Communication method and apparatus

Abstract

A communication method and apparatus, relating to the field of communications, and capable of ensuring that different sensing devices and SFs can identify a sensing result of the same object. In the method, a first sensing device can perform sensing on the basis of a first message which comprises feature information of target objects, is sent by a sensing network element and requests to sense the target objects to obtain a first sensing result of a first target object, assign a first identifier to the first target object, and send the first sensing result and the first identifier to the sensing network element, so that when sensing is subsequently performed on the target objects, each target object can be distinguished on the basis of an identifier. Regardless of whether there is a change in or switch between sensing devices due to movement of the target objects or movement of the sensing devices, it can be ensured that the identifiers of the target objects are consistent for different sensing devices. Ascertaining to which target object a sensing result belongs by means of the identifier ensures sensing continuity and improves the reliability of sensing.

Description

Communication method and apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411297042.6, filed on September 14, 2024, and entitled "Communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] In a communication sensing scenario, a sensing device transmits a sensing signal, and can identify a specific area / object / event, etc. The sensing device can report sensing measurement data to a sensing function (SF), so that the SF further calculates and obtains a sensing result according to the sensing measurement data reported by the sensing device, or the sensing device can directly send the sensing result to the SF.

[0004] However, there is a need to distinguish different types of objects in the sensing area, and different objects of the same type. The movement of the object in the sensing area or the movement of the sensing device can cause the object to move out of the sensing area of the current sensing device (which can be referred to as a source sensing device) and enter the sensing area of another sensing device (which can be referred to as a target sensing device), involving the processing of sensing continuity of the target object. Therefore, how to enable different sensing devices and the SF to identify the sensing results of the same object to perform specific management or processing on the object is a problem to be solved. SUMMARY

[0005] The present application provides a communication method and apparatus, which can ensure that different sensing devices and the SF can identify the sensing results of the same object.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, a communication method is provided. The method can be executed by a first sensing device, or by a component of the first sensing device, such as a processor, a chip, or a chip system of the first sensing device, or by a logic module or software capable of realizing all or part of the first sensing device. The method comprises: receiving, by the first sensing device, a first message from a sensing network element, the first message being used to request sensing of a target object, the first message comprising characteristic information of the target object; performing, by the first sensing device, sensing to obtain a first sensing result of a first target object according to the first message, and allocating a first identifier to the first target object, the target object satisfying the characteristic information comprising the first target object; and sending, by the first sensing device, the first identifier and the first sensing result to the sensing network element.

[0008] In the method, the first perception device performs perception according to the first message sent by the perception network element, assigns different identities to each target object perceived based on the perception result (such as assigning a first identity to the first target object), and feeds back to the perception network element, so that when subsequent perception of the target object is performed, the perception device and the perception network element can distinguish each target object according to the identity, and the identity consistency of the target object between different perception devices and perception network elements can be ensured regardless of the change / switch of the perception device due to the movement of the target object or the movement of the perception device, the continuity of the perception can be ensured, and the reliability of the perception can be improved.

[0009] In a possible design, the first identity can be determined according to the identity of the first perception device, so that other perception devices or the perception network element can know which perception device assigns the first identity, and after the first target object moves or the first perception device moves so that the first target object moves into the perception coverage range of other perception devices, the other perception devices can still use the first identity to perform perception and report the first target object, so that the identity of the first target object does not change in the coverage range of different perception devices, and the same target object can be globally uniquely identified through the first identity, or other perception devices assign a new identity according to the perception result of the first target object, report the assigned new identity and the first identity to the perception network element, and the new identity is also related to the identity of the perception device that assigns the new identity, so that the identity of the first target object does not change in the coverage range of the same perception device, but the same target object can still be globally uniquely identified. For example, the first identity can be the identity of the first perception device + a random code, or the identity of the first perception device + a type code + a random code.

[0010] In a possible design, the method in the first aspect can further include that the first perception device sends a second message to the second perception device, the second message being used to request the perception result of the first target object, the second message including the first identity and first feature information of the first target object, the first feature information being determined according to the first perception result and / or feature information of the target object. The first perception device receives the first identity and a second perception result from the second perception device, the second perception result being obtained by the second perception device according to the perception of the first target object based on the first feature information. The first perception device performs fusion processing on the first perception result and the second perception result according to the first identity, to obtain a first fusion perception result. The first perception device sends the first identity and the first fusion perception result to the perception network element.

[0011] Thus, when the first perception device performs perception fusion processing, for example, the first target object is located in the overlapping perception coverage area of the first perception device and at least one other adjacent perception device (such as the second perception device), but the perception accuracy of the first perception device cannot meet the requirements, then the first perception device can use the first identifier to request the perception result of the first target object from the secondary perception device participating in the fusion perception, that is, the second perception device, and can determine that the perception result fed back by the second perception device is the perception result of the first target object according to the first identifier associated with the perception result, so as to report a more accurate fusion perception result to the perception network element to improve the perception accuracy.

[0012] The second perception device obtains the second perception result of the first target object according to the first feature information in the request. The first feature information is used to indicate the specific features of the first target object and can uniquely identify the first target object. For example, the first feature information includes the type, size, position, trajectory, and moving speed of the first target object. The first feature information can be determined according to the first perception result of the first target object obtained by the first perception device. The first perception result can feed back the type, size, position, trajectory, and moving speed of the first target object. Alternatively, the first feature information can be determined according to the first perception result of the first target object obtained by the first perception device and the feature information of the target object. For example, some specific feature information of the first target object fed back by the first perception result is fused with the feature information of the target object, which indicates the common features of a type of object or a group of similar objects. In this way, the first feature information obtained can also uniquely identify the first target object.

