the present application is based on double-base sensing, the sensing method can improve sensing coverage, sensing accuracy and sensing resolution, and has good applicability and practicability.

[0008] With reference to the first aspect, in a possible implementation, the method further can include: sending, by the first network element, a first request to the second network element. The first request can include indication information of the first screening condition. The first request can be used to instruct the second network element to screen the N2 second terminal devices based on the first screening condition. Here, the N2 second terminal devices are managed by the N3 first network devices, and the N3 first network devices serve the first network element. Here, N2 and N3 are positive integers greater than or equal to 1. It should be understood that the N3 first network devices can be part or all of all network devices serving the first network element.

[0009] With reference to the first aspect, in a possible implementation, after providing the first screening condition to the second network element, the method further can include: receiving a first response corresponding to the first request. The first response can include device identification information of N4 second terminal devices, which can be screened by the second network element from the N2 second terminal devices based on the first screening condition, and N4 is a positive integer greater than or equal to 1. The N4 second terminal devices can be used by the first network element to determine the at least one first terminal device. Alternatively, after receiving the first response, the first network element can determine the N4 second terminal devices as the at least one first terminal device.

[0010] With reference to the first aspect, in a possible implementation, the first screening condition is associated with location information of a terminal device. The N4 second terminal devices can be screened by the second network element from the N2 second terminal devices based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0011] In the above implementation, the screening of the second terminal devices is performed in combination with the first screening condition and the location information of each terminal device in the N2 second terminal devices, which is simple and easy to implement, and can ensure the efficiency of obtaining the at least one first terminal device.

[0012] With reference to the first aspect, in a possible implementation, the method further includes: in a case where the first network element determines that the second network element fails to screen successfully based on the first screening condition, the first network element can send a second request to the second network element. The second request can include indication information of a second screening condition. The second request is used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition. It should be understood that the second screening condition is different from the first screening condition described above. Further, the first network element can receive a third response corresponding to the second request. The third response can include device identification information of N5 second terminal devices, which can be screened by the second network element from the N2 second terminal devices based on the second screening condition. N5 is a positive integer greater than or equal to 1. The N5 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0013] Optionally, determining that the second network element fails to filter successfully based on the first filtering condition can include: determining, by the first network element, that the first response is not received within the first time length. Alternatively, the first network element receives a second response indicating that the second terminal device is not filtered based on the first filtering condition. That is, in the case that the first network element does not receive the first response within the first time length, or in the case that the first network element receives the second response indicating that the second terminal device is not filtered based on the first filtering condition, the first network element sends the second request to the second network element.

[0014] In the above implementation, in the case that the first network element fails to filter successfully based on the first filtering condition, the first network element provides different second filtering condition to trigger the second network element to re-filter, which can avoid the problem of long time of determining the at least one first terminal device due to the unsuitable first filtering condition, and improve the efficiency of the perception method.

[0015] In combination with the first aspect, in a possible implementation, the second request further includes first indication information. The first indication information is used to indicate that the time of filtering the N2 second terminal devices based on the first filtering condition is equal to or greater than the interval of the time of filtering the N2 second terminal devices based on the second filtering condition. Alternatively, the first indication information is used to indicate that the time interval of the two filtering based on the first filtering condition and the second filtering condition by the second network element should be equal to or greater than the second time length.

[0016] In combination with the first aspect, in a possible implementation, the method further includes: obtaining, by the first network element, N3 second network devices serving the first network element. Wherein, N3 is a positive integer greater than or equal to 1. In the case that N6 second terminal devices meeting the third filtering condition are obtained from the N2 second terminal devices, the N6 third terminal devices are determined as the at least one first terminal device, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

[0017] In the above implementation, the first network element can directly determine the at least one first terminal device according to the third filtering condition, which can effectively reduce the time delay generated by determining the at least one first terminal device, and further improve the efficiency of the perception method.

[0018] In combination with the first aspect, in a possible implementation, the method further includes: sending, by the first network element, a perception information request to the at least one first terminal device. Wherein, the perception information request is used to trigger or instruct the at least one first terminal device to obtain N1 perception measurement information. Alternatively, the perception information request is used to trigger or instruct the at least one first terminal device to receive the perception signal sent by the at least one first network device, and complete the measurement of the perception signal based on the perception assistance data to obtain the N1 perception measurement information.

[0019] In a second aspect, an embodiment of the present application provides a sensing method. The method is applicable to a second network element or a device in the second network element (such as a module in the second network element, a communication module, a circuit responsible for communication function and / or sensing function, a processor, a chip or a chip system, etc.). Or applicable to a logical node, a logical module or software capable of realizing all or part of the function of the second network element. The method comprises: the second network element sends sensing assistance data to at least one first terminal device and at least one first network device. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. The second network element sends N1 pieces of sensing measurement information to the first network element. The N1 pieces of sensing measurement information are used to determine a sensing result of a to-be-sensed object. The N1 pieces of sensing measurement information are obtained based on sensing signal measurement. The sensing signal is sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1.

[0020] Through the above method, the second network element can send the sensing assistance data provided by the first network element to the at least one first network device and the at least one first terminal device, so that the at least one first network device can send the sensing signal based on the sensing assistance data, and the at least one first terminal device can receive and measure N1 pieces of sensing measurement information based on the sensing assistance data and report them to the first network element through the second network element, thereby completing the downlink double-base sensing initiated by the first network element for the to-be-sensed object. Since the sensing method provided by the present application is based on double-base sensing, the sensing method can improve the sensing coverage, sensing accuracy and sensing resolution, and has good applicability and practicability.

[0021] In combination with the second aspect, in a possible implementation manner, the method can further comprise: the second network element receives a first request from the first network element. The first request comprises indication information of a first screening condition. In a case where N4 second terminal devices satisfying the first screening condition are obtained from N2 second terminal devices, the second network element sends a first response to the first network element. The first response comprises identification information of the N4 second terminal devices, and the N4 second terminal devices can be used by the first network element to determine the at least one first terminal device. The N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0022] With reference to the second aspect, in a possible implementation manner, the first screening condition is associated with location information of the terminal device, and the N4 second terminal devices are obtained from the N2 second terminal devices by the second network element based on the first screening condition and the location information of each of the N2 second terminal devices.

[0023] With reference to the second aspect, in a possible implementation manner, the method further includes: in a case where no second terminal device is screened based on the first screening condition, indicating the case to the first network element.

[0024] Optionally, in a case where no second terminal device is screened based on the first screening condition, the first network element can not send the first response to the first network element, or send a second response corresponding to the first request to the first network element, where the second response is used to indicate that no second terminal device is screened by the first network element based on the first screening condition.

[0025] With reference to the second aspect, in a possible implementation manner, after indicating to the first network element that no second terminal device is screened by the second network element based on the first screening condition, the method further includes: receiving, by the second network element, a second request from the first network element, where the second request includes indication information of a second screening condition, and the second request is used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition.

[0026] Further, after successful screening based on the screening condition, the second network element can send a third response corresponding to the second request to the first network element, where the third response includes device identifier information of N5 second terminal devices, and the N5 second terminal devices are used by the first network element to determine the at least one first terminal device, the N5 second terminal devices are obtained by the second network element from the N2 second terminal devices based on the second screening condition, and N5 is a positive integer greater than or equal to 1.

[0027] With reference to the second aspect, in a possible implementation manner, the second request further includes first indication information, and the first indication information is used to indicate that the time interval between any two adjacent screening operations based on the first screening condition to screen the N2 second terminal devices and the time interval between any two adjacent screening operations based on the second screening condition to screen the N2 second terminal devices is equal to or greater than a second time length. That is, the first indication information is used to inform the second network element that the time interval between any two adjacent screening operations should be equal to or greater than the second time length.

[0028] With reference to the second aspect, in a possible implementation manner, the method further includes: sending, by the second network element, a perception information request from the first network element to the at least one first terminal device, where the perception information request is used to trigger the at least one first terminal device to obtain the N1 perception measurement information.

[0029] In a third aspect, an embodiment of the present application provides a sensing method. The method is applicable to a first terminal device or an apparatus in the first terminal device (such as a module in the first terminal device, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc.). Or applicable to a logic node, a logic module or software capable of realizing all or part of the functions of the first terminal device. Here, the first terminal device can be any one of the at least one first terminal device described in the first aspect or the second aspect. The method comprises: the first terminal device receives sensing assistance data from a first network element. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The first terminal device sends sensing measurement information to the first network element. The sensing measurement information is used to determine a sensing result of a to-be-sensed object. The sensing signal is sent by a first network device managing the first terminal device and received by the first terminal device. The first network device serves the first network element. It should be understood that the first network device here can be any one of the at least one first network device described in the first aspect or the second aspect.

[0030] In combination with the third aspect, in a possible implementation, the method further comprises: the first terminal device receives a sensing information request from the first network element. The sensing information request can be used to trigger the first terminal device to obtain the sensing measurement information.

[0031] In combination with the first aspect and any one of the possible implementation manners of the first aspect, the second aspect and any one of the possible implementation manners of the second aspect, or the third aspect and any one of the possible implementation manners of the third aspect, in a possible implementation, the sensing assistance data can comprise resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0032] In combination with the first aspect and any one of the possible implementation manners of the first aspect, the second aspect and any one of the possible implementation manners of the second aspect, in a possible implementation, the sensing assistance data further comprises second indication information determined by the first network element. The second indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, or the sensing result is determined based on a first sensing reconstruction algorithm.

[0033] In a fourth aspect, an embodiment of the present application provides a sensing method. The method is applicable to a first network element or a device in the first network element (such as a module in the first network element, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc.). Or a logical node, a logical module or software capable of realizing all or part of the functions of the first network element. The method comprises: the first network element sends a sensing information request to at least one first network device. The sensing information request is used to trigger the at least one first network device to send sensing assistance data to at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves the first network element. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The first network element sends a sensing activation request to the at least one first network device. The sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to trigger the at least one first terminal device to send a sensing signal. The first network element receives N1 pieces of sensing measurement information from the at least one first network device. The N1 pieces of sensing measurement information are measured by the at least one first network device based on the sensing signal. The sensing signal is sent by the at least one first terminal device and received by the at least one first network device. N1 is a positive integer greater than or equal to 1. The first network element determines a sensing result of a to-be-sensed object according to the N1 pieces of sensing measurement information.

[0034] Here, the description of the sensing measurement information can refer to the corresponding description in the first aspect, which will not be repeated here.

[0035] Through the above method, the first network element can trigger the at least one first network device to provide the sensing assistance data for the at least one first terminal device, trigger the at least one first terminal device to send the sensing signal based on the sensing assistance data through the sensing activation request, and make the at least one first network device receive the N1 pieces of sensing measurement information measured based on the sensing assistance data, so as to complete the uplink double-base sensing of the to-be-sensed object initiated by the first network element. Since the sensing method provided by the present application is based on double-base sensing, the sensing method can obtain sensing improvement in sensing coverage, sensing accuracy and sensing resolution, and has good applicability and practicability.

[0036] In combination with the fourth aspect, in a possible implementation, the method can further comprise: the first network element sends a sensing deactivation request to the at least one network device. The sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device. The sensing signal deactivation information is used to instruct or trigger the N1 first terminal devices to stop sending the sensing signal.

[0037] In a possible implementation, in combination with the fourth aspect, the method further includes: sending, by the first network element, a first request to the second network element. The first request can include indication information of the first screening condition. The first request can be used to instruct the second network element to screen the N2 second terminal devices based on the first screening condition. Here, the N2 second terminal devices are managed by the N3 first network devices, and the N3 first network devices serve the first network element. Here, N2 and N3 are positive integers greater than or equal to 1.

[0038] In a possible implementation, in combination with the fourth aspect, after the first screening condition is provided to the second network element, the method further includes: receiving a first response corresponding to the first request. The first response can include device identification information of N4 second terminal devices, which can be screened from the N2 second terminal devices by the second network element based on the first screening condition, and N4 is a positive integer greater than or equal to 1. The N4 second terminal devices can be used by the first network element to determine the at least one first terminal device. Alternatively, after receiving the first response, the first network element can determine the N4 second terminal devices as the at least one first terminal device.

[0039] In a possible implementation, in combination with the fourth aspect, the first screening condition is associated with location information of the terminal device. The N4 second terminal devices can be screened from the N2 second terminal devices by the second network element based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0040] In the above implementation, in combination with the first screening condition and the location information of each terminal device in the N2 second terminal devices, the screening of the second terminal device is performed, which is simple and easy to implement, and can ensure the efficiency of obtaining the at least one first terminal device.

[0041] In a possible implementation, in combination with the fourth aspect, the method further includes: in a case where the second network element fails to screen successfully based on the first screening condition, the first network element can send a second request to the second network element. The second request can include indication information of a second screening condition. The second request is used to instruct the first network element to screen the N2 second terminal devices based on the second screening condition. It should be understood that the second screening condition is different from the first screening condition described above. Further, the first network element can receive a third response corresponding to the second request. The third response can include device identification information of N5 second terminal devices, which can be screened from the N2 second terminal devices by the second network element based on the second screening condition. N5 is a positive integer greater than or equal to 1. The N5 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0042] Optionally, determining that the second network element fails to filter successfully based on the first filtering condition can include: determining, by the first network element, that the first response is not received within the first time length. Alternatively, the first network element receives a second response indicating that the N4 second terminal devices are not filtered based on the first filtering condition. That is, in the case that the first network element does not receive the first response within the first time length, or in the case that the first network element receives the second response indicating that the second terminal devices are not filtered based on the first filtering condition, the first network element sends the second request to the second network element.

[0043] In the above implementation, in the case that the first network element fails to filter successfully based on the first filtering condition, the first network element provides different second filtering condition to trigger the second network element to re-filter, which can avoid the problem of long time of determining the at least one first terminal device due to the unsuitable first filtering condition, and improve the efficiency of the perception method.

[0044] In combination with the fourth aspect, in a possible implementation, the second request further includes first indication information. The first indication information is used to indicate the time interval of filtering the N2 second terminal devices based on the first filtering condition and the time interval of filtering the N2 second terminal devices based on the second filtering condition is equal to or greater than the second time length. Alternatively, the first indication information is used to indicate that the time interval of the two filtering performed by the first network element based on the first filtering condition and the second filtering condition should be equal to or greater than the second time length.

[0045] In combination with the fourth aspect, in a possible implementation, the method further includes: obtaining, by the first network element, N3 second network devices serving the first network element. N3 is a positive integer greater than or equal to 1. In the case that N6 second terminal devices meeting the third filtering condition are obtained from the N2 second terminal devices, the N6 third terminal devices are determined as the at least one first terminal device. N2 and N6 are positive integers greater than or equal to 1, and the N2 second terminal devices are managed by the N3 second network devices.

[0046] In the above implementation, the first network element can directly determine the at least one first terminal device according to the third filtering condition, which can effectively reduce the time delay generated by determining the at least one first terminal device, and further improve the efficiency of the perception method.

[0047] In a fifth aspect, an embodiment of the present application provides a sensing method. The method is applicable to a second network element or a device in the second network element (such as a module in the second network element, a communication module, a circuit responsible for a communication function and / or a sensing function, a processor, a chip or a chip system, etc.). Or applicable to a logical node, a logical module or software capable of realizing all or part of the functions of the second network element. The method comprises: sending, by the second network element, a sensing information request from a first network element to at least one first network device. The sensing information request is used to trigger the at least one first network device to send sensing assistance data to at least one first terminal device. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. The second network element sends a sensing activation request from the first network element to the at least one first network device. The sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to instruct the at least one first terminal device to send a sensing signal. The second network element sends N1 pieces of sensing measurement information from the at least one first network device to the first network element. The N1 pieces of sensing measurement information are used to determine a sensing result of an object to be sensed, and the N1 pieces of sensing measurement information are obtained based on sensing signal measurement. The sensing signal is received by the at least one first network device. N1 is a positive integer greater than or equal to 1.

[0048] Through the above method, the second network element can send a sensing information request from the first network element to the at least one first network device, so that the at least one first network device sends sensing assistance data to the at least one first terminal device. The second network element can also send a sensing activation request from the first network element to the at least one first network device, so that the at least one first network device instructs the at least one first terminal device to send a sensing signal through sensing signal activation information. In this way, the at least one first network device can obtain N1 pieces of sensing measurement information based on the sensing assistance data and report them to the first network element through the second network element, thereby completing downlink double-base sensing of the object to be sensed initiated by the first network element. Since the sensing method provided by the present application is based on double-base sensing, the sensing method can improve sensing coverage, sensing accuracy and sensing resolution, and has good applicability and practicability.

[0049] In a possible implementation of the fifth aspect, the method further includes: receiving, by the second network element, the first request from the first network element, wherein the first request includes indication information of the first filtering condition; and sending, by the second network element, a first response to the first network element in a case where N4 second terminal devices that meet the first filtering condition are obtained from the N2 second terminal devices, wherein the first response includes identification information of the N4 second terminal devices, and the N4 second terminal devices are used by the first network element to determine the at least one first terminal device. The N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0050] In a possible implementation of the fifth aspect, the first filtering condition is associated with location information of the terminal device, and the N4 second terminal devices are selected by the second network element from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices.

[0051] In a possible implementation of the fifth aspect, the method further includes: in a case where no second terminal device is selected based on the first filtering condition, indicating, to the first network element, the case.

[0052] Optionally, in a case where no second terminal device is selected based on the first filtering condition, the first network element does not send the first response to the first network element, or sends a second response corresponding to the first request to the first network element, where the second response is used to indicate that no second terminal device is selected by the first network element based on the first filtering condition.

[0053] In a possible implementation of the fifth aspect, after indicating, to the first network element, that no second terminal device is selected by the second network element based on the first filtering condition, the method further includes: receiving, by the second network element, a second request from the first network element, wherein the second request includes indication information of a second filtering condition, and the second request is used to instruct the second network element to select the N2 second terminal devices based on the second filtering condition.

[0054] Further, after the selection based on the filtering condition is successful, the second network element sends a third response corresponding to the second request to the first network element, wherein the third response includes device identification information of N5 second terminal devices, and the N5 second terminal devices are used by the first network element to determine the at least one first terminal device. The N5 second terminal devices are selected by the second network element from the N2 second terminal devices based on the second filtering condition. N5 is a positive integer greater than or equal to 1.

[0055] It can be understood that, in actual implementation, if the second network element still fails to filter successfully based on the second filtering condition, the second network element can continue to notify the first network element of this case, so that the first network element provides the second network element with new filtering condition again. Then, the second network element can continue to filter the N2 second terminal devices based on the new filtering condition until it filters successfully.

[0056] With reference to the fifth aspect, in a possible implementation, the second request further includes first indication information. The first indication information is used to indicate that the interval between the time when the second network element filters the N2 second terminal devices based on the first filtering condition and the time when the second network element filters the N2 second terminal devices based on the second filtering condition should be equal to or greater than the second time length. That is, the first indication information can be used to inform the second network element that the time interval between any two adjacent filtering operations should be equal to or greater than the second time length.

[0057] With reference to the fifth aspect, in a possible implementation, the method further includes that the second network element sends a sensing deactivation request from the first network element to the at least one first network device. The sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, where the sensing signal deactivation information is used to instruct the at least one first terminal device to stop sending the sensing signal.

[0058] In the sixth aspect, the present application provides a sensing method, which is applicable to a first network device or a device in the first network device (such as a module in the first network device, a communication module, a circuit responsible for communication function and / or sensing function, a processor, a chip or a chip system, etc.). Or applicable to a logical node, a logical module or software capable of realizing all or part of the functions of the first network device. It should be understood that the first network device can be any one of the at least one first network device described in the fourth aspect or the fifth aspect. The method includes that the first network device receives a sensing information request and sends sensing assistance data to a first terminal device according to the sensing information request. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The first terminal device here can be any one of the at least one first terminal device described in the fourth aspect or the fifth aspect. The first network device receives a sensing activation request and sends sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information is used to instruct the first terminal device to send the sensing signal. The first network device sends sensing measurement information. The sensing measurement information is used to determine a sensing result of a to-be-sensed object, and the sensing measurement information is obtained based on sensing signal measurement, and the sensing signal is received by the first network device.

[0059] With reference to the sixth aspect, in a possible implementation, the method further includes: receiving, by the first network device, the sensing deactivation request, and sending, by the first network device, sensing signal deactivation information to the first terminal device according to the sensing deactivation request. The sensing signal deactivation information is used to instruct the first terminal device to stop sending the sensing signal.