[0013] It should be understood that when the first perception device requests the perception result of the first target object from a plurality of perception devices (including the second perception device), the first perception device can send a request to the next perception device after obtaining the perception result of one perception device. For example, the second perception device is the first perception device to send a request. After the second perception device feeds back the perception result of the first target object obtained according to the first feature information to the first perception device, the first perception device can carry the feature information determined according to the fusion perception result of the perception result of the first target object obtained by the second perception device and the perception result of the first target object obtained locally by the first perception device when requesting the perception result from the next perception device. When sending a request to the next perception device, the first feature information can be determined by fusing all the perception results obtained before. Details are not described herein.

[0014] In a possible design, the method in the first aspect can further include: the first perception device sending a third message to the second perception device, the third message being used to indicate switching the perception of the first target object to the second perception device, the third message including the first identifier and second characteristic information of the first target object, the second characteristic information being determined according to a perception result of the first target object obtained by the first perception device and / or characteristic information of the target object, the perception result of the first target object obtained by the first perception device including a first perception result.

[0015] In this way, when the first perception device determines to switch the perception device perceiving the first target object, that is, the first perception device cannot serve as the master perception device of the first target object, for example, the first perception device performs the perception on the first target object cannot meet the key performance indicator (KPI) requirement of the perception, or the first target object will leave the perception coverage range of the first perception device, the first perception device can select a perception device as the master perception device perceiving the first target object, for example, the second perception device, so as to send the perception switching request to the second perception device using the first identifier, so that the second perception device also reports the perception result to the perception network element using the first identifier or a new identifier associated with the first identifier after accepting the switching, so that the perception network element can learn which target object the perception result belongs to according to the first identifier or the new identifier associated with the first identifier, and the continuity of the perception can be ensured and the reliability of the perception can be improved.

[0016] In this way, when the first perception device determines to switch the perception device perceiving the first target object, that is, the first perception device cannot serve as the master perception device of the first target object, for example, the first perception device performs the perception on the first target object cannot meet the key performance indicator (KPI) requirement of the perception, or the first target object will leave the perception coverage range of the first perception device, the first perception device can select a perception device as the master perception device perceiving the first target object, for example, the second perception device, so as to send the perception switching request to the second perception device using the first identifier, so that the second perception device also reports the perception result to the perception network element using the first identifier or a new identifier associated with the first identifier after accepting the switching, so that the perception network element can learn which target object the perception result belongs to according to the first identifier or the new identifier associated with the first identifier, and the continuity of the perception can be ensured and the reliability of the perception can be improved.

[0017] In a possible design, the method in the first aspect can further include: the first perception device receiving a fourth message from the second perception device, the fourth message being used to request the perception result of the first target object obtained by the first perception device, the fourth message including the first identifier. The first perception device performs the perception on the first target object according to the fourth message to obtain a third perception result. The first perception device sends the first identifier and the third perception result to the second perception device.

[0018] Thus, when the perception switching occurs, i.e., the second perception device is the switched master perception device, the second perception device can also use the first identifier to obtain the perception result of the first target object from the first perception device to perform the perception fusion. At this time, since the first perception device is the perception device before the switching of the first target object, when the second perception device performs the perception fusion and requests the perception result of the first target object from the first perception device, the first perception device can identify the perception result associated with the first identifier that it has obtained by the first identifier, to perform the perception on the first target object and obtain the perception result of the first target object, without carrying the characteristic information of the first target object. It should be understood that, when the second perception device requests the perception result from the perception device that has not participated in the perception of the first target object, the second perception device can carry the characteristic information and the identifier of the first target object, and request the perception result for the perception fusion in the manner as described above that the first perception device requests the perception result of the first target object obtained by the second perception device.

[0019] In a possible design, the method of the first aspect can further include that the first perception device receives a fifth message from the second perception device, the fifth message being used to indicate termination of sending the perception result of the first target object, and the fifth message including the first identifier. The first perception device deletes the first identifier according to the fifth message. Thus, in the case that the perception coverage of the first target object by each master perception device is unchanged, and different identifiers of the first target object exist between different master perception devices, the first perception device can further learn which target object is to be perceived according to the first identifier in the termination perception message issued by the second perception device, and delete the first identifier, so that the accuracy of the perception control can be improved.

[0020] In a possible design, the method of the first aspect can further include that the first perception device receives a third message corresponding response message from the second perception device, the third message corresponding response message being used to notify completion of the perception switching. The first perception device deletes the first identifier according to the third message corresponding response message. Thus, in the case that the perception coverage of the first target object by each master perception device is unchanged, and different identifiers of the first target object exist between different master perception devices, the first perception device can further terminate the perception on the first target object and delete the first identifier according to the perception switching response message fed back by the second perception device.

[0021] In a possible design, the method of the first aspect further includes: receiving, by the first sensing device, a sixth message from the sensing network element, the sixth message being used to indicate deletion of the first target object identifier, and the sixth message including the first identifier. The first sensing device deletes the first identifier according to the sixth message. In this way, for example, if the network has terminated sensing of the first target object, or other sensing devices have terminated sensing of the first target object, the first sensing device can also learn which target object identifier to delete according to the first identifier in the sixth message issued by the sensing network element, and the accuracy of sensing control can be improved.

[0022] In a possible design, the sixth message further includes first indication information, and the first indication information is used to indicate deletion of the first target object identifier. In this way, the sixth message can be a defined message that is multiplexed to perform a deletion operation, for example, a sensing service request, a sensing request, or the like, and signaling overhead can be reduced.

[0023] In a second aspect, a communication method is provided. The method can be performed by a sensing network element, or by a component of the sensing network element, for example, a processor, a chip, or a chip system of the sensing network element, or by a logic module or software that can implement all or part of the sensing network element. The method includes: sending, by the sensing network element, a first message to a first sensing device, the first message being used to request sensing of a target object, and the first message including feature information of the target object; and receiving, by the sensing network element, a first identifier and a first sensing result from the first sensing device, the first identifier being an identifier allocated by the first sensing device to the first target object according to the first message, and the first sensing result being a sensing result of the first target object obtained by the first sensing device according to the first message, and the target object satisfying the feature information including the first target object.

[0024] In a possible design, the first identifier can be determined according to an identifier of the first sensing device.