[0060] With reference to the fourth aspect and any one of the possible implementation manners of the fourth aspect, the fifth aspect and any one of the possible implementation manners of the fifth aspect, or the sixth aspect and any one of the possible implementation manners of the sixth aspect, in a possible implementation, the sensing assistance data can include resource configuration information corresponding to the sensing signal, and / or reporting configuration information. Here, the description of the sensing assistance data can be referred to the corresponding description in the first aspect, the second aspect or the third aspect, which will not be repeated here. In addition, it can be understood that, in the case that the sensing signal is sent by at least one first terminal device and received by at least one first network device, each of the at least one first terminal device can send the sensing signal on the resource indicated by the resource configuration information in the sensing assistance data, and correspondingly, each of the at least one first network device can receive the sensing signal on the resource indicated by the resource configuration information in the sensing assistance data. In addition, each of the at least one first network device can send the sensing measurement information obtained by the first network device to the first network element based on the reporting configuration information in the sensing assistance data.

[0061] With reference to the fourth aspect and any one of the possible implementation manners of the fourth aspect, the fifth aspect and any one of the possible implementation manners of the fifth aspect, or the sixth aspect and any one of the possible implementation manners of the sixth aspect, in a possible implementation, the sensing assistance data further includes third indication information determined by the first network element. The third indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is an uplink signal, or the sensing result is determined based on a second sensing reconstruction algorithm. Further, the third indication information can also be understood as the flag information of another sensing method. Here, the specific description of the sensing method preconfigured by the first network element can be referred to the corresponding description in the first aspect, which will not be repeated here.

[0062] In a seventh aspect, the present application provides a sensing method, which is applicable to a first network element or a device (such as a module, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc. in the first network element) in the first network element. Or a logical node, a logical module or software capable of realizing all or part of the functions of the first network element. The method comprises: the first network element receives a sensing assistance data request from a first terminal device. The sensing assistance data request is used to trigger the first network element to provide sensing assistance data. The first network element sends the sensing assistance data to the first terminal device and a first network device according to the sensing assistance data request. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is used for the transmission and / or measurement of sensing signals.

[0063] Through the above method, the first network element can provide the first terminal device and the first network device with sensing assistance data according to the sensing assistance data request provided by the first terminal device, so that the first network device can send sensing signals based on the sensing assistance data, and the first terminal device can receive the sensing signals based on the sensing assistance data and measure to obtain sensing measurement information, thereby completing the downlink double-base sensing initiated by the first terminal device for the to-be-sensed object. Since the sensing method is based on double-base sensing, the sensing method can improve the sensing coverage, the sensing accuracy and the sensing resolution, and has good applicability and practicability.

[0064] In combination with the seventh aspect, in a possible implementation manner, the method further comprises: the first network element receives a sensing information response from the first terminal device. The sensing information response comprises a sensing result of the to-be-sensed object, and the sensing result is determined based on the sensing measurement information, which is measured based on the sensing signals. The sensing signals are sent by the first network device and received by the first terminal device.

[0065] In an eighth aspect, the present application provides a sensing method, which is applicable to a first terminal device or an apparatus in the first terminal device (e.g., a module in the first terminal device, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc.). Or a logical node, a logical module or software capable of realizing all or part of the functions of the first terminal device. The method comprises: the first terminal device sends a sensing assistance data request to a first network element and receives sensing assistance data from the first network element. The sensing assistance data request is used to trigger the first network element to provide the sensing assistance data. The sensing assistance data is used for the transmission and / or measurement of a sensing signal. The first terminal device determines a sensing result of a to-be-sensed object based on sensing measurement information. The sensing measurement information is obtained based on sensing signal measurement, the sensing signal is sent by a first network device and received by the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element.

[0066] In combination with the eighth aspect, in a possible implementation, the method further comprises: the first terminal device sends a sensing information response to the first network element. The sensing information response comprises the sensing result of the to-be-sensed object.

[0067] In combination with the seventh aspect and any one of the possible implementations of the seventh aspect, the eighth aspect and any one of the possible implementations of the eighth aspect, in a possible implementation, the sensing assistance data comprises resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0068] In combination with the seventh aspect and any one of the possible implementations of the seventh aspect, the eighth aspect and any one of the possible implementations of the eighth aspect, in a possible implementation, the sensing assistance data further comprises fourth indication information, which is used to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. Here, the fourth indication information can also be understood as the flag information of another sensing method. For specific descriptions of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect, which will not be repeated here.

[0069] In a ninth aspect, the application provides a sensing method, which is applicable to a first network element or a device in the first network element (such as a module in the first network element, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc.). Or a logical node, a logical module or software capable of realizing all or part of the functions of the first network element. The method comprises: the first network element receives a sensing service request from a first terminal device, and sends a sensing information request to a first network device according to the sensing service request. Wherein, the sensing information request is used to trigger the first network device to send sensing assistance data to the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The first network element sends a sensing activation request to the first network device. Wherein, the sensing activation request is used to trigger the first network device to send sensing signal activation information to the first terminal device. The sensing signal activation information is used to instruct the first terminal device to send the sensing signal. The sensing signal can be received by the first network device. The sensing signal can be used to measure the sensing measurement information, and the sensing signal can be used to determine the sensing result of the object to be sensed.

[0070] Through the above method, the first network element can trigger the first network device to provide sensing service data for the first terminal device according to the sensing service request provided by the first terminal device. And through the sensing activation request, the first network device instructs the first terminal device to send the sensing signal, so as to complete the uplink double-base sensing initiated by the first terminal device for the object to be sensed. Since the sensing method is based on double-base sensing, the sensing method can improve the sensing coverage, the sensing accuracy and the sensing resolution, and has good applicability and practicability.

[0071] In combination with the ninth aspect, in a possible implementation manner, the method further comprises: the first network element receives a sensing information response from the first terminal device. Wherein, the sensing information response comprises a sensing result, and the sensing result is determined by the first terminal device based on the sensing measurement information provided by the first network device.

[0072] In combination with the ninth aspect, in a possible implementation manner, the method further comprises: the first network element sends a sensing deactivation request to the first network device. Wherein, the sensing deactivation request is used to trigger the first network device to send sensing signal deactivation information to the first terminal device, and the sensing signal deactivation information is used to instruct the first terminal device to stop sending the sensing signal.

[0073] In a tenth aspect, the present application provides a sensing method, which is applicable to a first terminal device or an apparatus in the first terminal device (e.g., a module, a communication module, a circuit responsible for communication functions and / or sensing functions, a processor, a chip or a chip system, etc. in the first terminal device), or a logic node, a logic module or software capable of realizing all or part of the functions of the first terminal device. The method comprises: sending a sensing service request to a first network element, so that the first network element sends a sensing information request to a first network device. The sensing information request is used to trigger the first network device to provide sensing assistance data for the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is used for transmission and / or measurement of a sensing signal. The first terminal device receives the sensing assistance data sent by the first network device. The first terminal device receives sensing signal activation information from the first network device, and sends a sensing signal based on the sensing assistance data. The first terminal device receives sensing measurement information from the first network device. The sensing measurement information is obtained based on sensing signal measurement. The first terminal device determines a sensing result of a to-be-sensed object according to the sensing measurement information.

[0074] In combination with the tenth aspect, in a possible implementation manner, the method further comprises: the first terminal device sends a sensing information response to the first network element. The sensing information response comprises the sensing result.

[0075] In combination with the tenth aspect, in a possible implementation manner, the method further comprises: the first terminal device receives sensing signal deactivation information from the first network device, and stops sending the sensing signal.

[0076] In a possible implementation of the eleventh aspect, the method further includes: receiving, by the first network device, a sensing deactivation request from the first network element, and sending, by the first network device, sensing signal deactivation information to the first terminal device. The sensing signal deactivation information is used to instruct the first terminal device to stop sending the sensing signal.

[0077] In a possible implementation of the eleventh aspect, the method further includes: receiving, by the first network device, a sensing deactivation request from the first network element, and sending, by the first network device, sensing signal deactivation information to the first terminal device. The sensing signal deactivation information is used to instruct the first terminal device to stop sending the sensing signal.

[0078] In a possible implementation of the ninth aspect, the ninth aspect in any of the possible implementation manners of the ninth aspect, the tenth aspect, the tenth aspect in any of the possible implementation manners of the tenth aspect, or the eleventh aspect, the eleventh aspect in any of the possible implementation manners of the eleventh aspect, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information. Here, the description of the sensing assistance data can be referred to the corresponding description in the first aspect, and details are not described herein. In addition, it can be understood that, in the case that the sensing signal is sent by the first terminal device and received by the first network device, the first terminal device can send the sensing signal on the resource indicated by the resource configuration information in the sensing assistance data, and correspondingly, the first network device can receive the sensing signal on the resource indicated by the resource configuration information in the sensing assistance data. In this case, the reporting configuration information can be used for the first network device to send the sensing measurement information to the first terminal device.

[0079] In a possible implementation manner, the perception assistance data further includes fifth indication information, and the fifth indication information is used to indicate at least one of the following: the first terminal device is a perception initiator, the perception signal is an uplink signal, or the perception result is determined based on a third perception reconstruction algorithm. Here, the fifth indication information can also be understood as the flag information of another perception method. For specific descriptions of the perception method pre-configured for the first network element, please refer to the corresponding descriptions in the first aspect, and details are not described herein.

[0080] In a twelfth aspect, an embodiment of the present application provides a communication apparatus, which includes a module, unit or means for implementing the perception method in any of the above aspects or the perception method in any of the possible implementation manners of the above aspects. The module, unit or means can be implemented by hardware, software or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0081] It should be understood that the communication apparatus can be the first network element, the second network element, the first terminal device or the first network device involved in the above first aspect to eleventh aspect.

[0082] In a thirteenth aspect, the present application provides a communication apparatus. The communication apparatus can include at least one processor. The at least one processor is configured to execute the perception method in any of the above aspects or the perception method in any of the possible implementation manners of the above aspects.

[0083] Optionally, the communication apparatus further includes a memory for storing necessary program instructions and data. In addition, the memory can be coupled with the processor, or can be independent of the processor.

[0084] Optionally, the communication apparatus further includes a transceiver for transmitting and / or receiving information involved in the perception method in any of the above aspects or the perception method in any of the possible implementation manners of the above aspects.

[0085] Optionally, the communication apparatus further includes a bus system, and the at least one processor, the memory and the transceiver are coupled through the bus system.

[0086] In a fourteenth aspect, the present application provides a computer program product, which includes instructions for causing a computer to execute the perception method in any of the above aspects or the perception method in any of the possible implementation manners of the above aspects when the instructions are run on the computer.

[0087] In a fifteenth aspect, the present application provides a computer readable storage medium, having stored therein a computer program which, when executed, performs the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects.

[0088] In a sixteenth aspect, the present application provides a chip system, comprising at least a processor. The processor is configured to execute computer program instructions to cause a device installed with the chip system to perform the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects.

[0089] In combination with the sixteenth aspect, in a possible implementation, the chip system can further comprise an interface circuit. The interface circuit is configured to receive computer program instructions and transmit the computer program instructions to the processor.

[0090] In a seventeenth aspect, the present application provides a communication device, which can comprise a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit the signals to the processor or send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects by means of a logic circuit or executing computer program or instructions.

[0091] It should be understood that the communication device can be a first network element involved in the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects, or a device comprising the first network element, or a device comprised in the first network element, such as a chip system. Alternatively, the communication device can be a second network element involved in the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects, or a device comprising the second network element, or a device comprised in the second network element, such as a chip system. Alternatively, the communication device can be a first terminal device involved in the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects, or a device comprising the first terminal device, or a device comprised in the first terminal device, such as a chip system. Alternatively, the communication device can be a first network device involved in the awareness method of any of the above aspects or any possible implementation of the awareness method of any of the above aspects, or a device comprising the first network device, or a device comprised in the first network device, such as a chip system.

[0092] In an eighteenth aspect, the present application provides a communication system. The communication system can comprise at least one first terminal device, at least one first network device and a first network element.

[0093] The first network element is configured to implement the perception method provided in the first aspect or any possible implementation manner of the first aspect. The at least one first terminal device is configured to implement the perception method provided in the third aspect or any possible implementation manner of the third aspect.

[0094] Alternatively, the first network element is configured to implement the perception method provided in the fourth aspect or any possible implementation manner of the fourth aspect. The at least one first network device is configured to implement the perception method provided in the sixth aspect or any possible implementation manner of the sixth aspect.

[0095] Alternatively, the first network element is configured to implement the perception method provided in the seventh aspect or any possible implementation manner of the seventh aspect, and any one of the at least one first terminal device is configured to implement the perception method provided in the eighth aspect or any possible implementation manner of the eighth aspect.

[0096] Alternatively, the first network element is configured to implement the perception method provided in the ninth aspect or any possible implementation manner of the ninth aspect, any one of the at least one first terminal device is configured to implement the perception method provided in the tenth aspect or any possible implementation manner of the tenth aspect, and any one of the at least one first network device is configured to implement the perception method provided in the eleventh aspect or any possible implementation manner of the eleventh aspect.

[0097] With reference to the eighteenth aspect, in a possible implementation manner, the communication system further includes a second network.

[0098] The second network element is configured to implement the perception method provided in the second aspect or any possible implementation manner of the second aspect.

[0099] Alternatively, the second network element is configured to implement the perception method provided in the fifth aspect or any possible implementation manner of the fifth aspect.

[0100] To sum up, the perception method provided in the present application is based on dual-base perception, and thus the perception method can obtain perception enhancement in terms of perception coverage, perception accuracy, and perception resolution. Therefore, the perception method provided in the present application can be used in a C2I network, which can solve the problem that the perception performance of the C2I network is limited due to the single-base perception mode, and can improve the perception performance of the C2I network, and further improve the practicability of the C2I network. BRIEF DESCRIPTION OF DRAWINGS

[0101] FIG. 1 is a structural schematic diagram of a communication system provided in the present application;

[0102] FIG. 2 is a flowchart of a sensing method according to an embodiment of the present application;

[0103] FIG. 3 is a flowchart of a sensing method according to another embodiment of the present application;

[0104] FIG. 4 is a flowchart of a method for determining at least one first terminal device according to an embodiment of the present application;

[0105] FIG. 5 is a flowchart of a method for determining at least one first terminal device according to another embodiment of the present application;

[0106] FIG. 6 is a flowchart of a sensing method according to another embodiment of the present application;

[0107] FIG. 7 is a flowchart of a sensing method according to another embodiment of the present application;

[0108] FIG. 8 is a flowchart of a sensing method according to another embodiment of the present application;

[0109] FIG. 9 is a flowchart of a sensing method according to another embodiment of the present application;

[0110] FIG. 10 is a flowchart of a sensing method according to another embodiment of the present application;

[0111] FIG. 11 is a flowchart of a sensing method according to another embodiment of the present application;

[0112] FIG. 12 is a flowchart of a sensing method according to another embodiment of the present application;

[0113] FIG. 13 is a flowchart of a sensing method according to another embodiment of the present application;

[0114] FIG. 14 is a flowchart of a sensing method according to another embodiment of the present application;

[0115] FIG. 15 is a flowchart of a sensing method according to another embodiment of the present application;

[0116] FIG. 16 is a schematic diagram of a communication device according to an embodiment of the present application;

[0117] FIG. 17 is a schematic diagram of another communication device according to an embodiment of the present application;

[0118] FIG. 18 is a schematic diagram of another communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0119] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings provided by the embodiments of the present application.

[0120] It should be understood that the technical solutions provided by the embodiments of the present application can be applied to various communication systems, for example, a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD), a universal mobile telecommunication system (UMTS), a worldwide interoperability for microwave access (WiMAX) communication system, a 5th generation (5G) system or a new radio (NR), and in addition, can also be applicable to future evolved systems.

[0121] Please refer to FIG. 1, which is a structural schematic diagram of a communication system provided by the present application. The sensing method provided by the present application is applicable to the communication system shown in FIG. 1. As shown in FIG. 1, the communication system can include at least one terminal device (a plurality of terminal devices are shown in FIG. 1, and include terminal device 1, terminal device 2, and terminal device n) on the user side, at least one network device (a plurality of network devices are shown in FIG. 1, and include network device 1, network device 2, and network device m) on the radio access network side, and a first network element on the core network side.

[0122] In the embodiments of the present application, the first network element can be a sensing management function (SeMF) network element. In the embodiments of the present application, the sensing management function network element can be used for the control, management and scheduling of the network on the sensing measurement, sensing report and other sensing service processes.

[0123] Alternatively, the first network element can also be a network element after the sensing management function network element and a location management function (LMF) network element are combined. Alternatively, the first network element can also be a network element that simultaneously has all the functions of the sensing management function network element and the location management function network element. The first network element can also be called a sensing and positioning combined network element, an enhanced sensing network element, an enhanced sensing management function network element, etc. Here, the location management function network element can be a network element that interacts with other network elements in the core network to complete the positioning of the terminal device.

[0124] It should be noted that the first network element in FIG. 1 is located at or belongs to the core network side. However, this is only exemplary, and in actual implementation, the first network element can also be located at the radio access network side, or belong to the device or entity of the radio access network side, and the present application does not make a specific limitation in this regard.

[0125] Optionally, as shown in FIG. 1, the communication system can further include a second network element at the side of the core network. Here, the second network element is mainly used for location management of the terminal device. For example, the second network element can be a location management function network element. It should be understood that, in the embodiments of the present application, the second network element exists in the communication system only when the first network element is a sensing management function network element. Correspondingly, the second network element can not exist in the communication system when the first network element is a network element that has all the functions of the sensing management function network element and the location management function network element.

[0126] In actual work, the above at least one terminal device, at least one network device, first network element and possible second network element can work cooperatively to implement each step of the sensing method provided by the present application. For specific implementation, please refer to the corresponding description hereinafter.

[0127] It should be noted that the naming of each network element in the core network in the embodiments of the present application is exemplary and not limiting. With the evolution of technology, entities having corresponding functions of each network element can also use other naming methods, which are not specifically limited. For example, for the access and mobility management network element, it can be named as an access management function network element, a mobility management function network element, a registration management function network element, etc. In addition, the network element can also be referred to as an entity, a device, an apparatus or a module, etc., which is not specifically limited in the present application.

[0128] It should be understood that the wireless access network provided by the present application can be a 3rd generation partnership project (3rd generation partnership project, 3GPP) related cellular system, such as a 4G, 5G mobile communication system or a future-oriented evolution system. The wireless access network can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), or a wireless fidelity (wireless fidelity, WiFi) system. Alternatively, the wireless access network can also be a communication system that combines two or more of the above systems.

[0129] It should be understood that in the embodiments of the present application, the wireless access network device, which can also be referred to as a RAN node, an access network device, a network device, a RAN entity or an access node, etc., will be uniformly described as a network device for the convenience of understanding. In actual work, the network device is mainly used to help the terminal device to implement wireless access.

[0130] In a possible scenario, the network device can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, etc. Optionally, the network device can also be a macro base station, a micro base station, or an indoor station, a relay node or a donor node, etc. Optionally, the network device can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in vehicle to everything (V2X) technology can be a road side unit (RSU). All or part of the functions of the network device in the present application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform). The network device can also be provided with a communication module, circuit or chip for performing corresponding communication functions, and program instructions for performing corresponding communication functions. The network device in the present application can also be a logic node, a logic module or software that can implement all or part of the functions of the network device.

[0131] In another possible scenario, multiple network devices can cooperate to assist a terminal to implement wireless access, and different network devices implement part of the functions of a base station respectively. For example, the network device can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0132] The CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0133] It should be understood that in the embodiments of the present application, the terminal device can be a device or module with corresponding communication function. The terminal device can also be referred to as a terminal, user equipment, mobile station, mobile terminal, etc. The terminal can be widely applied to various scenarios, such as device-to-device (D2D), V2X communication, machine-type communication (MTC), internet of things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, unmanned aerial vehicle, helicopter, airplane, ship, robot, mechanical arm, smart home device, wireless communication function transport vehicle, communication module, etc. It should be understood that the embodiments of the present application do not limit the device form of the terminal device. In addition, the terminal device is usually provided with a communication module, circuit or chip for executing corresponding communication functions. The terminal device is also configured with program instructions for executing corresponding communication functions.

[0134] The foregoing describes the structure of the communication system to which the communication method provided by the present application is applicable based on FIG. 1. The implementation process of the communication method provided by the present application will be described in detail in combination with the communication system structure shown in FIG. 1.

[0135] For the convenience of understanding the scheme of the present application, the mono-static sensing and bi-static sensing involved in the present application will be described below. Wireless sensing technology can generally be divided into two modes: mono-static sensing and bi-static sensing. Among them, the mono-static sensing mode refers to the sending end of the sensing signal and the receiving end of the echo signal of the sensing signal being the same device. In other words, in the mono-static sensing mode, the sending end not only sends the sensing signal, but also receives the echo signal obtained by the sensing signal after the surface of the sensing target (for example, reflection, diffraction or scattering, etc.). Therefore, mono-static sensing can also be called self-transmitting and self-receiving sensing. The bi-static sensing mode refers to the sending end of the sensing signal and the receiving end of the echo signal of the sensing signal being two different devices. For example, sensing station A sends the sensing signal, and the echo signal obtained by the sensing signal after the surface of the sensing target is received by sensing station B. Bi-static sensing can also be called A-transmitting and B-receiving sensing, self-transmitting and other-receiving sensing. It should be pointed out that the echo signal of the sensing signal is obtained by the sensing signal after the sensing target (for example, reflection, diffraction or scattering, etc.). The echo signal can also be understood as the sensing signal. Therefore, in the embodiments of the present application, the echo signal obtained by the sensing signal after the sensing target (for example, reflection, diffraction or scattering, etc.) is still expressed as the sensing signal.

[0136] The existing wireless sensing scheme has problems such as small sensing distance and limited sensing field of view, and its sensing performance is greatly limited, and the applicability and practicability are poor. Therefore, the technical problem to be solved by the present application is to provide a sensing method with large sensing range and high sensing precision, to solve the problem of poor applicability and practicability of the existing wireless sensing scheme.

[0137] The sensing method provided by the present application will be described below in combination with the above.

[0138] Please refer to FIG. 2, which is a flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1 and applicable to the case where the communication system contains both the first network element and the second network element. In this case, the first network element can be a sensing management function network element or a network element with part or all of the functions of the sensing management function network element, and the second network element can be a positioning management function network element or a network element with part or all of the functions of the positioning management function network element. It should be noted that the sensing method shown in FIG. 2 is applicable to the scenario where there is at least one first terminal device and at least one first network device. For example, there is only one first terminal device and one first network device, or there are multiple first terminal devices and one first network device, or there are multiple first terminal devices and multiple first network devices. Since the implementation process of each step of the sensing method shown in FIG. 2 is similar in these different scenarios, FIG. 2 only shows a first terminal device A1 and a second terminal device A2 in the at least one first terminal device, and a first network device B in the at least one first network device. In the following, in order to facilitate the description of each step of the sensing method shown in FIG. 2 and to avoid redundancy, the at least one first terminal device will be taken as an example of including the first terminal device A1 and the second terminal device A2, and the at least one first network device will be taken as an example of including the first network device B.

[0139] As shown in FIG. 2, the method can include the following steps:

[0140] S201, the first network element sends sensing assistance data to at least one first network device and at least one terminal device. Correspondingly, the at least one first terminal device and the at least one second terminal device receive the sensing assistance data.

[0141] In some possible implementation manners, after determining the sensing requirement for the to-be-sensed object, the first network element can obtain the sensing assistance data (i.e., sensing assistance data) and send the sensing assistance data to each first terminal device in the at least one first terminal device and each first network device in the at least one first network device. Correspondingly, each first terminal device and each first network device receive the sensing assistance data from the first network element. The at least one first terminal device is managed by the at least one first network device, and one first network device can manage one or more first terminal devices. The at least one first network device serves the first network element, or in other words, the network device in the at least one first network device is the network device to be scheduled by the first network element to perform sensing service. In the embodiment of the present application, the at least one first network device can include part or all of all network devices serving the first network element.

[0142] It should be noted that the perception auxiliary data can be used for transmission of the perception signal between the at least one first network device and the at least one terminal device, and / or measurement of the perception signal. Here, the measurement of the perception signal refers to a process in which a receiver of the perception signal measures the perception signal to obtain perception measurement information.

[0143] In the embodiments of the present application, the perception measurement information can include various measurement parameters determined by the receiver of the perception signal based on the received perception signal, such as angle of arrival (AOA), angle of department (AOD), signal transmission delay (also referred to as distance information), signal reception power, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the perception signal.

[0144] In an optional implementation, after obtaining the perception auxiliary data, the first network element can send the perception auxiliary data to the second network element. Then, the second network element can send the perception auxiliary data to each first network device and each first terminal device. Correspondingly, each first terminal device and each first network device can receive the perception auxiliary data. It should be understood that the second network element can directly send the perception auxiliary data to each first network device and each first terminal device. Alternatively, the second network element can directly send the perception auxiliary data to each first network device, and then each first network device sends the perception auxiliary data to the first terminal devices managed by the first network device, so that each first terminal device can obtain the perception auxiliary data.

[0145] It can be understood that this implementation is applicable to a scenario in which the first network element cannot directly communicate with the at least one first network device and the at least one first terminal device (i.e., a non-direct connection scenario).

[0146] In addition, in a scenario in which the first network element can directly communicate with the at least one first network device and the at least one first terminal device (i.e., a direct connection scenario), the first network element can directly send the perception auxiliary data to each first network device and each first terminal device. Correspondingly, each first terminal device and each first network device can receive the perception auxiliary data sent by the first network element.

[0147] In an alternative implementation, the perception assistance data can include resource configuration information corresponding to the perception signal, and / or reporting configuration information. It is to be noted that the resource configuration information corresponding to the perception signal can be used to configure various resources for transmitting the perception signal, such as time-frequency resources, antenna port resources, transmission angles, measurement time slots, coding information, etc. The reporting configuration information corresponding to the perception signal can include various configuration information for reporting the perception measurement information measured based on the perception signal, such as configuration information of a reporting mechanism of the perception measurement information (e.g., periodic, semi-persistent, or aperiodic reporting, etc.), configuration information of resources occupied for reporting the perception measurement information, etc.

[0148] S202, the at least one first network device transmits the perception signal. Correspondingly, the at least one first terminal device receives the perception signal.

[0149] In some possible implementations, each of the at least one first network device can transmit the perception signal based on the perception assistance data after obtaining the perception assistance data. Correspondingly, each of the at least one first terminal device can detect and receive the perception signal transmitted by each of the first network devices based on the perception assistance data after obtaining the perception assistance data.

[0150] For example, each of the first network devices can determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, such as the time-frequency resources, antenna port resources, transmission angles, measurement time slots, etc. as described above. Then, each of the first network devices can transmit the perception signal on the corresponding transmission resource. Correspondingly, each of the first terminal devices can also determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, and receive the perception signal transmitted by each of the first network devices on the corresponding transmission resource.

[0151] It's important to understand that in actual implementation, each first network device sends a sensing signal, and these signals differ between devices, such as in transmission angle and time-frequency resources. Each first terminal device detects and receives the sensing signal after it has been ejected by the object being sensed, based on the transmission resources available. Because sensing signals may experience loss during transmission, they may not be correctly received. Therefore, some first terminal devices may not correctly receive the sensing signals transmitted by each first network device. However, assuming no abnormal transmission, each first terminal device receives the sensing signal transmitted by each first network device after being ejected by the object being sensed. For example, if there are m first network devices and n first terminal devices, each first terminal device will receive m sensing signals, and the n first terminal devices will receive a total of n*m sensing signals. Here, m and n are positive integers greater than or equal to 1.

[0152] It should be noted that the embodiments of this application take the case of abnormal transmission of sensing signals as an example, that is, it is assumed that each first terminal device receives the sensing signal emitted by each first network device and ejected by the object to be sensed. Referring to the example of at least one first terminal device and at least one first network device in Figure 2, in the embodiments of this application, the first network device B will emit a sensing signal (here assumed to be S1) based on sensing auxiliary data, and the first terminal device A1 and the first terminal device A2 will receive the sensing signal S1 ejected by the object to be sensed based on sensing auxiliary data.

[0153] S203, at least one first terminal device obtains N1 sensing measurement information based on the received sensing signals.

[0154] In some feasible implementations, after receiving a sensing signal transmitted by at least one first network device, at least one first terminal device can measure N1 sensing measurement information based on the received sensing signal. Here, N1 is a positive integer greater than or equal to 1. The number of sensing measurement information N1 can be equal to the product of the number of first terminal devices and the number of first network devices.

[0155] Referring to the example in Figure 2 concerning at least one first terminal device and at least one first network device, in actual implementation, first terminal device A1 will measure a sensing measurement information (here assumed to be E1) based on the received sensing signal S1, and first terminal device A2 will also measure a sensing measurement information (here assumed to be E2) based on the sensing signal S1. In this case, the aforementioned N1 sensing measurement information includes sensing measurement information E1 and sensing measurement information E2.

[0156] It should be further noted that the above-mentioned perception assistance data can further comprise information related to the measurement of the perception signal, and each of the first terminal devices can calculate the perception measurement information based on the information related to the measurement of the perception signal after receiving the perception signal. For example, the first terminal device A1 can process the received perception signal S1 based on the information related to the measurement of the perception signal to obtain the perception measurement information E1. Similarly, the first terminal device A2 can process the received perception signal S1 based on the information related to the measurement of the perception signal to obtain the perception measurement information E2.

[0157] It should be further noted that the embodiments of the present application do not limit the specific process of obtaining the perception measurement information based on the perception signal processing, as long as the perception measurement information can be correctly calculated.

[0158] In S204, the at least one first terminal device sends the N1 perception measurement information to the first network element. Correspondingly, the first network element receives the N1 perception measurement information.

[0159] In some possible implementation manners, after obtaining the N1 perception measurement information, the at least one first terminal device can send the N1 perception measurement information to the first network element. Correspondingly, the first network element can receive the N1 perception measurement information provided by the at least one first terminal device.

[0160] In a possible implementation manner, in the scenario that the at least one first terminal device is directly connected to the first network element as described above, each of the at least one first terminal device can send the perception measurement information determined by the first terminal device to the first network element respectively, so that the first network element can receive the N1 perception measurement information. For example, the first terminal device A1 can send the perception measurement information E1 to the first network element directly. The first terminal device A2 can also send the perception measurement information E2 to the first network element directly.

[0161] Alternatively, in the scenario that the at least one first terminal device is not directly connected to the first network element as described above, each of the at least one first terminal device can send the perception measurement information determined by the first terminal device to the second network element respectively, and then the second network element can send the N1 perception measurement information to the first network element. For example, the first terminal device A1 can send the perception measurement information E1 to the second network element. The first terminal device A2 can send the perception measurement information E2 to the second network element. Then, the second network element can send the perception measurement information E1 and the perception measurement information E2 to the first network element.

[0162] In a feasible implementation, in a case that the reporting configuration information is included in the perception assistance data, the at least one first terminal device can send the N1 pieces of perception measurement information to the first network element based on the reporting configuration information. For example, each of the at least one first terminal device can send the N1 pieces of perception measurement information to the first network element on the reporting time-frequency resource indicated by the reporting configuration information according to the reporting mechanism indicated by the reporting configuration information.

[0163] For example, assuming that the reporting configuration information indicates that the periodic reporting manner is adopted, and the reporting time-frequency resources are R1 and R2 respectively, the first terminal device A1 can periodically send the perception measurement information E1 to the second network element through the time-frequency resource R1. Similarly, the first terminal device A2 can also periodically send the perception measurement information E2 to the second network element through the time-frequency resource R2.

[0164] S205, the first network element determines the perception result of the to-be-perceived object based on the N1 pieces of perception measurement information.

[0165] In some feasible implementations, after obtaining the N1 pieces of perception measurement information, the first network element can process the N1 pieces of perception measurement information based on a preconfigured perception reconstruction algorithm to obtain the perception result of the to-be-perceived object. Here, the perception result of the to-be-perceived object can include position information, speed information, acceleration information, distance information, attitude information, etc. of the to-be-perceived object, and the present application does not limit this.

[0166] It should be noted that the perception reconstruction algorithm involved in the present application is a method for processing the perception measurement information to obtain the perception result, and the present application does not limit the specific implementation of the perception reconstruction algorithm.

[0167] In the above implementation, the first network element can send the perception assistance data to the at least one first network device and the at least one first terminal device, so that the at least one first network device can send the perception signal based on the perception assistance data, and the at least one first terminal device can receive the perception signal based on the perception assistance data and measure to obtain the N1 pieces of perception measurement information, thereby completing the downlink double-base perception for the to-be-perceived object initiated by the first network element. Since the perception method provided by the present application is based on double-base perception, the perception method can improve the perception coverage, the perception accuracy and the perception resolution, and has good applicability and practicability.

[0168] Please refer to FIG. 3, which is another flowchart of a perception method provided by the present application. As shown in FIG. 3, the method can further include the following steps:

[0169] S206, the first network element and the second network element determine the at least one first terminal device.

[0170] In some possible implementation, the first network element and the second network element work cooperatively to determine the at least one first terminal device. Further, after determining the at least one first terminal device, the first network element can further determine at least one network device that manages the at least one first terminal device, and determine the at least one network device as the at least one first network device. For example, the first network element and the second network element determine the first terminal device A1 and the first terminal device A2. Then, the first network element can query the network device that manages the first terminal device A1 and the first terminal device A2, and determine the network device as the first network device B.

[0171] In one possible implementation, referring to FIG. 4, FIG. 4 is a flowchart of a method for determining the at least one first terminal device provided by the present application. As shown in FIG. 4, step S206 can include the following steps.

[0172] S2061, the first network element sends a first request to the second network element, where the first request includes indication information of the first screening condition. Correspondingly, the second network element receives the first request.

[0173] In some possible implementation, after determining that there is a sensing requirement for the to-be-sensed object, the first network element can send a first request including indication information of the first screening condition (which can also be referred to as UE selection conditions) to the second network element. Here, the first request is used to instruct the second network element to screen terminal devices based on the first screening condition. Correspondingly, the second network element can receive the first request, and obtain the first screening condition according to the indication information of the first screening condition. It should be understood that the first request can also be referred to as a terminal device information request (i.e., UE information request).

[0174] Optionally, the first network element can be preconfigured with a plurality of screening conditions for terminal device screening. After determining that there is a sensing requirement for the to-be-sensed object, the first network element can select one screening condition from the plurality of screening conditions as the first screening condition, and generate the first request based on the indication information of the first screening condition. Here, the indication information of the first screening condition is used to indicate the first screening condition from the plurality of preconfigured screening conditions for terminal device screening. It should be understood that the first network element can randomly select one screening condition as the first screening condition. Alternatively, in a case where each screening condition corresponds to a priority, the first network element can determine the first screening condition based on the priority. For example, the first network element can select the screening condition with the highest priority as the first screening condition.

[0175] S2062, the second network element screens N4 second terminal devices from the N2 second terminal devices based on the first screening condition.

[0176] In some possible implementation manners, after obtaining the first screening condition, the second network element can screen N4 second terminal devices from the N2 second terminal devices based on the first screening condition. The N2 second terminal devices are managed by N3 first network devices, and the N3 first network devices serve the first network element. Here, N2, N3 and N4 are positive integers greater than or equal to 1. N4 is less than or equal to N2. It should be understood that the N3 first network devices can be part or all of all network devices serving the first network element.

[0177] In an optional manner, after obtaining the first screening condition, the second network element can obtain N3 first network devices serving the first network element. Optionally, the N3 first network devices can be provided to the second network element by the first network element. For example, the first network element can provide all network devices serving the first network element to the second network element as the N3 first network devices. For another example, the first network element can select N3 network devices from all network devices serving the first network element and provide the N3 network devices to the second network element as the N3 first network devices. Here, the first network element can be randomly selected or selected according to preset information (such as location information of the network device, network state of the network device, etc.), which is not limited in the present application. Then, the second network element can determine all terminal devices managed by the N3 first network devices and determine the terminal devices as the N2 second terminal devices. Then, the first network element can screen the N2 second terminal devices based on the first screening condition and obtain the N4 second terminal devices.

[0178] In an optional implementation manner, the first screening condition is associated with location information of the terminal device. The N4 second terminal devices can be screened from the N2 second terminal devices by the second network element based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0179] That is, after obtaining the first screening condition, the second network element also needs to obtain the location information of each second terminal device in the N2 second terminal devices. It should be understood that, in the case that the second network element does not store the location information of each second terminal device in the N2 second terminal devices, the second network element can initiate a positioning service request to the N3 first network devices, so that the N3 first network devices can obtain the location information of each second terminal device in the N2 second terminal devices through positioning technology and send the location information of each second terminal device in the N2 second terminal devices to the second network element.

[0180] Further, the second network element can screen the N4 second terminal devices from the N2 second terminal devices in combination with the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0181] For example, referring to Table 1-1, which is a filtering condition table provided by the present application, the first network element pre-configures a plurality of filtering conditions associated with the location information of the terminal device, and the indication information of each filtering condition. For example, the filtering condition corresponding to the indication information X1 is that the distance between the terminal device and the network device managing the terminal device is less than 10 meters. For another example, the filtering condition corresponding to the indication information X2 is that the distance between the terminal device and the network device managing the terminal device is less than 20 meters. Other similar conditions will not be described one by one.

[0182] Table 1-1: A filtering condition table

[0183] For example, referring to the content shown in Table 1-1, it is assumed that the second network element determines that the indication of the first filtering condition according to the first request is X2, and then it is determined that the first filtering condition is that the distance between the terminal device and the network device managing the terminal device is less than 20 meters. Further, after obtaining the N2 second terminal devices, the second network element can obtain the location information of each second terminal device, and obtain the location information of the first network device managing each second terminal device, and then calculate the distance between each second terminal device and the first network device managing each second terminal device. Then, the second network element can filter out the second terminal devices whose distance to the first network device where each second terminal device is located is less than 20 meters from the N2 second terminal devices, thereby obtaining the N4 second terminal devices. In this case, the distance between each second terminal device in the N4 second terminal devices and the first network device managing each second terminal device is less than 20 meters.

[0184] For example, referring to Table 1-2, which is another filtering condition table provided by the present application, the first network element pre-configures a plurality of filtering conditions associated with the location information of the terminal device, and the indication information of each filtering condition. For example, the filtering condition corresponding to the indication information Y1 is that the distance between the terminal device and the target object is less than 10 meters. For another example, the filtering condition corresponding to the indication information Y2 is that the distance between the terminal device and the target is less than 20 meters. Other similar conditions will not be described one by one. It should be understood that the target object herein can be some stationary objects around the N3 first network devices, such as buildings, street lamps, etc.

[0185] Table 1-2: Another filtering condition table

[0186] For example, in combination with the content shown in Table 1-2, it is assumed that the second network element determines that the indication of the first screening condition according to the first request is Y2, and then the first screening condition can be determined as: the distance between the terminal device and the target object is less than 20 meters. Further, after the second network element obtains the N2 second terminal devices, the second network element can obtain the location information of each second terminal device and the distance between each second terminal device and the target object. Then, the second network element can screen out the second terminal devices with the distance between the terminal device and the target object less than 20 meters from the N2 second terminal devices, thereby obtaining the N4 second terminal devices.

[0187] It should be understood that the above Table 1-1 and Table 1-2 only exemplarily show the screening conditions configured or used by the first network element for terminal device screening, and in actual implementation, the first network element can also configure or use other different screening conditions, which are not limited by the present application. In addition, in actual implementation, the first network element can configure or use part or all of the screening conditions shown in the above Table 1-1 or Table 1-2, which are also not limited by the present application.

[0188] In the above implementation, the screening of the second terminal device is performed in combination with the first screening condition and the location information of each terminal device in the N2 second terminal devices, which is simple and easy to implement, and can ensure the acquisition efficiency of at least one first terminal device.

[0189] In S2063, the second network element sends a first response to the first network element, and the first response includes the device identification information of the N4 second terminal devices. Correspondingly, the first network element receives the first response.

[0190] In some possible implementation manners, after the second network element determines the N4 second terminal devices, the second network element can generate and send a first response including the device identification information of the N4 second terminal devices to the first network element. Correspondingly, the first network element can receive the first response and determine the N4 second terminal devices according to the device identification information of the N4 second terminal devices.

[0191] In S2064, the first network element determines at least one first terminal device based on the N4 second terminal devices.

[0192] In some possible implementation manners, after the first network element determines the N4 second terminal devices, the first network element can determine at least one first terminal device based on the N4 second terminal devices. For example, the first network element can directly determine the N4 second terminal devices as the at least one first terminal device.

[0193] It should be understood that Fig. 4 is described based on the case that the first terminal device is successfully screened out based on the first screening condition, and in actual implementation, it is also possible that the second terminal device cannot be screened out from the N2 second terminal devices based on the first screening condition, i.e., there is also a case that the screening fails based on the first screening condition. Please refer to Fig. 5, which is a flow chart of another method for determining at least one first terminal device provided in the present application. As shown in Fig. 5, step S206 can specifically include the following steps:

[0194] S2061, the first network element sends a first request to the second network element, and the first request includes indication information of the first screening condition. Correspondingly, the second network element receives the first request.

[0195] The specific implementation process can refer to the description of step S2061 in the foregoing description, and will not be described here again.