[0025] In a possible design, the method of the second aspect further includes: sending, by the sensing network element, a sixth message to the first sensing device, the sixth message being used to indicate deletion of the first target object identifier, and the sixth message including the first identifier.

[0026] In a possible design, the sixth message further includes first indication information, and the first indication information is used to indicate deletion of the first target object identifier.

[0027] In a possible design, the method in the second aspect can further include: receiving, by the perception network element, a seventh message from the second perception device, the seventh message being used to indicate switching the perception of the first target object to the second perception device, the seventh message including the first identifier or the seventh message including the first identifier and a second identifier, the second identifier being an identifier allocated by the second perception device for the first target object.

[0028] In a possible design, the method in the second aspect can further include: receiving, by the perception network element, the first identifier and a fourth perception result from the second perception device, or receiving, by the perception network element, the second identifier and the fourth perception result from the second perception device, wherein the fourth perception result is obtained by the second perception device according to second characteristic information of the first target object, and the second characteristic information is determined according to the perception result of the first target object obtained by the first perception device and / or the characteristic information of the target object, and the perception result of the first target object obtained by the first perception device includes the first perception result.

[0029] In a possible design, the method in the second aspect can further include: sending, by the perception network element, an eighth message to the second perception device, the eighth message being used to indicate deleting the identifier of the first target object, and the eighth message including the first identifier or the eighth message including the second identifier.

[0030] In a possible design, the eighth message can further include first indication information, and the first indication information is used to indicate deleting the identifier of the first target object.

[0031] In a possible design, the method in the second aspect can further include: sending, by the perception network element, a ninth message to the second perception device, the ninth message being used to request the perception of the first target object, and the ninth message including first characteristic information of the first target object, the first characteristic information being determined according to the first perception result and / or the characteristic information of the target object; receiving, by the perception network element, the second identifier and a fifth perception result from the second perception device, the second identifier being an identifier allocated by the second perception device for the first target object according to the ninth message, and the fifth perception result being obtained by the second perception device according to the ninth message; associating, by the perception network element, the first identifier and the second identifier; and fusing, by the perception network element, the first perception result and the fifth perception result according to the association relationship between the first identifier and the second identifier, to obtain a third fused perception result.

[0032] In a possible design, the method in the second aspect can further include: sending, by the perception network element, a tenth message to the second perception device, the tenth message being used to indicate deleting the identifier of the first target object, and the tenth message including the second identifier.

[0033] In a possible design, the tenth message can further include first indication information, where the first indication information is used to indicate deletion of the identity of the first target object.

[0034] In a possible design, the method in the second aspect can further include: assigning, by the perception network element, a third identity to the first target object according to the first perception result. The perception network element associates the first identity with the third identity.

[0035] The technical effects of the method in the second aspect can refer to the related description of the technical effects of the method in the first aspect, and details are not described herein.

[0036] In a third aspect, a communication method is provided. The method can be executed by a second perception device, or by a component of the second perception device, for example, a processor, a chip, or a chip system of the second perception device, or by a logic module or software that can implement all or part of the second perception device. The method includes: receiving, by the second perception device, a third message from a first perception device, where the third message is used to indicate switching of perception of a first target object to the second perception device, the third message includes a first identity and second feature information of the first target object, the first identity is an identity assigned to the first target object by the first perception device, the second feature information is determined according to a perception result of the first target object obtained by the first perception device and / or feature information of the target object, the feature information of the target object is used to indicate a feature of the target object, and the target object includes the first target object. The second perception device performs perception on the first target object according to the third message to obtain a fourth perception result. The second perception device sends, to a perception network element, the first identity and the fourth perception result, or the second perception device sends, to the perception network element, a second identity and the fourth perception result, where the second identity is an identity assigned to the first target object by the second perception device.

[0037] In a possible design, the first identity can be determined according to an identity of the first perception device, and the second identity can be determined according to an identity of the second perception device.

[0038] In a possible design, before the perception switching, the method in the third aspect can further include: receiving, by the second perception device, a second message from the first perception device, where the second message is used to request obtaining of the perception result of the first target object, the second message includes the first identity and first feature information of the first target object, the first feature information is determined according to a first perception result of the first target object obtained by the first perception device and / or the feature information of the target object, and the first perception result is obtained by performing perception according to the feature information of the target object. The second perception device performs perception on the first target object according to the first feature information to obtain a second perception result. The second perception device sends, to the first perception device, the first identity and the second perception result.

[0039] In a possible design, the method of the third aspect further includes: the second sensing device sending a fourth message to the first sensing device, the fourth message being used to request the sensing result of the first target object obtained by the first sensing device, and the fourth message including the first identifier. The second sensing device receives the first identifier and a third sensing result from the first sensing device, the third sensing result being obtained by the first sensing device according to the fourth message. The second sensing device performs fusion processing on the third sensing result and a fourth sensing result according to the first identifier, to obtain a second fusion sensing result. The second sensing device sends the first identifier and the second fusion sensing result to the sensing network element, or the second sensing device sends the second identifier and the second fusion sensing result to the sensing network element.

[0040] In a possible design, the method of the third aspect further includes: the second sensing device sending a fifth message to the first sensing device, the fifth message being used to instruct to stop sending the sensing result of the first target object, and the fifth message including the first identifier.

[0041] In a possible design, the method of the third aspect further includes: the second sensing device sending a response message corresponding to the third message to the first sensing device, the response message corresponding to the third message being used to notify that the sensing switching is completed.

[0042] In a possible design, in the case where the second sensing device sends the first identifier and the fourth sensing result to the sensing network element, the method of the third aspect further includes: the second sensing device sending a seventh message to the sensing network element, the seventh message being used to instruct to switch the sensing of the first target object to the second sensing device, and the seventh message including the first identifier.

[0043] In a possible design, in the case where the second sensing device sends the second identifier and the fourth sensing result to the sensing network element, the method of the third aspect further includes: the second sensing device allocating the second identifier to the first target object according to the third message. The second sensing device sends a seventh message to the sensing network element, the seventh message being used to instruct to switch the sensing of the first target object to the second sensing device, and the seventh message including the first identifier and the second identifier.