[0196] S2065, the second network element does not screen out the second terminal device from the N2 second terminal devices based on the first screening condition, and informs the first network element of the screening failure.

[0197] In some possible implementation manners, if the second network element does not screen out the second terminal device from the N2 second terminal devices based on the first screening condition, the first network element can be informed of the screening failure.

[0198] The possible implementation manner in which the second network element informs the first network element of the screening failure will be described below.

[0199] Possible implementation manner one, after determining the screening failure, the second network element can not send feedback information of the first request to the first network element within a first time length. Or in other words, the second network element can not send any information to the first network element within the first time length. Correspondingly, the first network element determines that the first response is not received within the first time length, and thus determines the screening failure.

[0200] Possible implementation manner two, after determining the screening failure, the second network element can send a second response to the first network element. The second response is used to indicate that the second network element does not screen out the terminal device based on the first screening condition. For example, the second response can be a response message corresponding to the first request and not containing any device identification information.

[0201] It should be understood that in actual implementation, the first network element and the second network element can also adopt other interaction forms to realize the informing of the screening failure, which is not limited in the present application.

[0202] It should also be understood that the process in which the second network element screens the N2 second terminal devices based on the first screening condition can refer to the corresponding description in step S2062 in the foregoing description, and will not be described here again.

[0203] S2066, the first network element sends a second request to the second network element, the second request comprising indication information of the second screening condition. The corresponding second network element receives the second request.

[0204] In some possible implementation manners, the first network element can send a second request comprising indication information of the second screening condition to the second network element in a case where it is determined that the second network element fails to screen based on the first screening condition. The second request is used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition. Here, the second screening condition and the first screening condition are two different screening conditions in the plurality of screening conditions preconfigured by the first network element. The specific process of determining the second screening condition by the first network element can refer to the process of determining the first screening condition by the first network element in step S2062, and the difference is that the first screening condition and the second screening condition are required to be different screening conditions. To avoid redundancy, this will not be described here again. For example, assuming that the indication information of the first screening condition is X1, the indication information of the second screening condition can be X2, X3, or X4. Assuming that the indication information of the first screening condition is Y1, the indication information of the second screening condition can be Y2, Y3, or Y4.

[0205] S2067, the second network element screens N5 second terminal devices from the N2 second terminal devices based on the second screening condition.

[0206] In some possible implementation manners, after obtaining the second screening condition, the second network element can screen the N2 second terminal devices again based on the second screening condition, thereby obtaining N5 second terminal devices satisfying the second screening condition. Here, N5 is a positive integer greater than or equal to 1, and N5 is less than or equal to N2.

[0207] Optionally, after obtaining the second screening condition, the second network element can also obtain all network devices (here, assuming N7 first network devices, N7 being a positive integer greater than or equal to 1) serving the first network element again. It should be understood that, since the network devices serving the first network element can change over time, the N7 first network devices can be the same as or different from the N3 first network devices described above. Here, the process of obtaining the N7 first network devices by the second network element can refer to the process of obtaining the N3 first network devices described above, which will not be described here again. Then, the second network element can determine all terminal devices managed by the N7 first network devices and determine them as the N2 second terminal devices. Then, the first network element can screen the N2 second terminal devices based on the first screening condition, and obtain the N4 second terminal devices.

[0208] S2068, the second network element sends a third response to the first network element, and the third response comprises the device identification information of the N5 second terminal devices. Correspondingly, the first network element receives the third response.

[0209] In some possible implementation manners, after determining the N5 second terminal devices, the second network element can generate and send a third response comprising the device identification information of the N5 second terminal devices to the first network element. Correspondingly, the first network element can receive the third response and determine the N5 second terminal devices according to the device identification information of the N5 second terminal devices.

[0210] S2069, the first network element determines at least one first terminal device based on the N5 second terminal devices.

[0211] In some possible implementation manners, after determining the N5 second terminal devices, the first network element can determine at least one first terminal device based on the N5 second terminal devices. For example, the first network element can directly determine the N5 second terminal devices as the at least one first terminal device.

[0212] In the implementation, in the case that the first network element fails to successfully perform the screening based on the first screening condition, the first network element provides a different second screening condition to trigger the second network element to perform the screening again, so that the problem that the at least one first terminal device cannot be determined for a long time due to the unsuitable first screening condition can be avoided, and the efficiency of the awareness method can be improved.

[0213] It should be noted that FIG. 5 shows the case that the second network element successfully performs the screening based on the second screening condition, and in actual implementation, the second network element can still fail to successfully perform the screening based on the second screening condition. In this case, the first network element can continue to provide a new screening condition, and the second network element can continue to perform the screening based on the new screening condition until the first network element determines the at least one first terminal device.

[0214] In an optional implementation, the second request can further include first indication information (i.e., Remeasurement_time_delay, which can also be referred to as a delay time flag bit). The first indication information can be used to indicate a time at which the second network element performs screening on the N2 second terminal devices based on the first screening condition, and an interval between the time at which the second network element performs screening on the N2 second terminal devices based on the second screening condition and the time at which the second network element performs screening on the N2 second terminal devices based on the first screening condition is equal to or greater than the second time length. In other words, the first indication information is used to indicate that a time interval between the two screenings performed by the second network element based on the first screening condition and the second screening condition should be equal to or greater than the second time length. Accordingly, after receiving the first indication information, the second network device can perform screening based on the second screening condition, while ensuring that the time interval between the two screenings performed based on the first screening condition and the second screening condition should be equal to or greater than the second time length.

[0215] The foregoing describes, by way of example, the process of determining the at least one first terminal device by the first network element and the second network element with reference to FIGS. 4 and 5. In actual implementation, the first network element can also determine the at least one first terminal device by using other implementation manners instead of relying on the second network element to perform screening on the terminal devices.

[0216] For example, the first network element can provide the second network element with region location information corresponding to a target geographic region, and the second network element can send identification information of all terminal devices located in the target geographic region to the first network element. Then, the first network element can determine all terminal devices located in the target geographic region as the at least one first terminal device. Here, the region location information can be location information of a certain first network device, location information of a certain reference object, or location information of a certain tracking area or cell, which is not limited in the present application.

[0217] For example, the first network element can also obtain a screening rule that does not need to rely on the second network element from other devices, and perform screening on all terminal devices managed by all network devices served by the first network element based on the screening rule, thereby obtaining the at least one first terminal device.

[0218] For example, the first network element can also determine at least one network device to be scheduled to perform sensing service, and determine all terminal devices managed by the at least one network device as the at least one first terminal device.

[0219] It should be noted that in the above implementation, the second network element provides the device identifier information of the at least one second terminal device screened to the first network element, so that the first network element can determine the at least one first terminal device based on the device identifier information. In another possible implementation, a fixed available terminal device set (i.e., available UE SET) can be preset, which is mainly used to store the device identifier information of the second terminal device screened by the second network element. For example, if the second network element screens the above N4 second terminal devices based on the first screening condition, the device identifier information of each of the N4 second terminal devices can be stored in the available terminal device set. For example, in this case, the data format of the available terminal device set is as follows: available UE SET={device identifier information 1, device identifier information 2, …, device identifier information N4}. If the second network element fails based on the first screening condition, no device identifier information of any terminal device is stored in the available terminal device set, so that the available terminal device set is empty. For example, in this case, the data format of the available terminal device set is as follows: available UE SET={}. Then, the second network element can send the identifier information (also referred to as available terminal device set flag) of the available terminal device set to the first network element. After receiving the identifier information of the available terminal device set, the first network element can determine whether the available terminal device set is empty. If the first network element determines that the available terminal device set is not empty, the first network element can determine the at least one first terminal device based on the N4 second terminal devices indicated by the device identifier information contained in the available terminal device set. If the first network element determines that the available terminal device set is empty, the first network element can determine that the screening of the first network element fails. Similarly, after the screening based on the first screening condition fails, the second screening condition can be used for screening. If the screening succeeds, the device identifier information of each of the N5 second terminal devices is stored in the available terminal device set. If the screening fails, the available terminal device set remains empty. Then, the second network element can send the identifier information of the available terminal device set to the first network element again. After receiving the identifier information of the available terminal device set, the first network element can determine whether the available terminal device set is empty again. If the first network element determines that the available terminal device set is not empty, the first network element can determine the at least one first terminal device based on the N5 second terminal devices indicated by the device identifier information contained in the available terminal device set. If the first network element determines that the available terminal device set is empty, the first network element can determine that the screening of the first network element fails again.

[0220] It should be understood that in actual implementation, other possible manners can also be adopted between the first network element and the second network element to implement the interaction of the screening result based on the screening condition, and the present application does not make a specific limitation in this aspect.

[0221] In some possible implementation manners, as shown in FIG. 3, before step S203, the method can further include the following steps:

[0222] S207, the first network element sends a perception information request to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the perception information request.

[0223] Optionally, after sending the perception assistance, the first network element can further send a perception information request to the at least one first terminal device. The perception information request is used to trigger the at least one first terminal device to perform step S203. Correspondingly, each first terminal device in the at least one first terminal device measures the corresponding perception measurement information based on the perception signal received by the first terminal device, after receiving the perception information request. Here, the first network element can send the perception information request to each first terminal device through the second network element.

[0224] For example, the first network element can send the perception information request to the first terminal device A1 and the first terminal device A2 through the second network element respectively. After receiving the perception information request, the first terminal device A1 measures the perception measurement information E1 based on the received perception signal S1. Similarly, after receiving the perception information request, the first terminal device A2 measures the perception measurement information E2 based on the received perception signal S2.

[0225] It should be noted that in the embodiments of the present application, a certain request, information, instruction or information used to trigger a certain operation can also be expressed as a certain request, information, instruction or information used to request, instruct, enable or activate a certain operation. For example, the above "the perception information request is used to trigger the at least one first terminal device to perform step S203" can also be understood as "the perception information request is used to request, instruct, enable or activate the at least one first terminal device to perform step S203". Similarly, similar expressions below can also be understood in this way, and the following will not be repeated.

[0226] In some possible implementation manners, as shown in FIG. 3, before step S201, the method can further include the following steps:

[0227] S208, the first network element determines the first perception method.

[0228] In some feasible implementations, the first network element can be pre-configured with multiple different sensing methods. Each sensing method indicates or specifies the sensing initiator, the type of sensing signal, and the specific sensing reconstruction algorithm used. Each sensing method corresponds to different indication information. The difference between different sensing methods lies in at least one of the above three specified items being different. It should be understood that in the embodiments of this application, the sensing initiator can be the first network element or a first terminal device. The type of sensing signal can be an uplink signal or a downlink signal. The sensing reconstruction algorithm is the method used to process the sensing measurement information to obtain the sensing result. Correspondingly, these multiple different sensing methods also correspond to multiple different sensing reconstruction algorithms. Each sensing reconstruction algorithm can indicate or specify the sensing measurement parameters required when reconstructing the sensing result. For example, a certain sensing reconstruction algorithm can specify that the departure angle and signal transmission delay need to be used for sensing reconstruction. Another example is that a certain sensing reconstruction algorithm can specify that the departure angle, arrival angle, and signal transmission delay need to be used for sensing reconstruction. Furthermore, each perception reconstruction algorithm may also indicate or specify that when reconstructing the perception result, it only needs to consider the perception measurement information obtained based on the perception signal received on a single ejection path, or it may specify that when reconstructing the perception result, it needs to consider both the perception measurement information obtained based on the perception signal received on a single ejection path and the perception measurement information obtained based on the perception signal received on a dual ejection path. Here, a single ejection path refers to the perception signal passing only through the object to be perceived during transmission, and only one ejection occurs. A dual ejection path refers to the perception signal passing not only through the object to be perceived but also through another object besides the object to be perceived during transmission, and two ejections occur. It should be understood that this application does not limit the specific implementation of the perception reconstruction algorithm; any algorithm that can complete perception reconstruction and is compatible with the perception method provided in this application can be applied to the perception method provided in this application.

[0229] For example, please refer to Table 1-3. Table 1-3 is a table of sensing methods provided in this application. Table 1-3 shows 12 different sensing methods, with corresponding indication information from Z0 to Z11. At least one of the following is different for each sensing method: the sensing initiator, the sensing signal type, and the specific content of the sensing reconstruction algorithm. For example, the sensing method with indication information Z1 specifies that the sensing initiator is the first network element, the sensing signal type is a downlink signal, and the sensing reconstruction algorithm is based on the departure angle and transmission delay to reconstruct the sensing result, and only considers sensing signals with a single projectile diameter. As another example, the sensing method with indication information Z2 specifies that the sensing initiator is the first network element, the sensing signal type is a downlink signal, and the sensing reconstruction algorithm is based on the arrival angle and transmission delay to reconstruct the sensing result, and only considers sensing signals with a single projectile diameter. The remaining items are similar and will not be described in detail.

[0230] Table 1-3 A Sensing Method

[0231] It should be understood that in actual implementation, the first network element can be pre-configured with part or all of the sensing methods shown in Tables 1-3, or the first network element can be pre-configured with other sensing methods in addition to the sensing methods shown in Tables 1-3, and the present application does not limit this.

[0232] In combination with the above, in a possible implementation, the first network element can select the first sensing method from the pre-configured multiple different sensing methods according to the current network sensing resource situation. Here, the first sensing method can stipulate that the first network element is the sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm. Among them, the first network element is based on the first sensing reconstruction algorithm to process the above N1 sensing measurement information to obtain the sensing result of the to-be-sensed object.

[0233] Further, in this case, the above-mentioned sensing assistance data can further include second indication information corresponding to the first sensing method. The second indication information can be used to indicate at least one of the following: the first network element is the sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm. The second network element, each of the at least one first terminal device, and each of the at least one first network device can determine the above-mentioned first sensing method based on the second indication information.

[0234] Please refer to FIG. 6, which is another flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1, and is applicable to the case where the communication system does not include a second network element. In this case, the first network element can have part or all of the functions of the sensing management function network element and the positioning management function network element. It should be noted that, similar to the sensing method shown in FIG. 2, the sensing method shown in FIG. 6 is applicable to the scenario of at least one first terminal device and at least one first network device. For example, there is only one first terminal device and one first network device, or there are multiple first terminal devices and one first network device, or there are multiple first terminal devices and multiple first network devices. Since the implementation process of each step of the sensing method shown in FIG. 6 is similar in these different scenarios, FIG. 6 only shows a first terminal device A1 and a second terminal device A2 in the at least one first terminal device, and a first network device B in the at least one first network device. And in order to facilitate the description of each step of FIG. 6 and avoid redundancy, hereinafter, the at least one first terminal device will be uniformly taken as an example of including the first terminal device A1 and the second terminal device A2, and the at least one first network device will be uniformly taken as an example of including the first network device B.

[0235] As shown in FIG. 6, the method can include the following steps:

[0236] S601, the first network element sends the perception assistance data to at least one first network device and at least one terminal device. Correspondingly, the at least one first terminal device and the at least one second terminal device receive the perception assistance data.

[0237] In some possible implementation manners, after determining the perception requirement for the to-be-perceived object, the first network element can acquire the perception assistance data and directly send the perception assistance data to the at least one first terminal device and the at least one first network device. Correspondingly, each first terminal device and each first network device directly receives the perception assistance data from the first network element. The at least one first terminal device is managed by the at least one first network device, and one first network device can manage one or more first terminal devices. The at least one first network device serves the first network element. In addition, the at least one first network device can include part or all of all network devices serving the first network element. For details, refer to the process of sending the perception assistance data by the first network element to the at least one first network device and the at least one terminal device and receiving the perception assistance data by the at least one first network device and the at least one terminal device in the direct connection scenario described in step S201.

[0238] In addition, the description of the perception assistance data can also refer to the corresponding description in step S201, which will not be repeated here.

[0239] S602, the at least one first network device sends the perception signal. Correspondingly, the at least one first terminal device receives the perception signal.

[0240] For details, refer to the corresponding description in step S202, which will not be repeated here.

[0241] S603, the at least one first terminal device measures N1 pieces of perception measurement information based on the received perception signal.

[0242] For details, refer to the corresponding description in step S203, which will not be repeated here.

[0243] S604, the at least one first terminal device sends the N1 pieces of perception measurement information to the first network element. Correspondingly, the first network element receives the N1 pieces of perception measurement information.

[0244] For details, refer to the corresponding description in step S204 in the direct connection scenario between the at least one first terminal device and the first network element, which will not be repeated here.

[0245] S605, the first network element determines the perception result of the to-be-perceived object based on the N1 pieces of perception measurement information.

[0246] The implementation process can refer to the corresponding description in step S205, which will not be repeated here.

[0247] In the above implementation, the first network element can send the perception assistance data to the at least one first network device and the at least one first terminal device, so that the at least one first network device can send the perception signal based on the perception assistance data, and the at least one first terminal device can receive the perception signal based on the perception assistance data and measure to obtain N1 perception measurement information, thereby completing the downlink double-base perception of the to-be-perceived object initiated by the first network element. Since the perception method provided by the present application is based on double-base perception implementation, the perception method can obtain perception enhancement in terms of perception coverage, perception accuracy, and perception resolution. Therefore, using the perception method provided by the present application in the integrated sensing and communication network can solve the problem of limited perception performance of the integrated sensing and communication network caused by the single-base perception mode, improve the perception performance of the integrated sensing and communication network, and further improve the practicability of the integrated sensing and communication network.

[0248] In some possible implementation manners, as shown in FIG. 6, the method can further include the following steps:

[0249] S606, the first network element determines the at least one first terminal device.

[0250] Specifically, the first network element can obtain N3 second network devices serving the first network element. N3 is a positive integer greater than or equal to 1. Then, the first network element can screen N2 second terminal devices managed by the N3 second network devices based on a third screening condition. In the case of obtaining N6 second terminal devices satisfying the third screening condition from the N2 second terminal devices, the first network element can determine the N6 third terminal devices as the at least one first terminal device, where N2, N3, and N6 are positive integers greater than or equal to 1. It should be understood that the N3 first network devices can be all network devices serving the first network element.

[0251] For example, it is assumed that the first network element obtains first terminal device A1 and first terminal device A2 satisfying the third screening condition from the N2 second terminal devices. Then, the first network element determines the first terminal device A1 and the first terminal device A2 as the at least one first terminal device. Further, the first network element can also determine the network device managing the first terminal device A1 and the first terminal device A2 as the first network device B.

[0252] It should be noted that in the perception method shown in FIG. 6, the first network element can also be pre-configured with multiple screening conditions for terminal device screening. Upon determining that there is a perception requirement for the to-be-perceived object, the first network element can select one screening condition from the multiple screening conditions as the third screening condition. It should be understood that the first network element can randomly select one screening condition as the third screening condition. Alternatively, in the case where each screening condition corresponds to a priority, the first network element can determine the third screening condition based on the priority. For example, the first network element can select the screening condition with the highest priority as the third screening condition.

[0253] It should also be noted that in actual implementation, the first network element can still fail to successfully screen based on the third screening condition. In this case, the first network element can continue to select a new screening condition and screen based on the new screening condition until at least one first terminal device is determined.

[0254] In some possible implementation manners, as shown in FIG. 6, before step S603, the method can further include the following steps:

[0255] S607. The first network element sends a perception information request to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the perception information request.

[0256] For details of the implementation process, reference can be made to the corresponding description in step S207.

[0257] In some possible implementation manners, as shown in FIG. 6, before step S601, the method can further include the following steps:

[0258] S608. The first network element determines the first perception method.

[0259] For details of the implementation process, reference can be made to the corresponding description in step S208.

[0260] It should be noted that in the perception method shown in FIG. 6, the first network element can simultaneously have the functions of the first network element and the second network element involved in the perception method shown in FIG. 2. In this case, the first network element can also be referred to as an enhanced network element, an enhanced perception management function network element, a positioning and perception merging network element, and the like.

[0261] Please refer to FIG. 7, which is another flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1, and is applicable to the case where the communication system comprises a first network element and a second network element. In this case, the first network element can be a sensing management function network element or a network element having part or all of the functions of a sensing management function network element, and the second network element can be a positioning management function network element or a network element having part or all of the functions of a positioning management function network element. Similarly, the sensing method shown in FIG. 7 is applicable to the scenario of at least one first terminal device and at least one first network device. In FIG. 7, only a first terminal device A1 and a second terminal device A2 of the at least one first terminal device, and a first network device B of the at least one first network device are shown. In the following, for the convenience of description of the steps shown in FIG. 7 and to avoid redundancy, the at least one first terminal device is taken as an example of the first terminal device A1 and the second terminal device A2, and the at least one first network device is taken as an example of the first network device B.

[0262] As shown in FIG. 7, the sensing method can comprise the following steps:

[0263] S701, the first network element sends a sensing information request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing information request.

[0264] In some possible implementation manners, after determining the sensing requirement for the to-be-sensed object, the first network element can send a sensing information request to each of the at least one first network device. Correspondingly, each of the at least one first network device can receive the sensing information request. The sensing information request is used to trigger the at least one first network device to send sensing assistance data to the at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves the first network element. In the embodiment of the present application, the at least one first network device can comprise part or all of all network devices serving the first network element.

[0265] For example, the first network element can send a sensing information request to the first network device B. Correspondingly, the first network device B receives the sensing information request.

[0266] It should be noted that the above-mentioned sensing assistance data can be used for transmission of the sensing signal between the at least one first network device and the at least one terminal device, and / or measurement of the sensing signal. Here, the measurement of the sensing signal refers to the process of obtaining sensing measurement information by the receiver of the sensing signal based on the received sensing signal.

[0267] In actual implementation, in a scenario where the first network element cannot directly communicate with the at least one first network device and the at least one first terminal device (i.e., a non-direct connection scenario), the first network element can send a sensing information request to each first network device through the second network element, as shown in FIG. 7. In a scenario where the first network element can directly communicate with the at least one first network device (i.e., a direct connection scenario), the first network element can directly send a sensing information request to each first network device.

[0268] In an optional implementation, the sensing assistance data can include resource configuration information corresponding to the sensing signal, and / or, reporting configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angles, measurement time slots, coding information, and the like. The reporting configuration information corresponding to the sensing signal can include various configuration information for reporting the sensing measurement information measured based on the sensing signal, such as configuration information of a reporting mechanism of the sensing measurement information (such as periodic, semi-persistent, or aperiodic reporting, etc.), configuration information of resources occupied for reporting the sensing measurement information, and the like.

[0269] S702, the at least one first network device sends the sensing assistance data to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing assistance data.

[0270] In some feasible implementations, each first network device in the at least one first network device can generate the sensing assistance data after receiving the sensing information request. Then, the at least one first network device can send the sensing assistance data to the at least one first terminal device. That is, the at least one first network device can send the sensing assistance data to the at least one first terminal device according to the received sensing information request. Correspondingly, each first terminal device can receive the sensing assistance data.

[0271] For example, the first network device B receives the sensing information request, generates the sensing assistance data, and sends the sensing assistance data to the first terminal device A1 and the first terminal device A2, respectively.

[0272] S703, the first network element sends a sensing activation request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing activation request.

[0273] In some feasible implementations, the first network element sends the sensing activation request to each first network device in the at least one first network device. Correspondingly, each first network device receives the sensing activation request. The sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to trigger the at least one first terminal device to send the sensing signal.

[0274] For example, the first network element can send a sensing activation request to the first network device B. Correspondingly, the first network device B receives the sensing activation request.

[0275] S704, the at least one first network device sends sensing signal activation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing signal activation information.

[0276] In some possible implementation manners, after receiving the sensing activation request, the at least one first network device can generate the sensing signal activation information and send the sensing signal activation information to the at least one first terminal device, so as to trigger the first terminal devices to send the sensing signal.

[0277] For example, after receiving the sensing activation request, the first network device B can generate the sensing signal activation information and send the sensing signal activation information to the first terminal device Al and the first terminal device A2 respectively, so as to trigger the first terminal device Al and the first terminal device A2 to send the sensing signal.

[0278] S705, the at least one first terminal device sends the sensing signal. Correspondingly, the at least one first network device receives the sensing signal.

[0279] In some possible implementation manners, each of the at least one first terminal device can send the sensing signal based on the sensing assistance data after obtaining the sensing signal activation information. Correspondingly, each of the at least one first network device can detect and receive the sensing signal sent by each of the first terminal devices based on the sensing assistance data.

[0280] For example, each of the first terminal devices can determine the transmission resource corresponding to the sensing signal according to the resource configuration information in the sensing assistance data, such as the time-frequency resource, the antenna port resource, the transmission angle, the measurement time slot and the like. Then, each of the first terminal devices can send the sensing signal on the corresponding transmission resource. Correspondingly, each of the first network devices can also determine the transmission resource corresponding to the sensing signal according to the resource configuration information in the sensing assistance data, and receive the sensing signal sent by each of the first terminal devices on the corresponding transmission resource.

[0281] It should be understood that in actual implementation, each first terminal device transmits a sensing signal, and the sensing signals transmitted between the first terminal devices also have differences, such as differences in transmission angles, differences in time-frequency resources, and the like. Each first network device detects and receives the sensing signal after being ejected by the object to be sensed based on the transmission resource of the sensing signal. Since the sensing signal may be lost in actual transmission, the sensing signal cannot be correctly received, and therefore some first network devices may not correctly receive the sensing signal transmitted by each first terminal device. Of course, without considering abnormal transmission of the sensing signal, each first network device receives the sensing signal transmitted by each first terminal device and ejected by the object to be sensed. For example, assuming that there are m first network devices and n first terminal devices, each first network device receives n sensing signals, and m first network devices receive n*m sensing signals in total.

[0282] It should be noted that the embodiments of the present application take the case of not considering abnormal transmission of the sensing signal as an example. In combination with the example of at least one first terminal device and at least one first network device in FIG. 7, in the embodiments of the present application, the first terminal device A1 and the first terminal device A2 transmit the sensing signals S2 and S3 based on the sensing assistance data. The first network device B receives the sensing signals S2 and S3 based on the sensing assistance data.

[0283] S706, the at least one first network device measures N1 pieces of sensing measurement information based on the received sensing signals.

[0284] In some feasible implementation manners, after receiving the sensing signal transmitted by the at least one first terminal device, the at least one first network device can measure N1 pieces of sensing measurement information based on the received sensing signal. Wherein, N1 is a positive integer greater than or equal to 1. Here, the number N1 of sensing measurement information can be equal to the product of the number of first terminal devices and the number of first network devices.

[0285] In combination with the example of at least one first terminal device and at least one first network device in FIG. 7, in actual implementation, the first network device B measures 2 pieces of sensing measurement information (here, assuming E3 and E4) based on the received sensing signals S2 and S3. In this case, the N1 pieces of sensing measurement information include the sensing measurement information E3 and the sensing measurement information E4.

[0286] It should be further explained that the above-mentioned perception auxiliary data can further include relevant information for perception signal measurement, and each first network device can calculate the perception measurement information based on the relevant information for perception signal measurement after receiving the perception signal. For example, the first network device B can process the received perception signals S2 and S3 to obtain the perception measurement information E3 and the perception measurement information E4 based on the relevant information for perception signal measurement.

[0287] It should be further explained that the embodiments of the present application do not limit the specific process of obtaining the perception measurement information based on the perception signal processing, as long as the perception measurement information can be correctly calculated.

[0288] S707, the at least one first network device sends N1 perception measurement information to the first network element. Correspondingly, the first network element receives the N1 perception measurement information.

[0289] In some possible implementation manners, after obtaining the N1 perception measurement information, the at least one first network device can send the N1 perception measurement information to the first network element. Correspondingly, the first network element can receive the N1 perception measurement information provided by the at least one first network device.

[0290] Here, the specific process of the at least one first network device sending the N1 perception measurement information to the first network element can refer to the process of the at least one first terminal device sending the N1 perception measurement information to the first network element described in the foregoing step S204, which will not be described here again.

[0291] S708, the first network element determines the perception result of the to-be-perceived object based on the N1 perception measurement information.

[0292] The specific process can refer to the corresponding description in the foregoing step S205, which will not be described here again.

[0293] In the above implementation, the first network element can trigger the at least one first network device to provide the perception auxiliary data for the at least one first terminal device, trigger the at least one first terminal device to send the perception signal based on the perception auxiliary data through the perception activation request, and make the at least one first network device measure the perception signal to obtain the N1 perception measurement information based on the perception auxiliary data, so as to complete the uplink double-base perception initiated by the first network element for the to-be-perceived object. Since the perception method provided by the present application is based on the double-base perception, the perception method can obtain the improvement in the perception coverage, the perception accuracy, and the perception resolution, and has good applicability and practicability.

[0294] Please refer to FIG. 8, which is another flowchart of a perception method provided by the present application. As shown in FIG. 8, the method can further include the following steps:

[0295] S709, the first network element and the second network element determine at least one first terminal device.

[0296] The specific process can refer to the corresponding description in step S206, and details are not described here.

[0297] In some possible implementation manners, as shown in FIG. 8, before step S701, the method can further include the following steps:

[0298] S710, the first network element determines a second sensing method.

[0299] In some possible implementation manners, the first network element can be preconfigured with a plurality of different sensing methods. Each sensing method indicates or specifies a sensing initiator, a type of sensing signal, and a specific sensing reconstruction algorithm. Here, the description of the sensing method can refer to the foregoing step S208, and details are not described here.

[0300] In a possible implementation manner, the first network element can select the second sensing method from the preconfigured plurality of different sensing methods according to the current sensing resource situation of the network. Here, the second sensing method can specify that the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a second sensing reconstruction algorithm. The first network element processes the N1 sensing measurement information based on the second sensing reconstruction algorithm to obtain the sensing result of the to-be-sensed object.

[0301] Further, in this case, the sensing assistance data can further include third indication information corresponding to the first sensing method. The third indication information can be used to indicate at least one of the following: the first network element is the sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on the second sensing reconstruction algorithm. The third indication information can be provided by the first network element to the second network element and the at least one first network device. The second network element, each of the at least one first terminal device, and each of the at least one first network device can determine the second sensing method based on the third indication information.

[0302] Optionally, as shown in FIG. 8, the method can further include the following steps:

[0303] S711, the first network element sends a sensing deactivation request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing deactivation request.

[0304] In some possible implementation manners, the first network element can send a sensing deactivation request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing deactivation request. The sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to trigger the at least one first terminal device to stop sending the sensing signal.

[0305] Here, the stop sending the sensing signal can also be expressed as the pause sending the sensing signal, and can also be expressed as the disable sending the sensing signal, and can also be expressed as the deactivation sending the sensing signal. Similarly, similar expressions below can also be replaced in this way, and the following will not be repeated.

[0306] S712, the at least one first network device sends the sensing signal deactivation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing signal deactivation information.

[0307] In some possible implementation manners, after receiving the sensing activation request, the at least one first network device can generate the sensing signal deactivation information and send the sensing signal deactivation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing signal deactivation information and stops sending the sensing signal.

[0308] Please refer to FIG. 9, which is another flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1, and is applicable to the case where the second network element is not included in the communication system. In this case, the first network element can have part or all functions of the sensing management function network element and the positioning management function network element. Similarly, the sensing method shown in FIG. 9 is applicable to the scenario of the at least one first terminal device and the at least one first network device. In FIG. 9, only the first terminal device A1 and the second terminal device A2 in the at least one first terminal device, and the first network device B in the at least one first network device are shown. And hereinafter, in order to facilitate the description of each step shown in FIG. 9 and avoid redundancy, the at least one first terminal device will be taken as an example, which includes the first terminal device A1 and the second terminal device A2, and the at least one first network device will be taken as an example, which includes the first network device B.

[0309] As shown in FIG. 9, the sensing method can include the following steps:

[0310] S901, the first network element sends a sensing information request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing information request.

[0311] In some possible implementation, after determining the perception requirement for the to-be-perceived object, the first network element can directly send a perception information request to each of the at least one first network device. Correspondingly, each of the at least one first network device can directly receive the perception information request. The perception information request is used to trigger the at least one first network device to send the perception assistance data to the at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves the first network element. In the embodiment of the present application, the at least one first network device can include part or all of all network devices serving the first network element. For the process in which the first network element sends the perception information request to the at least one first network device in the direct connection scenario, please refer to the foregoing description in step S701, which will not be repeated here.

[0312] In addition, for the description of the perception assistance data, please refer to the foregoing description in step S701, which will not be repeated here.

[0313] S902, the at least one first network device sends the perception assistance data to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the perception assistance data.

[0314] For the specific process, please refer to the foregoing description in step S702, which will not be repeated here.

[0315] S903, the first network element sends a perception activation request to the at least one first network device. Correspondingly, the at least one first network device receives the perception activation request.

[0316] In some possible implementation, the first network element can directly send the perception activation request to each of the at least one first network device. Correspondingly, each of the at least one first network device receives the perception activation request. For the process in which the first network element sends the perception activation request to each of the at least one first network device in the direct connection scenario, please refer to the foregoing description in step S703, which will not be repeated here.

[0317] S904, the at least one first network device sends perception signal activation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the perception signal activation information.

[0318] For the specific process, please refer to the foregoing description in step S704, which will not be repeated here.

[0319] S905, the at least one first terminal device sends a perception signal. Correspondingly, the at least one first network device receives the perception signal.

[0320] The specific process can refer to the corresponding description in step S705 in the foregoing, and details are not described herein.

[0321] S906, the at least one first network device measures N1 pieces of sensing measurement information based on the received sensing signals.

[0322] The specific process can refer to the corresponding description in step S706 in the foregoing, and details are not described herein.

[0323] S907, the at least one first network device sends the N1 pieces of sensing measurement information to the first network element. Correspondingly, the first network element receives the N1 pieces of sensing measurement information.

[0324] In some possible implementation manners, after obtaining the N1 pieces of sensing measurement information, the at least one first network device can directly send the N1 pieces of sensing measurement information to the first network element. Correspondingly, the first network element can receive the N1 pieces of sensing measurement information provided by the at least one first network device.

[0325] Here, the specific process in which the at least one first network device sends the N1 pieces of sensing measurement information to the first network element can refer to the process in which the at least one first network device sends the N1 pieces of sensing measurement information to the first network element in the direct connection scenario, which is described in step S707 in the foregoing, and details are not described herein.

[0326] S908, the first network element determines a sensing result of the to-be-sensed object based on the N1 pieces of sensing measurement information.

[0327] The specific process can refer to the corresponding description in step S708 in the foregoing, and details are not described herein.

[0328] In the implementation manner, the first network element can trigger the at least one first network device to provide sensing assistance data for the at least one first terminal device, trigger the at least one first terminal device to send a sensing signal based on the sensing assistance data through a sensing activation request, and enable the at least one first network device to measure N1 pieces of sensing measurement information based on the sensing assistance data and the sensing signal, so as to complete the uplink double-base sensing of the to-be-sensed object initiated by the first network element. Since the sensing method provided in this application is implemented based on double-base sensing, the sensing method can obtain sensing enhancement in terms of sensing coverage, sensing accuracy, and sensing resolution. Therefore, the sensing method provided in this application can solve the problem that the sensing performance of the sensing and communication integrated network is limited when a single-base sensing mode is used, and can improve the sensing performance of the sensing and communication integrated network, and further improve the practicability of the sensing and communication integrated network.

[0329] Optionally, as shown in FIG. 9, the method can further include the following steps:

[0330] S909, the first network element and the second network element determine the at least one first terminal device.

[0331] The specific process can refer to the corresponding description in step S709 in the foregoing, and thus will not be described here.

[0332] Optionally, as shown in FIG. 9, before step S901, the method can further include the following steps:

[0333] S910, the first network element determines the second sensing method.

[0334] The specific process can refer to the corresponding description in step S710 in the foregoing, and thus will not be described here.

[0335] Optionally, as shown in FIG. 9, the method can further include the following steps:

[0336] S911, the first network element sends a sensing deactivation request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing deactivation request.

[0337] In some possible implementation manners, the first network element can send the sensing deactivation request to the at least one first network device. Correspondingly, the at least one first network device receives the sensing deactivation request. The sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to trigger the at least one first terminal device to stop sending the sensing signal.

[0338] S912, the at least one first network device sends the sensing signal deactivation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing signal deactivation information.

[0339] In some possible implementation manners, after receiving the sensing activation request, the at least one first network device can generate the sensing signal deactivation information and send the sensing signal deactivation information to the at least one first terminal device. Correspondingly, the at least one first terminal device receives the sensing signal deactivation information and stops sending the sensing signal.

[0340] Please refer to FIG. 10, which is another flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1. Moreover, the sensing method is applicable to the case where the communication system includes only one first network element, one second network element, one first terminal device and one first network device. In this case, the first network element can be a sensing management function network element or a part or all of the functions of the sensing management function network element, and the second network element can be a positioning management function network element or a part or all of the functions of the positioning management function network element.

[0341] As shown in FIG. 10, the perception method can include the following steps:

[0342] In S101, the first terminal device sends a perception assistance data request to the first network element. Correspondingly, the first network element receives the perception assistance data request.

[0343] In some possible implementation manners, the first terminal device can generate and send the perception assistance data request to the first network element in a case where there is a perception demand for the to-be-perceived object. Correspondingly, the first network element receives the perception assistance data request. The perception assistance data request can be used to trigger the first network element to provide the perception assistance data. The first terminal device can be managed by the first network device, and the first network device serves the first network element.

[0344] It should be noted that the perception assistance data can be used for transmission of the perception signal between the first network device and the first terminal device, and / or measurement of the perception signal. Here, the measurement of the perception signal refers to a process in which a receiver of the perception signal measures the perception measurement information based on the received perception signal.

[0345] In an optional implementation manner, the first terminal device can send the perception assistance data request to the second network element, and the second network element sends the perception assistance data request to the first network element. It can be understood that this implementation manner is applicable to a case where the first network element and the first terminal device cannot directly communicate (i.e., a non-direct connection scenario).

[0346] In addition, in a case where the first network element and the first terminal device can directly communicate (i.e., a direct connection scenario), the first terminal device can directly send the perception assistance data request to the first network element.

[0347] In an optional implementation manner, the perception assistance data can include resource configuration information corresponding to the perception signal, and / or reporting configuration information. It should be noted that the resource configuration information corresponding to the perception signal can be used to configure various resources for transmitting the perception signal, such as time-frequency resources, antenna port resources, transmission angles, measurement time slots, coding information, and the like. In this case, the reporting configuration information can not be included in the perception assistance data. Alternatively, when the reporting configuration information is included, the reporting configuration information can be used for the first terminal device to send a perception information response to the first network device. In addition, it can be understood that in a case where the perception signal is sent by the first network device and received by the first terminal device, the first network device can send the perception signal on the resources indicated by the resource configuration information in the perception assistance data, and correspondingly, the first terminal device can receive the perception signal on the resources indicated by the resource configuration information in the perception assistance data. In this case, the reporting configuration information can not be included in the perception assistance data. Alternatively, when the reporting configuration information is included, the reporting configuration information can be used for the first terminal device to send a perception information response to the first network device.

[0348] S102, the first network element sends the perception assistance data to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the perception assistance data.

[0349] In some possible implementation manners, after obtaining the perception assistance data request, the first network element can obtain the perception assistance data and send the perception assistance data to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the perception assistance data from the first network element.

[0350] Optionally, in a scenario in which the first network element cannot directly communicate with the first terminal device and the first network device (i.e., a non-direct connection scenario), the first network element can send the perception assistance data to a second network element, and the second network element sends the perception assistance data to the first terminal device and the first network device.

[0351] In a scenario in which the first network element can directly communicate with the first terminal device and the first network device (i.e., a direct connection scenario), the first network element can directly send the perception assistance data to the first terminal device and the first network device.

[0352] S103, the first network device sends the perception signal. Correspondingly, the first terminal device receives the perception signal.

[0353] In some possible implementation manners, after obtaining the perception assistance data, the first network device can transmit the perception signal based on the perception assistance data. Correspondingly, after obtaining the perception assistance data, the first terminal device can detect and receive the perception signal sent by the first network device based on the perception assistance data.

[0354] For example, the first network device can determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, such as the time-frequency resource, the antenna port resource, the transmission angle, the measurement time slot, and the like. Then, the first network device can transmit the perception signal on the corresponding transmission resource. Correspondingly, the first terminal device can also determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, and receive the perception signal transmitted by the first network device on the corresponding transmission resource.

[0355] In the embodiment of the present application, it is assumed that the first network device transmits the perception signal S4 based on the perception assistance data, and the first terminal device receives the perception signal S4 bounced by the object to be sensed based on the perception assistance data.

[0356] S104, the first terminal device measures the perception measurement information based on the received perception signal.

[0357] In some possible implementation manners, after receiving the sensing signal, the first terminal device can measure the sensing measurement information based on the received sensing signal.

[0358] In combination with the above assumption, the first terminal device can measure the sensing measurement information (herein assumed as E5) based on the received sensing signal S4. It should be added that the sensing assistance data can further include relevant information for sensing signal measurement, and each first terminal device can calculate the sensing measurement information based on the relevant information for sensing signal measurement after receiving the sensing signal. For example, the first terminal device can process the received sensing signal S4 based on the relevant information for sensing signal measurement to obtain the sensing measurement information E5. It should be added that the embodiments of the present application do not limit the specific process of obtaining the sensing measurement information based on the sensing signal, as long as the sensing measurement information can be correctly calculated.