[0044] In a possible design, the method of the third aspect further includes: the second sensing device receiving an eighth message from the sensing network element, the eighth message being used to instruct to delete the identifier of the first target object. In the case where the eighth message includes the first identifier, the second sensing device determines to delete the first identifier according to the eighth message. Alternatively, in the case where the eighth message includes the second identifier, the second sensing device deletes the second identifier according to the eighth message.

[0045] In a possible design, the eighth message can further include first indication information, where the first indication information is used to indicate the identity of the first target object.

[0046] The technical effects of the method of the second aspect can refer to the related descriptions of the technical effects of the method of the first aspect, and details are not repeated.

[0047] In a fourth aspect, a communication method is provided. The method can be performed by a sensing network element, or by a component of the sensing network element, such as a processor, a chip, or a chip system of the sensing network element, or by a logic module or software that can implement all or part of the sensing network element. The method includes: sending, by the sensing network element, a first message to a first sensing device, where the first message is used to request sensing of a target object, and the first message includes characteristic information of the target object; receiving, by the sensing network element, a first sensing result from the first sensing device, where the first sensing result is a sensing result of a first target object obtained by the first sensing device according to the first message, and the target object satisfying the characteristic information includes the first target object; assigning, by the sensing network element, a first identity to the first target object according to the first sensing result; and sending, by the sensing network element, the first identity and first characteristic information of the first target object to the first sensing device, where the first characteristic information is determined according to the characteristic information and / or the first sensing result.

[0048] In the method, the sensing network element can send a sensing request to the first sensing device to obtain sensing results of different target objects, so as to assign different identities to the target objects according to the sensing results of the target objects respectively, and send the identities to the first sensing device. In this way, the sensing device and the sensing network element can uniquely identify the same target object according to the identities in a subsequent sensing control process, and the identity consistency of the target object between different sensing devices and the sensing network element can be ensured, regardless of the change / switch of the sensing device due to the movement of the target object or the movement of the sensing device. According to the identity, it can be identified that the obtained sensing result belongs to which target object, so as to ensure the continuity of sensing and improve the reliability of sensing.

[0049] In a possible design, the first identity can be determined according to an identity of the sensing network element.

[0050] In a possible design, the method of the fourth aspect can further include: receiving, by the sensing network element, a second message from a second sensing device, where the second message is used to indicate switching of sensing of the first target object to the second sensing device, and the second message includes the first identity.

[0051] In one possible design, the method described in the fourth aspect may further include: the sensing network element receiving a first identifier and a second sensing result from the second sensing device, wherein the second sensing result is obtained by the second sensing device from sensing the first target object based on the first feature information.

[0052] In one possible design, the method described in the fourth aspect may further include: a sensing network element sending a third message to a second sensing device, the third message requesting perception of a first target object, the third message including first feature information and a first identifier. The sensing network element receives the first identifier and a third sensing result from the second sensing device, the third sensing result being obtained by performing perception on the first target object based on the third message. The sensing network element performs fusion processing on the first sensing result and the third sensing result based on the first identifier to obtain a first fused sensing result.

[0053] In one possible design, the method described in the fourth aspect may further include: the sensing network element sending a fourth message, the fourth message being used to instruct the deletion of the identifier of the first target object, the fourth message including the first identifier.

[0054] In one possible design, the fourth message may also include a first instruction message, which is used to indicate the deletion of the identifier of the first target object.

[0055] The technical effects of the method described in the fourth aspect can be found in the relevant description of the technical effects of the method described in the first aspect, and will not be repeated here.

[0056] Fifthly, a communication method is provided. This method can be executed by a first sensing device, or by a component of the first sensing device, such as a processor, chip, or chip system of the first sensing device, or by a logic module or software capable of implementing all or part of the first sensing device. The method includes: the first sensing device receiving a first message from a sensing network element, the first message requesting the sensing of a target object, the first message including feature information of the target object; the first sensing device performing sensing based on the first message to obtain a first sensing result of the first target object, wherein a target object satisfying the feature information of the target object is included in the first target object; the first sensing device sending the first sensing result to the sensing network element; and the first sensing device receiving a first identifier and first feature information of the first target object from the sensing network element, the first identifier being an identifier assigned to the first target object by the sensing network element based on the first sensing result, and the first feature information being determined based on the feature information of the target object and / or the first sensing result.

[0057] In one possible design, the first identifier can be determined based on the identifier of the sensing network element.

[0058] In a possible design, the method of the fifth aspect further can include: the first perception device receiving a fourth message from the perception network element, the fourth message being used for indicating to delete the identification of the first target object, and the fourth message including the first identification. The first perception device determines to delete the first identification according to the fourth message.

[0059] In a possible design, the fourth message further can include first indication information, the first indication information being used for indicating to delete the identification of the first target object.

[0060] In a possible design, the method of the fifth aspect further can include: the first perception device sending a fifth message to the second perception device, the fifth message being used for requesting to obtain the perception result of the first target object, and the fifth message including the first identification and the first feature information. The first perception device receives the first identification and a fourth perception result from the second perception device, the fourth perception result being obtained by the second perception device according to the fifth message and by performing perception on the first target object. The first perception device performs fusion processing on the first perception result and the fourth perception result according to the first identification, to obtain a second fusion perception result. The first perception device sends the first identification and the second fusion perception result to the perception network element.

[0061] In a possible design, the method of the fifth aspect further can include: the first perception device sending a sixth message to the second perception device, the sixth message being used for indicating to switch the perception on the first target object to the second perception device, and the sixth message including the first identification and second feature information of the first target object, the second feature information being determined according to the perception result of the first target object obtained by the first perception device and / or the feature information of the target object. The perception result of the first target object obtained by the first perception device includes the first perception result.