[0359] S105, the first terminal device determines the sensing result of the to-be-sensed object based on the sensing measurement information.

[0360] In some possible implementation manners, after obtaining the sensing measurement information, the first terminal device can process the sensing measurement information based on a preconfigured sensing reconstruction algorithm to obtain the sensing result of the to-be-sensed object. Herein, the sensing result of the to-be-sensed object can include position information, speed information, acceleration information, distance information, attitude information, etc. of the to-be-sensed object, and the present application does not limit this. For example, the first terminal device can process the sensing measurement information E5 based on a preconfigured sensing reconstruction algorithm to obtain the sensing result of the to-be-sensed object.

[0361] It should be noted that the sensing reconstruction algorithm herein refers to a method of processing the sensing measurement information to obtain the sensing result, and the present application does not limit the specific implementation of the sensing reconstruction algorithm.

[0362] In the above implementation, the first network element can provide the first terminal device and the first network device with the sensing assistance data according to the sensing assistance data request provided by the first terminal device, so that the first network device can send the sensing signal based on the sensing assistance data, and the first terminal device can receive the sensing signal and measure the sensing measurement information based on the sensing assistance data, thereby completing the downlink double-base sensing on the to-be-sensed object initiated by the first terminal device. Since the sensing method provided by the present application is implemented based on double-base sensing, the sensing method can improve the sensing coverage, sensing accuracy, and sensing resolution, and has good applicability and practicability.

[0363] Optionally, referring to FIG. 11, FIG. 11 is another flowchart of a sensing method provided by the present application. As shown in FIG. 11, the method can further include the following steps:

[0364] S106, the first terminal device sends the perception information response to the first network element.

[0365] In some possible implementation manners, the first terminal device can generate and send the perception information response to the first network element. The perception information response includes the perception result of the to-be-perceived object.

[0366] Optionally, in the scenario where the first network element is not directly connected with the first terminal device, the first terminal device can send the perception information response to the second network element, and the second network element sends the perception information response to the first network element. In the scenario where the first network element is directly connected with the first terminal device, the first terminal device can directly send the perception information response to the first network element.

[0367] Optionally, as shown in FIG. 11, the method can further include the following steps:

[0368] S107, the first network element determines a third perception method.

[0369] In some possible implementation manners, the first network element can be preconfigured with multiple different perception methods. Each perception method indicates or specifies a perception initiator, a type of perception signal, and a specific perception reconstruction algorithm. Here, the description of the perception method can refer to the foregoing step S208, and will not be repeated here.

[0370] In a possible implementation manner, the first network element can select the third perception method from the preconfigured multiple different perception methods according to the current perception resource situation of the network. Here, the third perception method can specify that the first terminal device is the perception initiator, the perception signal is a downlink signal, and the perception result is determined based on a third perception reconstruction algorithm. The first terminal device processes the perception measurement information based on the third perception reconstruction algorithm to obtain the perception result of the to-be-perceived object.

[0371] Further, in this case, the perception assistance data can further include fourth indication information corresponding to the third perception method. The fourth indication information can be used to indicate at least one of the following: the first terminal device is the perception initiator, the perception signal is a downlink signal, and the perception result is determined based on the third perception reconstruction algorithm. The second network element, the first terminal device, or the first network device can determine the third perception method based on the fourth indication information.

[0372] Please refer to FIG. 12, which is another flowchart of a perception method provided by the present application. The perception method is applicable to the communication system shown in FIG. 1. And the perception method is applicable to the case where the communication system does not include the second network element, and the first terminal device and the first network device only have one. In this case, the first network element can have part or all of the functions of the perception management function network element and the positioning management function network element.

[0373] As shown in FIG. 12, the perception method can include the following steps:

[0374] S121, the first terminal device sends a perception assistance data request to the first network element. Correspondingly, the first network element receives the perception assistance data request.

[0375] In some possible implementation manners, the first terminal device can generate and directly send the perception assistance data request to the first network element in a case where the first terminal device has a perception demand for the to-be-perceived object. Correspondingly, the first network element receives the perception assistance data request from the first terminal device. The perception assistance data request can be used to trigger the first network element to provide the perception assistance data. The first terminal device can be managed by the first network device, and the first network device serves the first network element.

[0376] Here, the perception assistance data is described in the foregoing step S101, and thus will not be described herein again.

[0377] S122, the first network element sends the perception assistance data to the first terminal device and the first network device. Correspondingly, the first terminal device and the first network device receive the perception assistance data.

[0378] In some possible implementation manners, after obtaining the perception assistance data request, the first network element can directly send the perception assistance data to the first terminal device and the first network device.

[0379] S123, the first network device sends the perception signal. Correspondingly, the first terminal device receives the perception signal.

[0380] For details, refer to the description in the foregoing step S103, and thus will not be described herein again.

[0381] S124, the first terminal device measures the perception measurement information based on the received perception signal.

[0382] For details, refer to the description in the foregoing step S104, and thus will not be described herein again.

[0383] S125, the first terminal device determines the perception result of the to-be-perceived object based on the perception measurement information.

[0384] For details, refer to the description in the foregoing step S105, and thus will not be described herein again.

[0385] In the implementation above, the first network element can provide the first terminal device and the first network device with the perception assistance data according to the perception assistance data request provided by the first terminal device, so that the first network device can send the perception signal based on the perception assistance data, and the first terminal device can receive the perception signal based on the perception assistance data and obtain the perception measurement information by measurement, thereby completing the downlink double-base perception of the to-be-perceived object initiated by the first terminal device. Since the perception method provided in the present application is implemented based on double-base perception, the perception method can improve the perception coverage, perception accuracy and perception resolution, and has good applicability and practicability.

[0386] Optionally, as shown in FIG. 12, the method can further include the following steps:

[0387] S126, the first terminal device sends the perception information response to the first network element.

[0388] In some possible implementation manners, the first terminal device can generate and directly send the perception information response to the first network element. The perception information response includes the perception result of the to-be-perceived object.

[0389] Optionally, as shown in FIG. 12, the method can further include the following steps:

[0390] S127, the first network element determines the third perception method.

[0391] For the implementation process, please refer to the description in step S107 above, which will not be repeated here.

[0392] Please refer to FIG. 13, which is another flowchart of a perception method provided in the present application. The perception method is applicable to the communication system shown in FIG. 1. And it is applicable to the case where the first network element and the second network element, the first terminal device and the first network device are only one in the communication system. In this case, the first network element can be a perception management function network element or a part or all of the functions of the perception management function network element, and the second network element can be a positioning management function network element or a part or all of the functions of the positioning management function network element.

[0393] As shown in FIG. 13, the perception method can include the following steps:

[0394] S131, the first terminal device sends a perception service request to the first network element. Correspondingly, the first network element receives the perception service request.

[0395] In some possible implementation manners, the first terminal device can generate and send a sensing service request to the first network element in a case where there is a sensing requirement for the to-be-sensed object. The sensing service request is used to cause the first network element to send a sensing information request to the first network device. The sensing information request is used to trigger the first network device to provide sensing assistance data for the first terminal device.

[0396] It should be noted that the sensing assistance data can be used for transmission of the sensing signal between the first network device and the first terminal device, and / or measurement of the sensing signal. Here, the measurement of the sensing signal refers to a process in which a receiver of the sensing signal measures sensing measurement information based on the received sensing signal.

[0397] In an optional implementation manner, the first terminal device can send the sensing service request to the second network element, and the second network element sends the sensing service request to the first network element. It can be understood that this implementation manner is applicable to a case where the first network element is not directly connected to the first terminal device. In addition, in a case where the first network element is directly connected to the first terminal device, the first terminal device can directly send the sensing service request to the first network element.

[0398] In an optional implementation manner, the sensing assistance data can include resource configuration information corresponding to the sensing signal, and / or reporting configuration information. It should be noted that the resource configuration information corresponding to the sensing signal can be used to configure various resources for transmitting the sensing signal, such as time-frequency resources, antenna port resources, transmission angles, measurement time slots, coding information, and the like. The reporting configuration information can be used for the first network device to send the sensing measurement information to the first terminal device.

[0399] S132, the first network element sends a sensing information request to the first network device. Correspondingly, the first network device receives the sensing information request.

[0400] In some possible implementation manners, the first network element can generate and send a sensing information request to the first network device after receiving the sensing service request. Correspondingly, the first network device can receive the sensing information request. The sensing information request is used to trigger the first network device to send sensing assistance data to the first terminal device.

[0401] In an optional implementation manner, the first network element can send the sensing information request to the second network element, and the second network element sends the sensing information request to the first network element. It can be understood that this implementation manner is applicable to a case where the first network element is not directly connected to the first network device. In addition, in a case where the first network element is directly connected to the first network device, the first network element can directly send the sensing information request to the first terminal device.

[0402] S133, the first network device sends sensing assistance data to the first terminal device. Correspondingly, the first terminal device receives the sensing assistance data.

[0403] In some possible implementation, the first network device can generate the perception assistance data after receiving the perception information request. Then, the first network device can send the perception assistance data to the first terminal device. That is, the first network device can send the perception assistance data to the first terminal device according to the received perception information request. Correspondingly, the first terminal device can receive the perception assistance data.

[0404] In S134, the first network element sends a perception activation request to the first network device. Correspondingly, the first network device receives the perception activation request.

[0405] In some possible implementation, the first network element can send the perception activation request to the first network device. Correspondingly, the first network device receives the perception activation request. The perception activation request is used to trigger the first network device to send perception signal activation information to the first terminal device, and the perception signal activation information is used to trigger the first terminal device to send the perception signal.

[0406] In S135, the first network device sends the perception signal activation information to the first terminal device. Correspondingly, the first terminal device receives the perception signal activation information.

[0407] In some possible implementation, the first network device can generate the perception signal activation information after receiving the perception activation request, and send the perception signal activation information to the first terminal device to trigger the first terminal device to send the perception signal. Correspondingly, the first terminal device receives the perception signal activation information.

[0408] In S136, the first terminal device sends the perception signal. Correspondingly, the first network device receives the perception signal.

[0409] In some possible implementation, the first terminal device can send the perception signal based on the perception assistance data after obtaining the perception signal activation information. Correspondingly, the first network device can detect and receive the perception signal sent by the first terminal device based on the perception assistance data.

[0410] For example, the first terminal device can determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, such as the time-frequency resource, the antenna port resource, the transmission angle, the measurement time slot, etc. Then, the first terminal device can send the perception signal on the corresponding transmission resource. Correspondingly, the first network device can also determine the transmission resource corresponding to the perception signal according to the resource configuration information in the perception assistance data, and receive the perception signal sent by the first terminal device on the corresponding transmission resource.

[0411] In S137, the first network device measures the perception measurement information based on the received perception signal.

[0412] In some possible implementation manners, the first network device can obtain the sensing measurement information based on the received sensing signal after receiving the sensing signal transmitted by the first terminal device and ejected by the to-be-sensed object.

[0413] It should be noted that the sensing auxiliary data can further include related information for sensing signal measurement, and the first network device can calculate the sensing measurement information based on the related information for sensing signal measurement after receiving the sensing signal. It should also be noted that the embodiments of the present application do not limit the specific process of obtaining the sensing measurement information based on the sensing signal, as long as the sensing measurement information can be correctly calculated.

[0414] S138, the first network device sends the sensing measurement information to the first terminal device. Correspondingly, the first terminal device receives the sensing measurement information.

[0415] In some possible implementation manners, the first network device can send the sensing measurement information to the first terminal device after obtaining the sensing measurement information. Correspondingly, the first terminal device can receive the sensing measurement information sent by the first network device.

[0416] In a possible implementation manner, in the case that the reporting configuration information is included in the sensing auxiliary data, the first network device can send the sensing measurement information to the first terminal device based on the reporting configuration information. For example, the first network device can send the sensing measurement information to the first terminal device on the reporting time-frequency resource indicated by the reporting configuration information according to the reporting mechanism indicated by the reporting configuration information.

[0417] S139, the first terminal device determines the sensing result of the to-be-sensed object based on the sensing measurement information.

[0418] In some possible implementation manners, the first terminal device can process the sensing measurement information based on a preconfigured sensing reconstruction algorithm to obtain the sensing result of the to-be-sensed object after obtaining the sensing measurement information. Here, the sensing result of the to-be-sensed object can include position information, speed information, acceleration information, distance information, attitude information, etc. of the to-be-sensed object, and the present application does not limit this. For example, the first terminal device can process the sensing measurement information E5 based on a preconfigured sensing reconstruction algorithm to obtain the sensing result of the to-be-sensed object.

[0419] It should be noted that the sensing reconstruction algorithm involved in the present application is a method for processing the sensing result based on the sensing measurement information, and the present application does not limit the specific implementation of the sensing reconstruction algorithm.

[0420] In the implementation described above, the first network element can trigger the first network device to provide the first terminal device with the perception service data according to the perception service request provided by the first terminal device. The first network device can also cause the first terminal device to send the perception signal by sending the perception activation request, thereby completing the uplink double-base perception of the to-be-perceived object initiated by the first terminal device. Since the perception method provided in the present application is based on double-base perception, the perception method can improve the perception coverage, perception accuracy, and perception resolution, and has good applicability and practicability.

[0421] Optionally, referring to FIG. 14, FIG. 14 is another flowchart of a perception method provided in the present application. As shown in FIG. 14, the method can further include the following steps:

[0422] S140, the first terminal device sends the perception information response to the first network element. Correspondingly, the first network element receives the perception information response.

[0423] The specific process can be referred to the description in step S106, which will not be repeated here.

[0424] Optionally, as shown in FIG. 14, the method can further include the following steps:

[0425] S141, the first network element determines the fourth perception method.

[0426] In some possible implementation manners, the first network element can be preconfigured with multiple different perception methods. Each perception method indicates or specifies a perception initiator, a type of perception signal, and a specific perception reconstruction algorithm. Here, the description of the perception method can be referred to step S208, which will not be repeated here.

[0427] In one possible implementation manner, the first network element can select the fourth perception method from the preconfigured multiple different perception methods according to the current perception resource situation of the network. Here, the fourth perception method can specify that the first terminal device is the perception initiator, the perception signal is an uplink signal, and the perception result is determined based on a fourth perception reconstruction algorithm. The first terminal device processes the perception measurement information based on the fourth perception reconstruction algorithm to obtain the perception result of the to-be-perceived object.

[0428] Further, in this case, the perception assistance data can further include fifth indication information corresponding to the fourth perception method. The fourth indication information can be used to indicate at least one of the following: the first terminal device is the perception initiator, the perception signal is a downlink signal, and the perception result is determined based on the fourth perception reconstruction algorithm. The second network element, the first terminal device, or the first network device can determine the fourth perception method based on the fifth indication information.

[0429] Optionally, as shown in FIG. 14, the method can further include the following steps:

[0430] S142, the first network element sends a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request.

[0431] In some possible implementation manners, the first network element can send the sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request. The sensing deactivation request is used to trigger the first network device to send sensing signal deactivation information to the first terminal device, and the sensing signal deactivation information is used to trigger the first terminal device to stop sending the sensing signal.

[0432] S143, the first network device sends the sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information.

[0433] In some possible implementation manners, after receiving the sensing activation request, the first network device can generate the sensing signal deactivation information and send the sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information and stops sending the sensing signal.

[0434] Please refer to FIG. 15, which is another flowchart of a sensing method provided by the present application. The sensing method is applicable to the communication system shown in FIG. 1. Moreover, the sensing method is applicable to the case where the communication system does not include the second network element, and the first terminal device and the first network device only have one. In this case, the first network element can have part or all of the functions of the sensing management function network element and the positioning management function network element.

[0435] As shown in FIG. 15, the sensing method can include the following steps:

[0436] S151, the first terminal device sends a sensing service request to the first network element. Correspondingly, the first network element receives the sensing service request.

[0437] In some possible implementation manners, the first terminal device can generate and directly send the sensing service request to the first network element in the case where the first terminal device has a sensing demand for a to-be-sensed object. The sensing service request is used to make the first network element send a sensing information request to the first network device. The sensing information request is used to trigger the first network device to provide the first terminal device with sensing assistance data.

[0438] Here, the description of the sensing assistance data can refer to the foregoing step S131, which will not be repeated here.

[0439] S152, the first network element sends the sensing information request to the first network device. Correspondingly, the first network device receives the sensing information request.

[0440] In some possible implementation, the first network element can generate and directly send the sensing information request to the first network device after receiving the above sensing service request. Correspondingly, the first network device can receive the sensing information request. The sensing information request is used to trigger the first network device to send the sensing assistance data to the first terminal device.

[0441] S153, the first network device sends the sensing assistance data to the first terminal device. Correspondingly, the first terminal device receives the sensing assistance data.

[0442] The specific process can be referred to the description in step S133 in the foregoing text, and thus will not be repeated here.

[0443] S154, the first network element sends the sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request.

[0444] In some possible implementation, the first network element can directly send the sensing activation request to the first network device. Correspondingly, the first network device receives the sensing activation request. The sensing activation request is used to trigger the first network device to send the sensing signal activation information to the first terminal device, and the sensing signal activation information is used to trigger the first terminal device to send the sensing signal.

[0445] S155, the first network device sends the sensing signal activation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal activation information.

[0446] The specific process can be referred to the description in step S135 in the foregoing text, and thus will not be repeated here.

[0447] S156, the first terminal device sends the sensing signal. Correspondingly, the first network device receives the sensing signal.

[0448] The specific process can be referred to the description in step S136 in the foregoing text, and thus will not be repeated here.

[0449] S157, the first network device measures the sensing measurement information based on the received sensing signal.

[0450] The specific process can be referred to the description in step S137 in the foregoing text, and thus will not be repeated here.

[0451] S158, the first network device sends the sensing measurement information to the first terminal device. Correspondingly, the first terminal device receives the sensing measurement information.

[0452] The specific process can be referred to the description in step S138 in the foregoing text, and thus will not be repeated here.

[0453] S159, the first terminal device determines a sensing result of the to-be-sensed object based on the sensing measurement information.

[0454] The specific process can be referred to the description in step S139 in the foregoing embodiment, and thus will not be described here.

[0455] Optionally, as shown in FIG. 15, the method can further include the following steps:

[0456] S160, the first terminal device sends a sensing information response to the first network element. Correspondingly, the first network element receives the sensing information response.

[0457] In some possible implementation manners, after obtaining the sensing result, the first terminal device can generate and directly send a sensing information response containing the sensing result to the first network element. Correspondingly, the first network element can receive the sensing information response.

[0458] Optionally, as shown in FIG. 15, the method can further include the following steps:

[0459] S161, the first network element determines a fourth sensing method.

[0460] The specific process can be referred to the description in step S141 in the foregoing embodiment, and thus will not be described here.

[0461] Optionally, as shown in FIG. 15, the method can further include the following steps:

[0462] S162, the first network element sends a sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request.

[0463] In some possible implementation manners, the first network element can directly send the sensing deactivation request to the first network device. Correspondingly, the first network device receives the sensing deactivation request. The sensing activation request is used to trigger the first network device to send sensing signal activation information to the first terminal device, and the sensing signal activation information is used to trigger the first terminal device to send the sensing signal.

[0464] S163, the first network device sends sensing signal deactivation information to the first terminal device. Correspondingly, the first terminal device receives the sensing signal deactivation information.

[0465] The specific process can be referred to the description in step S143 in the foregoing embodiment, and thus will not be described here.

[0466] It should be further noted that in the sensing methods shown in FIGs. 2-15, after a certain device sends a certain request to another device, if the receiver determines that the request is received, the receiver can return a response to the sender to inform the sender that the request is received. For example, in the method shown in FIG. 2, after the first network element receives the N1 sensing measurement information, the first network element can feed back a response to the first terminal device A1 and the first terminal device A2 to inform the first terminal device A1 and the first terminal device A2 that the N1 sensing measurement information has been correctly received. For another example, in the sensing method shown in FIG. 7, after the first network device B determines that the sensing activation request from the first network element is received, the first network device B can feed back a response to the first network element to inform the first network element that the sensing activation request has been correctly received. Similar situations exist in other steps, which will not be listed one by one here. In addition, whether the receiver of the request needs to reply the response can be determined according to actual application requirements, and the present application does not limit this.

[0467] It should be further noted that the sensing method provided by the present application can be applied in various types of communication systems or communication networks with sensing requirements, and the present application does not limit this.