[0062] In a possible design, the method of the fifth aspect further can include: the first perception device receiving a response message corresponding to the sixth message from the second perception device, the response message corresponding to the sixth message being used for notifying that the perception switching is completed. The first perception device deletes the first identification according to the response message corresponding to the sixth message.

[0063] In a possible design, the method of the fifth aspect further can include: the first perception device receiving a seventh message from the second perception device, the seventh message being used for requesting the perception result of the first target object obtained by the first perception device, and the seventh message including the first identification. The first perception device sends the first identification and a fifth perception result to the second perception device, the fifth perception result being obtained by the first perception device according to the seventh message and by performing perception on the first target object.

[0064] In a possible design, the method in the fifth aspect further includes: receiving, by the first perception device, an eighth message from the second perception device, the eighth message being used to indicate termination of sending the perception result of the first target object, and the eighth message including the first identifier. The first perception device determines to delete the first identifier according to the eighth message.

[0065] The technical effect of the method in the fifth aspect can refer to the related description of the technical effect of the method in the fourth aspect, and details are not repeated.

[0066] In the sixth aspect, a communication apparatus is provided for implementing the methods described above. The communication apparatus can be the first perception device in the first aspect, or an apparatus including the first perception device, or an apparatus included in the first perception device, such as a chip. The communication apparatus includes corresponding modules, units, or means for implementing the method in the first aspect, which can be implemented by hardware, software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0067] In some possible designs, the communication apparatus includes a processing module and a transceiver module. The transceiver module is configured to receive a first message from a perception network element, the first message being used to request perception on a target object, and the first message including characteristic information of the target object. The processing module is configured to perform perception to obtain a first perception result of a first target object according to the first message, and assign a first identifier to the first target object, so that the target object satisfying the characteristic information includes the first target object. The transceiver module is further configured to send the first identifier and the first perception result to the perception network element.

[0068] In a possible design, the first identifier can be determined according to an identifier of the first perception device.

[0069] In a possible design, the transceiver module is further configured to send a second message to a second perception device, the second message being used to request a perception result of the first target object, and the second message including the first identifier and first characteristic information of the first target object, the first characteristic information being determined according to the first perception result and / or the characteristic information of the target object. The transceiver module is further configured to receive the first identifier and a second perception result from the second perception device, the second perception result being obtained by the second perception device according to perception performed on the first target object according to the first characteristic information. The processing module is further configured to perform fusion processing on the first perception result and the second perception result according to the first identifier, to obtain a first fusion perception result. The transceiver module is further configured to send the first identifier and the first fusion perception result to the perception network element.

[0070] In a possible design, the transceiver module is further configured to send a third message to the second sensing device, where the third message is used to instruct switching of the sensing of the first target object to the second sensing device, and the third message includes the first identifier and second characteristic information of the first target object, and the second characteristic information is determined according to the sensing result of the first target object obtained by the first sensing device and / or the characteristic information of the target object, and the sensing result of the first target object obtained by the first sensing device includes the first sensing result.

[0071] In a possible design, the transceiver module is further configured to receive a fourth message from the second sensing device, where the fourth message is used to request the sensing result of the first target object obtained by the first sensing device, and the fourth message includes the first identifier. The processing module is further configured to perform sensing on the first target object according to the fourth message to obtain a third sensing result. The transceiver module is further configured to send, by the first sensing device, the first identifier and the third sensing result to the second sensing device.

[0072] In a possible design, the transceiver module is further configured to receive a fifth message from the second sensing device, where the fifth message is used to instruct termination of sending the sensing result of the first target object, and the fifth message includes the first identifier. The processing module is further configured to delete the first identifier according to the fifth message.

[0073] In a possible design, the transceiver module is further configured to receive a response message corresponding to the third message from the second sensing device, where the response message corresponding to the third message is used to notify completion of the sensing switching. The processing module is further configured to delete the first identifier according to the response message corresponding to the third message.

[0074] In a possible design, the transceiver module is further configured to receive a sixth message from the sensing network element, where the sixth message is used to instruct deletion of the identifier of the first target object, and the sixth message includes the first identifier. The first sensing device deletes the first identifier according to the sixth message.

[0075] In a possible design, the sixth message can further include first indication information, where the first indication information is used to instruct deletion of the identifier of the first target object.

[0076] In a possible design, the transceiver module can include a receiving module and a sending module. The sending module is configured to implement the sending function of the communication apparatus in the sixth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the sixth aspect.

[0077] In a possible design, the communication apparatus in the sixth aspect can further include a storage module, where the storage module stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus in the sixth aspect can execute the method in the first aspect.

[0078] In a seventh aspect, a communication apparatus is provided for implementing the various methods described above. The communication apparatus can be the sensing network element in the second aspect, or a device including the sensing network element, or a chip included in the sensing network element. The communication apparatus includes corresponding modules, units, or means for implementing the methods of the second aspect, which can be implemented by hardware, software, or by a combination of hardware and software. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0079] In some possible designs of the communication apparatus, the communication apparatus includes a processing module and a transceiver module. The processing module is configured to generate a first message, the first message being used to request sensing of a target object, and the first message including characteristic information of the target object. The transceiver module is configured to send the first message to a first sensing device. The transceiver module is further configured to receive a first identifier and a first sensing result from the first sensing device, the first identifier being an identifier allocated by the first sensing device for the first target object according to the first message, and the first sensing result being a sensing result of the first target object obtained by the first sensing device performing sensing according to the first message, and the target object satisfying the characteristic information including the first target object.

[0080] In a possible design, the first identifier can be determined according to an identifier of the first sensing device.

[0081] In a possible design, the transceiver module is further configured to send a sixth message to the first sensing device, the sixth message being used to instruct deletion of the identifier of the first target object, and the sixth message including the first identifier.

[0082] In a possible design, the sixth message can further include first indication information, the first indication information being used to instruct deletion of the identifier of the first target object.

[0083] In a possible design, the transceiver module is further configured to receive a seventh message from a second sensing device, the seventh message being used to instruct switching of sensing of the first target object to the second sensing device, and the seventh message including the first identifier or the seventh message including the first identifier and a second identifier, the second identifier being an identifier allocated by the second sensing device for the first target object.