[0468] For example, the sensing method can be applied to an integrated sensing and communication (ISAC) network element. In the integrated sensing and communication network, the base station not only has communication capability but also has sensing capability. The integrated sensing and communication network integrates communication and sensing functions together, which can provide users with more comprehensive and intelligent information acquisition and processing capabilities. The existing integrated sensing and communication network mainly uses single-base sensing to complete the sensing of the target. However, due to the limited sensing range and sensing accuracy of single-base sensing, the sensing performance of the integrated sensing and communication network is also limited, which affects the applicability and practicability of the integrated sensing and communication network. Since the sensing method provided by the present application is implemented based on bi-static sensing (also known as self-to-other reception sensing), it can improve the sensing coverage, sensing accuracy, and sensing resolution. Therefore, using the sensing method provided by the present application to replace the existing single-base sensing scheme in the integrated sensing and communication network can solve the problem of limited sensing performance of the integrated sensing and communication network caused by single-base sensing, improve the sensing performance of the integrated sensing and communication network, and further improve the practicability and applicability of the integrated sensing and communication network.

[0469] The above describes in detail the sensing method provided by the embodiments of the present application in combination with FIGs. 2-15. The communication device provided by the embodiments of the present application will be described in detail in combination with FIGs. 16-18. It should be understood that the description of the embodiments of the communication device corresponds to the description of the sensing method embodiments, and therefore, the parts not described in detail can be referred to the foregoing method embodiments.

[0470] Please refer to FIG. 16, which is a structural schematic diagram of a communication apparatus provided in the present application. As shown in FIG. 16, the communication apparatus 160 can include a transceiver unit 161 and a processing unit 162. Here, the transceiver unit 161 can also be referred to as a transceiver module, and the processing unit 162 can also be referred to as a processing module.

[0471] In some possible implementation manners, the communication apparatus 160 can correspond to the first network element shown in FIGs. 2 to 6, or a component (such as a circuit, a processor, a chip or a chip system) configured in the first network element. The communication apparatus 160 can include modules, units or means corresponding to the method performed by the first network element shown in FIGs. 2 to 6, which can be implemented by hardware, software or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the above functions.

[0472] In specific implementations, the transceiver unit 161 is configured to send, to at least one first terminal device and at least one first network device, perception assistance data. The perception assistance data can be used for transmission and / or measurement of a perception signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. The transceiver unit 161 is configured to receive N1 pieces of perception measurement information from the at least one first terminal device. The N1 pieces of perception measurement information can be obtained based on measurement of the perception signal. The perception signal can be sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1. The processing unit 162 is configured to determine a perception result of a to-be-perceived object based on the N1 pieces of perception measurement information.

[0473] For example, the transceiver unit 161 is configured to send, to a second network element, a first request. The first request can include indication information of a first screening condition. The first request can be used to instruct the second network element to screen N2 second terminal devices based on the first screening condition. The N2 second terminal devices are managed by N3 first network devices, and the N3 first network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0474] For example, the transceiver unit 161 is configured to receive a first response corresponding to the first request. The first response can include device identification information of N4 second terminal devices, which can be screened from the N2 second terminal devices by the second network element based on the first screening condition. N4 is a positive integer greater than or equal to 1. The N4 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0475] Exemplarily, the first screening condition is associated with location information of the terminal device. The N4 second terminal devices can be screened by the second network element from the N2 second terminal devices based on the first screening condition and location information of each of the N2 second terminal devices.

[0476] Exemplarily, the processing unit 162 is configured to trigger the transceiver unit 161 to send a second request to the second network element in a case where it is determined that the second network element fails to screen based on the first screening condition. The second request can include indication information of a second screening condition. The second request is used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition. The transceiver unit 161 is configured to receive a third response corresponding to the second request. The third response can include device identifier information of N5 second terminal devices, which can be screened by the second network element from the N2 second terminal devices based on the second screening condition. N5 is a positive integer greater than or equal to 1. The N5 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0477] Exemplarily, determining that the second network element fails to screen based on the first screening condition can specifically include: determining, by the first network element, that the first response is not received within a first time length. Alternatively, the first network element receives a second response indicating that no terminal device is screened based on the first screening condition.

[0478] Exemplarily, the second request further includes first indication information. The first indication information is used to indicate that the time interval between screening the N2 second terminal devices based on the first screening condition and screening the N2 second terminal devices based on the second screening condition is equal to or greater than a second time length.

[0479] Exemplarily, the processing unit 162 is configured to obtain N3 second network devices serving the first network element. N3 is a positive integer greater than or equal to 1. The processing unit 162 is further configured to determine N6 third terminal devices as the at least one first terminal device in a case where N6 second terminal devices satisfying a third screening condition are obtained from the N2 second terminal devices, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1. It should be understood that the N3 first network devices can be part or all of all network devices serving the first network element.

[0480] Exemplarily, the transceiver unit 161 is configured to send a perception information request to the at least one first terminal device. The perception information request is used to trigger or instruct the at least one first terminal device to obtain the N1 perception measurement information.

[0481] The perception assistance data can include, for example, resource configuration information corresponding to the perception signal, and / or reporting configuration information.

[0482] The perception assistance data can further include, for example, second indication information determined by the first network element. The second indication information can be used to indicate at least one of the following: the first network element is a perception initiator, the perception signal is a downlink signal, and the perception result is determined based on a first perception reconstruction algorithm.

[0483] In a possible implementation, the communication apparatus 160 can correspond to the second network element shown in FIGS. 2 to 5, or a component (such as a circuit, a chip, or a chip system) configured in the second network element. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the second network element shown in FIGS. 2 to 5, which can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0484] In specific implementations, the transceiver 161 is configured to send, to at least one first terminal device and at least one first network device, perception assistance data. The perception assistance data can be used for transmission and / or measurement of the perception signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. The transceiver 161 is configured to send, to the first network element, N1 pieces of perception measurement information. The N1 pieces of perception measurement information can be used to determine a perception result of a to-be-perceived object. The N1 pieces of perception measurement information are obtained based on measurement of the perception signal. The perception signal is sent by the at least one first network device and received by the at least one first terminal device. N1 is a positive integer greater than or equal to 1.

[0485] For example, the second network element receives a first request from the first network element. The first request includes indication information of a first screening condition. In a case where N4 second terminal devices that satisfy the first screening condition are obtained from N2 second terminal devices, the second network element sends a first response to the first network element. The first response includes identification information of the N4 second terminal devices, and the N4 second terminal devices can be used by the first network element to determine the at least one first terminal device. The N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0486] For example, the first screening condition is associated with location information of a terminal device, and the N4 second terminal devices can be selected by the second network element from the N2 second terminal devices based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0487] Exemplarily, the method further comprises: the processing unit 162 triggers the transceiving unit 161 to indicate the first network element that no second terminal device is screened out based on the first screening condition.

[0488] Exemplarily, in the case that no second terminal device is screened out based on the first screening condition, the transceiving unit 161 can not send the first response to the first network element, or the transceiving unit 161 sends a second response corresponding to the first request to the first network element, wherein the second response is used to indicate that the first network element does not screen out the second terminal device based on the first screening condition.

[0489] Exemplarily, the transceiving unit 161 is configured to receive a second request from the first network element. The second request can include indication information of a second screening condition. The second request can be used to instruct the second network element to screen the N2 second terminal devices based on the second screening condition.

[0490] Exemplarily, after the processing unit 162 screens successfully based on the screening condition, the transceiving unit 161 can be triggered to send a third response corresponding to the second request to the first network element. The third response can include device identification information of N5 second terminal devices. The N5 second terminal devices can be used by the first network element to determine at least one first terminal device. The N5 second terminal devices can be screened out from the N2 second terminal devices by the second network element based on the second screening condition. N5 is a positive integer greater than or equal to 1.

[0491] Exemplarily, the second request further includes first indication information. The first indication information is used to indicate that the time interval between the screening of the N2 second terminal devices based on the first screening condition and the screening of the N2 second terminal devices based on the second screening condition should be equal to or greater than a second time length. That is, the first indication information can be used to inform the second network element that the time interval between any two adjacent screening operations should be equal to or greater than the second time length.

[0492] Exemplarily, the transceiving unit 161 is configured to send a perception information request from the first network element to at least one first terminal device. The perception information request is used to trigger the at least one first terminal device to obtain N1 perception measurement information.

[0493] In a possible implementation, the communication apparatus 160 can correspond to the first terminal device shown in FIGs. 2 to 6, or a component (such as a circuit, a chip, or a chip system) configured in the first terminal device. The communication apparatus 160 can include modules, units, or means corresponding to the modules, units, or means for implementing the method performed by the first terminal device shown in FIGs. 2 to 6, which can be implemented by hardware, by software, or by a combination of hardware and software. The software or hardware includes one or more modules or units corresponding to the above functions.

[0494] In specific implementations, the transceiver 161 is configured to receive the sensing assistance data from the first network element. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The transceiver 161 is configured to send the sensing measurement information to the first network element. The sensing measurement information is used to determine the sensing result of the to-be-sensed object. The sensing signal is sent by a first network device managing the first terminal device and received by the first terminal device, and the first network device serves the first network element.

[0495] For example, the transceiver 161 is configured to receive the sensing information request from the first network element. The sensing information request can be used to trigger the first terminal device to obtain the sensing measurement information.

[0496] For example, the sensing assistance data can include resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0497] For example, the sensing assistance data further includes second indication information determined by the first network element. The second indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on a first sensing reconstruction algorithm.

[0498] In a possible implementation, the communication apparatus 160 can correspond to the first network element shown in FIGs. 7 to 9, or a component (such as a circuit, a chip, or a chip system) configured in the first network element. The communication apparatus 160 can include modules, units, or means corresponding to the modules, units, or means for implementing the method performed by the first network element shown in FIGs. 7 to 9, which can be implemented by hardware, by software, or by a combination of hardware and software. The software or hardware includes one or more modules or units corresponding to the above functions.

[0499] In a particular implementation, the transceiver 161 is configured to send a sensing information request to at least one first network device. The sensing information request is configured to trigger the at least one first network device to send sensing assistance data to at least one first terminal device. The at least one first network device manages the at least one first terminal device, and the at least one first network device serves a first network element. The sensing assistance data is configured to assist sensing of a signal. The transceiver 161 is configured to send a sensing activation request to the at least one first network device. The sensing activation request is configured to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is configured to trigger the at least one first terminal device to send a sensing signal. The transceiver 161 is configured to receive N1 pieces of sensing measurement information from the at least one first network device. The N1 pieces of sensing measurement information are measured by the at least one first network device based on the sensing signal. The sensing signal is sent by the at least one first terminal device and received by the at least one first network device. N1 is a positive integer greater than or equal to 1. The processing unit 162 is configured to determine a sensing result of a to-be-sensed object based on the N1 pieces of sensing measurement information.

[0500] For example, the transceiver 161 is configured to send a sensing deactivation request to at least one network device. The sensing deactivation request is configured to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device. The sensing signal deactivation information is configured to instruct or trigger the N1 first terminal devices to stop sending the sensing signal.

[0501] For example, the transceiver 161 is configured to send a first request to a second network element. The first request can include indication information of a first screening condition. The first request can be configured to instruct the second network element to screen N2 second terminal devices based on the first screening condition. Here, the N2 second terminal devices are managed by N3 first network devices, and the N3 first network devices serve the first network element. Here, N2 and N3 are positive integers greater than or equal to 1.

[0502] For example, the transceiver 161 is configured to receive a first response corresponding to the first request. The first response can include device identification information of N4 second terminal devices. The N4 second terminal devices can be screened from the N2 second terminal devices by the second network element based on the first screening condition, and N4 is a positive integer greater than or equal to 1. The N4 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0503] Exemplarily, the first screening condition is associated with location information of the terminal device. The N4 second terminal devices can be screened by the second network element from the N2 second terminal devices based on the first screening condition and location information of each of the N2 second terminal devices.

[0504] Exemplarily, the processing unit 162 triggers the transceiver unit 161 to send a second request to the second network element in a case where it is determined that the second network element does not screen successfully based on the first screening condition. The second request can include indication information of a second screening condition. The second request is used to instruct the first network element to screen the N2 second terminal devices based on the second screening condition. Further, the transceiver unit 162 is configured to receive a third response corresponding to the second request. The third response can include device identifier information of N5 second terminal devices, which can be screened by the second network element from the N2 second terminal devices based on the second screening condition. N5 is a positive integer greater than or equal to 1. The N5 second terminal devices can be used by the first network element to determine the at least one first terminal device.

[0505] Exemplarily, determining that the second network element does not screen successfully based on the first screening condition can specifically include: the processing unit 162 determines that the first response is not received within a first time length. Alternatively, the transceiver unit 161 receives a second response indicating that the N4 second terminal devices are not screened based on the first screening condition.

[0506] Exemplarily, the second request further includes first indication information. The first indication information is used to indicate that the time interval for screening the N2 second terminal devices based on the first screening condition is equal to or greater than a second time length than the time interval for screening the N2 second terminal devices based on the second screening condition. Alternatively, the first indication information is used to indicate that the time interval for the two screenings of the first network element based on the first screening condition and the second screening condition should be equal to or greater than the second time length.

[0507] Exemplarily, the processing unit 162 is configured to obtain N3 second network devices serving the first network element. N3 is a positive integer greater than or equal to 1. The processing unit 162 is configured to determine N6 third terminal devices as the at least one first terminal device in a case where N6 second terminal devices satisfying a third screening condition are obtained from the N2 second terminal devices, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1.

[0508] Exemplarily, the perception assistance data can include resource configuration information corresponding to the perception signal, and / or reporting configuration information.

[0509] The third indication information determined by the first network element is further included in the perception auxiliary data. The third indication information is used to indicate at least one of the following: the first network element is a perception initiator, the perception signal is an uplink signal, and the perception result is determined based on a second perception reconstruction algorithm. Further, the third indication information can also be understood as flag information of another perception method. Here, the specific description of the perception method pre-configured for the first network element can be referred to the corresponding description in the first aspect, and will not be repeated here.

[0510] In a possible implementation, the communication apparatus 160 can correspond to the second network element shown in FIGS. 7-8, or a component (such as a circuit, a chip, or a chip system) configured in the second network element. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the second network element shown in FIGS. 7-8, which can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0511] In a specific implementation, the transceiver 161 sends, to at least one first network device, a perception information request from the first network element. The perception information request is used to trigger the at least one first network device to send perception auxiliary data to at least one first terminal device. The perception auxiliary data is used for transmission and / or measurement of the perception signal. The at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element. The transceiver 161 sends, to the at least one first network device, a perception activation request from the first network element. The perception activation request is used to trigger the at least one first network device to send perception signal activation information to the at least one first terminal device. The perception signal activation information is used to instruct the at least one first terminal device to send the perception signal. The transceiver 161 sends, to the first network element, N1 pieces of perception measurement information from the at least one first network device. The N1 pieces of perception measurement information are used to determine a perception result of a to-be-perceived object, and the N1 pieces of perception measurement information are obtained based on measurement of the perception signal. The perception signal is received by the at least one first network device. N1 is a positive integer greater than or equal to 1.

[0512] The transceiver 161 receives a first request from a first network element. The first request includes indication information of a first screening condition. The processor 162 triggers the transceiver 161 to send a first response to the first network element when N4 second terminal devices meeting the first screening condition are obtained from N2 second terminal devices. The first response includes identification information of the N4 second terminal devices, which can be used by the first network element to determine the at least one first terminal device. The N2 second terminal devices are managed by N3 second network devices, and the N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1.

[0513] The first screening condition is associated with location information of the terminal device. The N4 second terminal devices can be selected from the N2 second terminal devices by the second network element based on the first screening condition and the location information of each second terminal device in the N2 second terminal devices.

[0514] The method further includes: the processor 162 triggers the transceiver 161 to indicate to the first network element that no second terminal device is selected based on the first screening condition.

[0515] When no second terminal device is selected based on the first screening condition, the transceiver 161 can not send the first response to the first network element, or the transceiver 161 sends a second response corresponding to the first request to the first network element. The second response is used to indicate that the first network element does not select the second terminal device based on the first screening condition.

[0516] The transceiver 161 receives a second request from a first network element. The second request includes indication information of a second screening condition. The second request is used to indicate that the second network element screens the N2 second terminal devices based on the second screening condition.

[0517] The processor 162 triggers the transceiver 161 to send a third response corresponding to the second request to the first network element after the screening condition is successfully screened. The third response includes device identification information of N5 second terminal devices. The N5 second terminal devices can be used by the first network element to determine the at least one first terminal device. The N5 second terminal devices can be selected by the second network element from the N2 second terminal devices based on the second screening condition. N5 is a positive integer greater than or equal to 1.

[0518] Exemplarily, the second request further includes first indication information. The first indication information is used to indicate that the interval between the time when the second network element performs the screening of the N2 second terminal devices based on the first screening condition and the time when the second network element performs the screening of the N2 second terminal devices based on the second screening condition should be equal to or greater than the second time length. That is, the first indication information can be used to inform the second network element that the time interval between any two adjacent screening operations should be equal to or greater than the second time length.

[0519] Exemplarily, the transceiver 161 is configured to send, to at least one first network device, a perception deactivation request from the first network element. The perception deactivation request is used to trigger the at least one first network device to send, to at least one first terminal device, perception signal deactivation information, where the perception signal deactivation information is used to instruct the at least one first terminal device to stop sending the perception signal.

[0520] Exemplarily, the perception auxiliary data can include resource configuration information corresponding to the perception signal, and / or reporting configuration information.

[0521] Exemplarily, the perception auxiliary data further includes third indication information determined by the first network element. The third indication information is used to indicate at least one of the following: the first network element is a perception initiator, the perception signal is an uplink signal, and the perception result is determined based on a second perception reconstruction algorithm. Further, the third indication information can also be understood as flag information of another perception method. Here, for specific descriptions of the perception method preconfigured for the first network element, please refer to the corresponding descriptions in the first aspect, which will not be repeated here.

[0522] In a possible implementation, the communication apparatus 160 can correspond to the first network device shown in FIGS. 7 to 9, or a component (such as a circuit, a chip, or a chip system) configured in the first network device. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first network device shown in FIGS. 7 to 9, which can be implemented by hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the above functions.

[0523] In a particular implementation, the transceiver 161 is configured to receive the sensing information request, and the processing unit 162 is configured to trigger the transceiver 161 to transmit the sensing assistance data to the first terminal device according to the sensing information request. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The first terminal device can be any one of the first terminal devices described in the fourth aspect or the fifth aspect. The transceiver 161 is configured to receive the sensing activation request, and transmit the sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information is used to instruct the first terminal device to transmit the sensing signal. The transceiver 161 is configured to transmit the sensing measurement information. The sensing measurement information is used to determine the sensing result of the to-be-sensed object, and is obtained based on measurement of the sensing signal received by the first network device.

[0524] For example, the transceiver 161 is configured to receive the sensing deactivation request, and transmit the sensing signal deactivation information to the first terminal device according to the sensing deactivation request. The sensing signal deactivation information is used to instruct the first terminal device to stop transmitting the sensing signal.

[0525] For example, the sensing assistance data can include resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0526] For example, the sensing assistance data further includes third indication information determined by the first network element. The third indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a second sensing reconstruction algorithm. Further, the third indication information can also be understood as flag information of another sensing method. For the specific description of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect, which will not be repeated here.

[0527] In a possible implementation, the communication apparatus 160 can correspond to the first network element shown in FIGS. 10 to 12, or a component (such as a circuit, a chip, or a chip system) configured in the first network element. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first network element shown in FIGS. 10 to 12, which can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0528] In a particular implementation, the transceiver 161 is configured to receive a sensing assistance data request from the first terminal device. The sensing assistance data request is configured to trigger the first network element to provide the sensing assistance data. The transceiver 161 is configured to transmit the sensing assistance data to the first terminal device and the first network device according to the sensing assistance data request. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is configured to sense the transmission and / or measurement of the sensing signal.

[0529] In an example, the transceiver 161 is configured to receive a sensing information response from the first terminal device. The sensing information response includes the sensing result of the to-be-sensed object, and the sensing result is determined based on the sensing measurement information, which is obtained based on the sensing signal measurement. The sensing signal is transmitted by the first network device and received by the first terminal device.

[0530] In an example, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0531] In an example, the sensing assistance data further includes fourth indication information, which is configured to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. The fourth indication information can also be understood as the flag information of another sensing method. For the specific description of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect, which will not be repeated here.

[0532] In a possible implementation, the communication apparatus 160 can correspond to the first terminal device shown in FIGS. 10 to 12, or a component (such as a circuit, a chip, or a chip system) configured in the first terminal device. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first terminal device shown in FIGS. 10 to 12, which can be implemented by hardware, software, or by hardware executing corresponding software. The software or hardware includes one or more modules or units corresponding to the above functions.

[0533] In a particular implementation, the transceiver 161 is configured to send a sensing assistance data request to the first network element, and receive the sensing assistance data from the first network element. The sensing assistance data request is used to trigger the first network element to provide the sensing assistance data. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The processing unit 162 is configured to determine the sensing result of the to-be-sensed object based on the sensing measurement information. The sensing measurement information is obtained based on the sensing signal measurement. The sensing signal is transmitted by the first network device and received by the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element.

[0534] In an example, the transceiver 161 is configured to send a sensing information response to the first network element. The sensing information response includes the sensing result of the to-be-sensed object.

[0535] In an example, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0536] In an example, the sensing assistance data further includes fourth indication information. The fourth indication information is used to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm. The fourth indication information can also be understood as flag information of another sensing method. For specific description of the sensing method pre-configured for the first network element, please refer to the corresponding description in the first aspect, which will not be repeated here.

[0537] In a possible implementation, the communication apparatus 160 can correspond to the first network element shown in FIGS. 13 to 15, or a component (such as a circuit, a chip, or a chip system) configured in the first network element. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first network element shown in FIGS. 13 to 15. The modules, units, or means can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0538] In a particular implementation, the transceiver 161 is configured to receive a sensing service request from the first terminal device, and send a sensing information request to the first network device according to the sensing service request. The sensing information request is configured to trigger the first network device to send sensing assistance data to the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The transceiver 161 is configured to send a sensing activation request to the first network device. The sensing activation request is configured to trigger the first network device to send sensing signal activation information to the first terminal device. The sensing signal activation information is configured to instruct the first terminal device to send the sensing signal. The sensing signal can be received by the first network device. The sensing signal can be used to measure the sensing measurement information, and the sensing signal can be used to determine the sensing result of the to-be-sensed object.

[0539] In an example, the transceiver 161 is configured to receive a sensing information response from the first terminal device. The sensing information response includes the sensing result determined by the first terminal device based on the sensing measurement information provided by the first network device.

[0540] In an example, the transceiver 161 is configured to send a sensing deactivation request to the first network device. The sensing deactivation request is configured to trigger the first network device to send sensing signal deactivation information to the first terminal device. The sensing signal deactivation information is configured to instruct the first terminal device to stop sending the sensing signal.

[0541] In an example, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0542] In an example, the sensing assistance data further includes fifth indication information. The fifth indication information is configured to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm.

[0543] In a possible implementation, the communication apparatus 160 can correspond to the first terminal device related to FIG. 13 to FIG. 15, or a component (such as a circuit, a chip, or a chip system) configured in the first terminal device. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first terminal device shown in FIG. 13 to FIG. 15. The modules, units, or means can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0544] In a particular implementation, the transceiver 161 is configured to send a sensing service request to the first network element, so that the first network element sends a sensing information request to the first network device. The sensing information request is used to trigger the first network device to provide sensing assistance data for the first terminal device. The first terminal device is managed by the first network device, and the first network device serves the first network element. The sensing assistance data is used for transmission and / or measurement of the sensing signal. The first terminal device receives the sensing assistance data sent by the first network device. The transceiver 161 is configured to receive sensing signal activation information from the first network device, and send the sensing signal based on the sensing assistance data. The transceiver 161 is configured to receive sensing measurement information from the first network device. The sensing measurement information is obtained based on the sensing signal. The processing unit 162 is configured to determine a sensing result of the to-be-sensed object according to the sensing measurement information.

[0545] For example, the transceiver 161 is configured to send a sensing information response to the first network element. The sensing information response includes the sensing result.

[0546] For example, the transceiver 161 is configured to receive sensing signal deactivation information from the first network device, and stop sending the sensing signal.

[0547] For example, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0548] For example, the sensing assistance data further includes fifth indication information. The fifth indication information is used to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm.

[0549] In a possible implementation, the communication apparatus 160 can correspond to the first network device related to FIGS. 13 to 15, or a component (such as a circuit, a chip, or a chip system) configured in the first network device. The communication apparatus 160 can include modules, units, or means corresponding to the method performed by the first network device shown in FIGS. 13 to 15. The modules, units, or means can be implemented by hardware, software, or by executing corresponding software by hardware. The software or hardware includes one or more modules or units corresponding to the above functions.

[0550] In a particular implementation, the transceiver 161 is configured to receive a first network element sensing information request and transmit sensing assistance data to a first terminal device according to the sensing information request. The first terminal device is managed by a first network device, and the first network device serves the first network element. The sensing service request is configured to trigger the first network device to transmit the sensing assistance data to the first terminal device. The sensing assistance data is configured to be used for sensing signal transmission and / or measurement. The transceiver 161 is configured to receive a first network element sensing activation request and transmit sensing signal activation information to the first terminal device according to the sensing activation request. The sensing signal activation information is configured to instruct the first terminal device to transmit a sensing signal. The transceiver 161 is configured to receive a sensing signal from the first terminal device and measure sensing measurement information according to the sensing signal. The sensing measurement information is configured to determine a sensing result of a to-be-sensed object. The transceiver 161 is configured to transmit the sensing measurement information to the first terminal device.

[0551] For example, the transceiver 161 is configured to receive a first network element sensing deactivation request and transmit sensing signal deactivation information to the first terminal device. The sensing signal deactivation information is configured to instruct the first terminal device to stop transmitting the sensing signal.

[0552] For example, the sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reporting configuration information.

[0553] For example, the sensing assistance data further includes fifth indication information. The fifth indication information is configured to indicate at least one of the following: the first terminal device is a sensing initiator, the sensing signal is an uplink signal, and the sensing result is determined based on a third sensing reconstruction algorithm.

[0554] Referring to FIG. 17, FIG. 17 is a structural schematic diagram of another communication apparatus provided by the present application. The communication apparatus 170 can be used for operations performed by the first network element, the second network element, the first terminal device, or the first network device in the sensing method shown in FIGS. 2 to 15. Alternatively, the communication apparatus 170 can be the first network element, the second network element, the first terminal device, or the first network device in the sensing method shown in FIGS. 2 to 15. The communication apparatus 170 includes a processor 171.

[0555] Optionally, the communication apparatus further includes a memory 172.

[0556] The memory 172 is configured to store related instructions and data. The memory 172 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof:

[0557] Operation instructions: include various operation instructions for implementing various operations.

[0558] Operating system: includes various system programs for implementing various basic services and processing hardware-based tasks.

[0559] Only one memory is shown in FIG. 17, but the memory can also be provided in multiple according to the needs.

[0560] Optionally, the communication device 170 can also include a transceiver 174. The transceiver 174 can be a communication module, a transceiver circuit. In the embodiments of the present application, the transceiver 174 is used to perform the transceiving operation of the messages or information involved in the above-mentioned methods shown in FIGS. 2 to 15.

[0561] The processor 171 can be a controller, a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. The processor 171 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0562] Optionally, the communication device can also include a bus system 173. In specific applications, various components of the communication device 170 are coupled together through the bus system 173, wherein the bus system 173 can include not only a data bus, but also a power bus, a control bus and a status signal bus, etc. However, for the purpose of clear illustration, various buses are marked as the bus system 173 in FIG. 17. For the purpose of representation, only the schematic drawing is shown in FIG. 17.

[0563] In specific implementations, the communication device 170 can perform the steps of the methods executed by the first network element, the second network element, the first terminal device or the first network device in the above-mentioned sensing methods shown in FIGS. 2 to 15. Specifically, when the communication device 170 is used to implement each step of the above-mentioned sensing methods shown in FIGS. 2 to 15 executed by the first network element, the second network element, the first terminal device or the first network device, the processor 171 can implement the functions of the above-mentioned processing unit 162, and the transceiver 174 can implement the functions of the above-mentioned transceiving unit 161.

[0564] It should be noted that in actual applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method embodiments can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The processor described above can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block diagram disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0565] It is to be understood that the memory in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory described in the embodiments of the present application is intended to include, but not be limited to, these and any other suitable types of memory.

[0566] The present application also provides a computer readable medium, which stores a computer program, and the computer program is executed by a computer to implement the steps of the method executed by the first network element, the second network element, the first terminal device or the first network device in the perception method shown in FIG. 2 to FIG. 15.

[0567] The present application also provides a computer program product, which is executed by a computer to implement the steps of the method executed by the first network element, the second network element, the first terminal device or the first network device in the perception method shown in FIG. 2 to FIG. 15.

[0568] The present application also provides a chip, which includes at least a processor. The processor is used to execute computer execution instructions to enable the device installed with the chip to implement the steps of the method executed by the first network element, the second network element, the first terminal device or the first network device in the perception method shown in FIG. 2 to FIG. 15.

[0569] Optionally, the chip can further include an interface circuit. The interface circuit is used to receive computer execution instructions and transmit to the processor.

[0570] The application further provides a chip system comprising a processor configured to support a device in which the chip system is installed to implement the steps of the method performed by the first network element, the second network element, the first terminal device or the first network device in the awareness method shown in FIG. 2 to FIG. 15, such as generating or processing data and / or information involved in the above method. In a possible design, the chip system further comprises a memory configured to store program instructions and data necessary for the data sending device. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0571] Referring to FIG. 18, FIG. 18 is a structural diagram of another communication apparatus provided by the application. The communication apparatus 180 can include a processor 181 and an interface circuit 182. The interface circuit 182 can be configured to receive a signal from another communication apparatus outside the communication apparatus 180 and transmit the signal to the processor, or transmit a signal from the processor to another communication apparatus outside the communication apparatus 180. The processor 181 can be configured to implement the awareness method described in the foregoing embodiments by means of a logic circuit or by executing a computer program or instructions.

[0572] In some possible designs, the communication apparatus 180 can be the first network element, the second network element, the first terminal device or the first network device in the awareness method shown in FIG. 2 to FIG. 15, or an apparatus including the foregoing first network element, second network element, first terminal device or first network device, or an apparatus included in the foregoing first network element, second network element, first terminal device or first network device, such as a chip system.

[0573] The application further provides a communication system. The communication system includes at least one first terminal device, at least one first network device and a first network element as described above. Optionally, the communication system can further include a second network element. These entities work cooperatively to implement the awareness method described in the foregoing embodiments.

[0574] In the method embodiments described above, all or part of the method can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the method can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (such as infrared, wireless, microwave, etc.)) way. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as high-density digital video disc (digital video disc, DVD), or semiconductor media (such as solid state disk (solid state disk, SSD) and the like.

[0575] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0576] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of differentiation, and are not used to limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic.

[0577] The above only describes the preferred embodiments of the technical scheme of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

A sensing method, characterized in that, The method is applicable to a first network element or a device within a first network element, and the method includes: Sending sensing auxiliary data to at least one first terminal device and at least one first network device, wherein the sensing auxiliary data is used for the transmission and / or measurement of sensing signals, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; Receive N1 sensing measurement information from the at least one first terminal device, wherein the N1 sensing measurement information is obtained based on the sensing signal, the sensing signal is sent by the at least one first network device and received by the at least one first terminal device, and N1 is a positive integer greater than or equal to 1; The perception result of the object to be perceived is determined based on the N1 perception measurement information. The method according to claim 1, characterized in that, The method further includes: Send the first request to the second network element; The first request includes indication information for the first filtering condition, and the first request is used to instruct the second network element to filter terminal devices based on the first filtering condition. The method according to claim 2, characterized in that, The method further includes: Receive the first response corresponding to the first request; The first response includes device identification information of N4 second terminal devices. The N4 second terminal devices are used to determine the at least one first terminal device. The N4 second terminal devices are selected from N2 second terminal devices based on the first filtering condition. The N2 second terminal devices are managed by N3 second network devices serving the first network element. N2, N3, and N4 are positive integers greater than or equal to 1. The method according to claim 3, characterized in that, The first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices are selected from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices. The method according to claim 3 or 4, characterized in that, The method further includes: if the first response is not received within a first time period, or if a second response corresponding to the first request is received; Send a second request to the second network element, wherein the second response is used to indicate that no second terminal device was filtered based on the first filtering condition, the second request includes indication information of the second filtering condition, and the second request is used to instruct the first network element to filter the N2 second terminal devices based on the second filtering condition; Receive a third response corresponding to the second request; wherein the third response includes device identification information of N5 second terminal devices, the N5 second terminal devices are used to determine the at least one first terminal device, the N5 second terminal devices are selected from the N2 second terminal devices based on the second filtering condition, and N5 is a positive integer greater than or equal to 1. The method according to claim 5, characterized in that, The second request also includes first indication information, which indicates that the time interval between the time when the N2 second terminal devices are filtered based on the first filtering condition and the time when the N2 second terminal devices are filtered based on the second filtering condition is equal to or greater than a second duration. The method according to claim 1, characterized in that, The method further includes: Obtain N3 second network devices serving the first network element, where N3 is a positive integer greater than or equal to 1; If N6 second terminal devices that meet the third screening condition are obtained from N2 second terminal devices, the N6 second terminal devices are determined as the at least one first terminal device, wherein the N2 second terminal devices are managed by the N3 second network devices, and N2 and N6 are positive integers greater than or equal to 1. The method according to any one of claims 1-7, characterized in that, The method further includes: A sensing information request is sent to the at least one first terminal device, wherein the sensing information request is used to trigger the at least one first terminal device to acquire the N1 sensing measurement information. A sensing method, characterized in that, The method, applicable to a second network element or a device within a second network element, includes: Sensing auxiliary data is sent to the at least one first terminal device and the at least one first network device, wherein the sensing auxiliary data is used for the transmission and / or measurement of sensing signals, the at least one first terminal device is managed by the at least one first network device, and the at least one first network device serves the first network element; N1 sensing measurement information is sent to the first network element, wherein the N1 sensing measurement information is used to determine the sensing result of the object to be sensed, the N1 sensing measurement information is obtained based on the sensing signal, the sensing signal is sent by the at least first network device and received by the at least first terminal device, and N1 is a positive integer greater than or equal to 1. The method according to claim 9, characterized in that, The method further includes: Receive a first request from the first network element, wherein the first request includes indication information of a first filtering condition; If N4 second terminal devices that meet the first filtering condition are obtained from N2 second terminal devices, a first response is sent to the first network element. The first response includes the identification information of the N4 second terminal devices. The N4 second terminal devices are used to identify the at least one first terminal device. The N2 second terminal devices are managed by N3 second network devices. The N3 second network devices serve the first network element. N2 and N3 are positive integers greater than or equal to 1. The method according to claim 10, characterized in that, The first filtering condition is associated with the location information of the terminal device, and the N4 second terminal devices are selected from the N2 second terminal devices based on the first filtering condition and the location information of each of the N2 second terminal devices. The method according to claim 10 or 11 is characterized in that, The method further includes: If no second terminal device is found based on the first filtering condition, the first response is not sent to the first network element, or the second response corresponding to the first request is sent to the first network element, wherein the second response is used to indicate that no second terminal device was found based on the first filtering condition. The method according to claim 12, characterized in that, The method further includes: Receive a second request from the first network element, wherein the second request includes indication information of a second filtering condition, and the second request is used to instruct the second network element to filter the N2 second terminal devices based on the second filtering condition; Send a third response corresponding to the second request to the first network element, wherein the third response includes device identification information of N5 second terminal devices, the N5 second terminal devices are used to determine the at least one first terminal device, the N5 second terminal devices are selected from the N2 second terminal devices based on the second filtering condition, and N5 is a positive integer greater than or equal to 1. The method according to claim 13, characterized in that, The second request also includes first indication information, which indicates that the time interval between the time when the N2 second terminal devices are filtered based on the first filtering condition and the time when the N2 second terminal devices are filtered based on the second filtering condition is equal to or greater than a second duration. A sensing method, characterized in that, The method is applicable to a first terminal device or a device within a first terminal device, and the method includes: Receive sensing auxiliary data from a first network element, wherein the sensing auxiliary data is used for the transmission and / or measurement of sensing signals; The sensing measurement information is sent to the first network element, wherein the sensing measurement information is used to determine the sensing result of the object to be sensed, and the sensing signal is sent by the first network device that manages the first terminal device and received by the first terminal device. The first network device serves the first network element. The method according to claim 15, characterized in that, The method further includes: The system receives a sensing information request from a first network element, wherein the sensing information request is used to trigger the first terminal device to acquire the sensing measurement information. The method according to any one of claims 1-16, characterized in that, The sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reported configuration information. The method according to any one of claims 1-17, characterized in that, The sensing auxiliary data also includes second indication information determined by the first network element. The second indication information is used to indicate at least one of the following: the first network element is a sensing initiator, the sensing signal is a downlink signal, and the sensing result is determined based on the first sensing reconstruction algorithm. A sensing method, characterized in that, The method is applicable to a first network element or a device within a first network element, and the method includes: Sending a sensing information request to at least one first network device, wherein the sensing information request is used to trigger the at least one first network device to send sensing auxiliary data to at least one first terminal device, the at least one first network device manages the at least one first terminal device, the at least one first network device serves the first network element, and the sensing auxiliary data is used for the transmission and / or measurement of sensing signals; Send a sensing activation request to the at least one first network device, wherein the sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to trigger the at least one first terminal device to send the sensing signal; Receive N1 sensing measurement information from the at least one first network device, wherein the N1 sensing measurement information is obtained based on the sensing signal, the sensing signal is sent by the at least one first terminal device and received by the at least one first network device, and N1 is a positive integer greater than or equal to 1; The perception result of the object to be perceived is determined based on the N1 perception measurement information. The method according to claim 19 is characterized in that, The method also includes: A sensing deactivation request is sent to the at least one network device, wherein the sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to instruct the N1 first terminal devices to stop sending the sensing signal. A sensing method, characterized in that, The method is applicable to a second network element or a device within a second network element, and the method includes: Sending a sensing information request from the first network element to at least one first network device, wherein the sensing information request is used to trigger the at least one first network device to send sensing auxiliary data to at least one first terminal device, the sensing auxiliary data being used for the transmission and / or measurement of sensing signals, the at least one first terminal device being managed by the at least one first network device, and the at least one first network device serving the first network element; A sensing activation request from the first network element is sent to the at least one first network device, wherein the sensing activation request is used to trigger the at least one first network device to send sensing signal activation information to the at least one first terminal device, and the sensing signal activation information is used to instruct the at least one first terminal device to send the sensing signal. The first network element sends N1 sensing measurement information from the at least one first network device, wherein the N1 sensing measurement information is used to determine the sensing result of the object to be sensed, the N1 sensing measurement information is obtained based on the sensing signal, the sensing signal is received by the at least one first network device, and N1 is a positive integer greater than or equal to 1. The method according to claim 21, characterized in that, The method further includes: A sensing deactivation request from the first network element is sent to the at least one first network device, wherein the sensing deactivation request is used to trigger the at least one first network device to send sensing signal deactivation information to the at least one first terminal device, and the sensing signal deactivation information is used to instruct the at least one first terminal device to stop sending the sensing signal. A sensing method, characterized in that, The sensing method is applicable to a first network device or a device within a first network device, and the method includes: Receive a sensing information request and send sensing auxiliary data to a first terminal device according to the sensing information request, wherein the sensing auxiliary data is used for the transmission and / or measurement of sensing signals; Receive a sensing activation request and send sensing signal activation information to the first terminal device according to the sensing activation request, wherein the sensing signal activation information is used to instruct the first terminal device to send a sensing signal; Sending sensing measurement information, wherein the sensing measurement information is used to determine the sensing result of the object to be sensed, the sensing measurement information is obtained based on the sensing signal, and the sensing signal is received by the first network device. The method according to claim 23, characterized in that, The method further includes: The system receives a sensing deactivation request and sends sensing signal deactivation information to the first terminal device according to the sensing deactivation request, wherein the sensing signal deactivation information is used to instruct the first terminal device to stop sending sensing signals. The method according to any one of claims 19-24, characterized in that, The sensing assistance data includes resource configuration information corresponding to the sensing signal, and / or reported configuration information. The method according to any one of claims 19-25, characterized in that, The sensing auxiliary data also includes third indication information determined by the first network element, which indicates at least one of the following: the first network element is a sensing initiator, the sensing signal is an uplink signal, or the sensing result is determined based on a second sensing reconstruction algorithm. A communication device, characterized in that, The communication device includes a unit for implementing the sensing method as described in any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the sensing method as described in any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26. A chip system, characterized in that, Including the processor; The processor is configured to execute computer execution instructions to cause a device equipped with the chip system to perform the sensing method as described in any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26. The chip system according to claim 29 is characterized in that, The chip system also includes an interface circuit, which is used to receive computer execution instructions and transmit them to the processor. A computer program product, wherein the computer program product is executed by a computer using the sensing method as described in any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26. A communication device, characterized in that, include: At least one processor and memory; The memory is used to store computer programs; The processor is configured to execute a computer program stored in the memory, causing the communication device to perform the sensing method as described in any one of claims 1-8, 9-14, 15-18, 19-20, 21-22, or 23-26.

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