[0084] In a possible design, the transceiving module is further configured to receive the first identifier and the fourth perception result from the second perception device; or the transceiving module is further configured to receive the second identifier and the fourth perception result from the second perception device; wherein the fourth perception result is obtained by the second perception device from the first target object according to second feature information of the first target object, and the second feature information is determined according to the perception result of the first target object obtained by the first perception device and / or the feature information of the target object, and the perception result of the first target object obtained by the first perception device includes the first perception result.

[0085] In a possible design, the transceiving module is further configured to send, to the second perception device, an eighth message, where the eighth message is used to instruct to delete the identifier of the first target object, and the eighth message includes the first identifier or the eighth message includes the second identifier.

[0086] In a possible design, the eighth message can further include first instruction information, where the first instruction information is used to instruct to delete the identifier of the first target object.

[0087] In a possible design, the transceiving module is further configured to send, to the second perception device, a ninth message, where the ninth message is used to request to perceive the first target object, and the ninth message includes first feature information of the first target object, and the first feature information is determined according to the first perception result and / or the feature information of the target object. The transceiving module is further configured to receive, from the second perception device, the second identifier and a fifth perception result, where the second identifier is an identifier allocated by the second perception device to the first target object according to the ninth message, and the fifth perception result is obtained by the second perception device from the first target object according to the ninth message. The processing module is further configured to associate the first identifier and the second identifier. The processing module is further configured to fuse the first perception result and the fifth perception result according to the association relationship between the first identifier and the second identifier, to obtain a third fused perception result.

[0088] In a possible design, the transceiving module is further configured to send, to the second perception device, a tenth message, where the tenth message is used to instruct to delete the identifier of the first target object, and the tenth message includes the second identifier.

[0089] In a possible design, the tenth message can further include first instruction information, where the first instruction information is used to instruct to delete the identifier of the first target object.

[0090] In a possible design, the processing module is further configured to allocate a third identifier to the first target object according to the first perception result. The processing module is further configured to associate the first identifier and the third identifier.

[0091] In a possible design, the transceiver module can include a receiving module and a sending module. The sending module is configured to implement the sending function of the communication apparatus in the seventh aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the seventh aspect.

[0092] In a possible design, the communication apparatus in the seventh aspect can further include a storage module, which stores a program or an instruction. When the processing module executes the program or the instruction, the communication apparatus in the seventh aspect can perform the method in the second aspect.

[0093] In the eighth aspect, a communication apparatus is provided for implementing the methods described above. The communication apparatus can be the second sensing device in the third aspect, or an apparatus including the second sensing device, or an apparatus included in the second sensing device, such as a chip. The communication apparatus includes corresponding modules, units or means for implementing the methods in the third aspect, which 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 functions described above.

[0094] In some possible designs, the communication apparatus includes a processing module and a transceiver module. The transceiver module is configured to receive a third message from the first sensing device, where the third message is used to instruct to switch the sensing of the first target object to the second sensing device, and the third message includes a first identifier and second characteristic information of the first target object. The first identifier is an identifier allocated to the first target object by the first sensing device, and the second characteristic information is determined according to a sensing result of the first target object obtained by the first sensing device and / or characteristic information of the target object. The characteristic information of the target object is used to indicate a characteristic of the target object, and the target object includes the first target object. The processing module is configured to perform sensing on the first target object according to the third message to obtain a fourth sensing result. The transceiver module is further configured to send the first identifier and the fourth sensing result to the sensing network element, or the sending module is further configured to send the second identifier and the fourth sensing result to the sensing network element. The second identifier is an identifier allocated to the first target object by the second sensing device.

[0095] In a possible design, the first identifier can be determined according to an identifier of the first sensing device, and the second identifier can be determined according to an identifier of the second sensing device.

[0096] In a possible design, before the sensing switching, the transceiver is further configured to receive a second message from the first sensing device, where the second message is used to request to obtain the sensing result of the first target object, and the second message includes the first identifier and first feature information of the first target object, the first feature information is determined according to the first sensing result of the first target object obtained by the first sensing device and / or the feature information of the target object, and the first sensing result is obtained by performing sensing according to the feature information of the target object. The processing module is further configured to perform sensing on the first target object according to the first feature information to obtain a second sensing result. The transceiver is further configured to send the first identifier and the second sensing result to the first sensing device.

[0097] In a possible design, the transceiver is further configured to send a fourth message to the first sensing device, where the fourth message is used to request the sensing result of the first target object obtained by the first sensing device, and the fourth message includes the first identifier. The transceiver is further configured to receive the first identifier and a third sensing result from the first sensing device, where the third sensing result is obtained by the first sensing device by performing sensing on the first target object according to the fourth message. The processing module is further configured to perform fusion processing on the third sensing result and the fourth sensing result according to the first identifier to obtain a second fusion sensing result. The transceiver is further configured to send the first identifier and the second fusion sensing result to the sensing network element, or the second sensing device sends the second identifier and the second fusion sensing result to the sensing network element.

[0098] In a possible design, the transceiver is further configured to send a fifth message to the first sensing device, where the fifth message is used to instruct to terminate sending the sensing result of the first target object, and the fifth message includes the first identifier.

[0099] In a possible design, the transceiver is further configured to send a response message corresponding to the third message to the first sensing device, where the response message corresponding to the third message is used to notify that the sensing switching is completed.

[0100] In a possible design, in a case where the transceiver is further configured to send the first identifier and the fourth sensing result to the sensing network element, the transceiver is further configured to send a seventh message to the sensing network element, where the seventh message is used to instruct to switch the sensing on the first target object to the second sensing device, and the seventh message includes the first identifier.

[0101] In a possible design, in a case where the transceiver is further configured to send the second identifier and the fourth sensing result to the sensing network element, the processing module is further configured to allocate the second identifier to the first target object according to the third message. The transceiver is further configured to send a seventh message to the sensing network element, where the seventh message is used to instruct to switch the sensing on the first target object to the second sensing device, and the seventh message includes the first identifier and the second identifier.

[0102] In a possible design, the first transceiving module is further configured to receive an eighth message from the perception network element, where the eighth message is used to indicate deletion of the first target object identifier. In a case where the eighth message includes the first identifier, the processing module is further configured to determine deletion of the first identifier according to the eighth message. Alternatively, in a case where the eighth message includes the second identifier, the processing module is further configured to delete the second identifier according to the eighth message.

[0103] In a possible design, the eighth message can further include first indication information, where the first indication information is used to indicate deletion of the first target object identifier.

[0104] In a possible design, the transceiving module can include a receiving module and a sending module. The sending module is configured to implement the sending function of the communication apparatus in the eighth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the eighth aspect.

[0105] In a possible design, the communication apparatus in the eighth aspect can further include a storage module that stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus in the eighth aspect can execute the method in the third aspect.

[0106] In a ninth aspect, a communication apparatus is provided to implement the methods described above. The communication apparatus can be the perception network element in the fourth aspect, or a device including the perception network element, or a device included in the perception network element, such as a chip. The communication apparatus includes corresponding modules, units, or means for implementing the methods in the fourth aspect, which 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 functions described above.

[0107] In some possible designs, the communication apparatus includes a processing module and a transceiving module. The transceiving module is configured to send a first message to a first perception device, where the first message is used to request perception of a target object, and the first message includes feature information of the target object. The transceiving module is further configured to receive a first perception result from the first perception device, where the first perception result is a perception result of a first target object obtained by the first perception device according to the first message, and the target object satisfying the feature information includes the first target object. The processing module is configured to assign a first identifier to the first target object according to the first perception result. The transceiving module is further configured to send the first identifier and first feature information of the first target object to the first perception device, where the first feature information is determined according to the feature information and / or the first perception result.

[0108] In a possible design, the first identifier can be determined according to an identifier of the perception network element.

[0109] In a possible design, the transceiver module is further configured to receive a second message from the second sensing device, where the second message is used to instruct to switch the sensing of the first target object to the second sensing device, and the second message comprises the first identifier.

[0110] In a possible design, the transceiver module is further configured to receive the first identifier and a second sensing result from the second sensing device, where the second sensing result is obtained by the second sensing device according to the first characteristic information.

[0111] In a possible design, the transceiver module is further configured to send a third message to the second sensing device, where the third message is used to request to sense the first target object, and the third message comprises the first characteristic information and the first identifier. The transceiver module is further configured to receive the first identifier and a third sensing result from the second sensing device, where the third sensing result is obtained by the second sensing device according to the third message. The processing module is further configured to perform fusion processing on the first sensing result and the third sensing result according to the first identifier, to obtain a first fusion sensing result.

[0112] In a possible design, the transceiver module is further configured to send a fourth message, where the fourth message is used to instruct to delete the identifier of the first target object, and the fourth message comprises the first identifier.

[0113] In a possible design, the fourth message can further comprise first indication information, where the first indication information is used to instruct to delete the identifier of the first target object.

[0114] In a possible design, the transceiver module can comprise a receiving module and a sending module. The sending module is configured to implement the sending function of the communication apparatus in the ninth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the ninth aspect.

[0115] In a possible design, the communication apparatus in the ninth aspect can further comprise a storage module, which stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus in the ninth aspect can execute the method in the fourth aspect.

[0116] In the tenth aspect, a communication apparatus is provided to implement the above-described methods. The communication apparatus can be the first sensing device in the fifth aspect, or an apparatus comprising the first sensing device, or an apparatus included in the first sensing device, such as a chip. The communication apparatus comprises corresponding modules, units, or means for implementing the method in the fifth aspect, which can be implemented by hardware, software, or by executing corresponding software by hardware. The hardware or software comprises one or more modules or units corresponding to the above-described functions.

[0117] In some possible design, the communication apparatus includes a processing module and a transceiver module. The transceiver module is configured to receive a first message from a sensing network element, the first message being used to request sensing a target object, and the first message including characteristic information of the target object. The processing module is configured to perform sensing to obtain a first sensing result of a first target object according to the first message, and the target object satisfying the characteristic information of the target object includes the first target object. The transceiver module is further configured to send the first sensing result to the sensing network element. The transceiver module is further configured to receive first identification and first characteristic information of the first target object from the sensing network element, the first identification being identification allocated to the first target object by the sensing network element according to the first sensing result, and the first characteristic information being determined according to the characteristic information of the target object and / or the first sensing result.

[0118] In a possible design, the first identification can be determined according to identification of the sensing network element.

[0119] In a possible design, the transceiver module is further configured to receive a fourth message from the sensing network element, the fourth message being used to indicate deleting identification of the first target object, and the fourth message including the first identification. The processing module is further configured to determine, according to the fourth message, to delete the first identification.

[0120] In a possible design, the fourth message can further include first indication information, and the first indication information is used to indicate deleting the identification of the first target object.

[0121] In a possible design, the transceiver module is further configured to send a fifth message to a second sensing device, the fifth message being used to request obtaining a sensing result of the first target object, and the fifth message including the first identification and the first characteristic information. The transceiver module is further configured to receive, from the second sensing device, the first identification and a fourth sensing result, the fourth sensing result being obtained by the second sensing device according to the fifth message. The processing module is further configured to perform fusion processing on the first sensing result and the fourth sensing result according to the first identification, to obtain a second fusion sensing result. The transceiver module is further configured to send the first identification and the second fusion sensing result to the sensing network element.

[0122] In a possible design, the transceiver module is further configured to send a sixth message to a second sensing device, the sixth message being used to indicate switching sensing of the first target object to the second sensing device, and the sixth message including the first identification and second characteristic information of the first target object, the second characteristic information being determined according to a sensing result of the first target object obtained by a first sensing device and / or the characteristic information of the target object, and the sensing result of the first target object obtained by the first sensing device including the first sensing result.

[0123] In a possible design, the transceiver module is further configured to receive a response message corresponding to the sixth message from the second sensing device, where the response message corresponding to the sixth message is used to notify that the sensing switching is completed, and the processing module is further configured to delete the first identifier according to the response message corresponding to the sixth message.

[0124] In a possible design, the transceiver module is further configured to receive a seventh message from the second sensing device, where the seventh message is used to request the sensing result of the first target object obtained by the first sensing device, and the seventh message includes the first identifier. The transceiver module is further configured to send the first identifier and the fifth sensing result to the second sensing device, where the fifth sensing result is obtained by the first sensing device according to the seventh message.

[0125] In a possible design, the transceiver module is further configured to receive an eighth message from the second sensing device, where the eighth message is used to indicate that the sending of the sensing result of the first target object is terminated, and the eighth message includes the first identifier. The processing module is further configured to determine to delete the first identifier according to the eighth message.

[0126] In a possible design, the transceiver module can include a receiving module and a sending module. The sending module is configured to implement the sending function of the communication apparatus in the tenth aspect, and the receiving module is configured to implement the receiving function of the communication apparatus in the tenth aspect.

[0127] In a possible design, the communication apparatus in the tenth aspect can further include a storage module, which stores programs or instructions. When the processing module executes the programs or instructions, the communication apparatus in the tenth aspect can execute the method in the fifth aspect.

[0128] In an eleventh aspect, a communication apparatus (for example, the communication apparatus can be a chip or a chip system) is provided. The communication apparatus includes a processor configured to implement the functions involved in any of the above aspects.

[0129] In a possible design, the communication apparatus can further include a memory configured to save necessary programs or instructions and data. The processor is coupled to the memory, and is configured to execute the computer programs or instructions stored in the memory, so that the communication apparatus executes the method in any of the possible implementation manners of the first aspect to the fifth aspect.

[0130] In a possible design, the communication apparatus in the eleventh aspect can further include a transceiver. The transceiver can be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication apparatus in the eleventh aspect and other communication apparatuses.

[0131] In a possible design, the processor can be integrated with the memory.

[0132] In some possible design, the apparatus is a chip system, which can be composed of a chip or can include a chip and other discrete devices.

[0133] In a twelfth aspect, a communication apparatus is provided, which includes a processor and an interface circuit, the interface circuit is configured to receive a signal from another communication apparatus outside the communication apparatus and transmit the signal to the processor or send a signal from the processor to another communication apparatus outside the communication apparatus, and the processor is configured to implement the method in any possible implementation manner of the first aspect to the fifth aspect through a logic circuit or an execution code instruction.

[0134] It can be understood that, when the communication apparatus in any one of the eleventh aspect or the twelfth aspect is a chip, the sending action / functionality can be understood as output, and the receiving action / functionality can be understood as input.

[0135] In a thirteenth aspect, a computer readable storage medium is provided, which stores a computer program or instructions, when the computer program or instructions are run on a communication apparatus, the communication apparatus can execute the method in any one of the first aspect to the fifth aspect.

[0136] In a fourteenth aspect, a computer program product is provided, which includes instructions, when the instructions are run on a communication apparatus, the communication apparatus can execute the method in any one of the first aspect to the fifth aspect.

[0137] In a fifteenth aspect, a communication system is provided, which includes a first sensing device configured to implement the method in the first aspect and a sensing network element configured to implement the method in the second aspect.

[0138] In a sixteenth aspect, a communication system is provided, which includes a sensing network element configured to implement the method in the fourth aspect and a first sensing device configured to implement the method in the fifth aspect.

[0139] Optionally, the communication system in the fifteenth aspect or the sixteenth aspect can further include a second sensing device configured to implement the method in the third aspect. BRIEF DESCRIPTION OF DRAWINGS

[0140] FIG. 1 is a schematic diagram of an architecture of a 5G system suitable for embodiments of the present application;

[0141] FIG. 2 is a schematic diagram of a sensing scenario;

[0142] FIG. 3 is a schematic diagram of an architecture of a communication system provided by embodiments of the present application;

[0143] FIG. 4 to FIG. 11 are flow diagrams of communication methods according to embodiments of the present application;

[0144] FIG. 12 is a structural diagram of a communication device according to an embodiment of the present application;

[0145] FIG. 13 is a structural diagram of another communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0146] Embodiments of the present application will be presented around various aspects, embodiments or features of systems that can include a plurality of devices, components, modules, etc. It should be understood and appreciated that each of the various systems can include additional devices, components, modules, etc., and / or can not include all of the devices, components, modules, etc. discussed in connection with the figures. Furthermore, combinations of these approaches can also be used.

[0147] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as a wireless fidelity (Wi-Fi) system, a vehicle to everything (V2X) communication system, a device-to-device (D2D) communication system, a vehicle networking communication system, a 4th generation (4G) mobile communication system such as a long term evolution (LTE) system, a worldwide interoperability for microwave access (WiMAX) communication system, a 5th generation (5G) mobile communication system such as a new radio (NR) system, and a future communication system.

[0148] For ease of understanding, the related technologies and technical terms involved in the embodiments of the present application are introduced below.

[0149] 1. 5G mobile communication system

[0150] 5G is a new generation of broadband mobile communication technology with high speed, low latency and large connection characteristics. 5G communication facilities are network infrastructure for realizing man-machine and interconnection. As shown in FIG. 1, it is a third generation partnership project (3GPP) access architecture diagram of a 5G system suitable for the embodiments of the present application. The 5G system includes terminal devices, radio (R) access networks (AN) and core networks (CN). The terminal devices access data networks (DN) through AN and CN.

[0151] The terminal device can be a terminal device with transceiver function, or can also be a chip or chip system arranged in the terminal device. The terminal device can also be referred to as a user equipment (UE), an access terminal, a subscriber unit, a user station, a mobile station (MS), a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or a user apparatus. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a Pad, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, an internet of things (IoT) terminal, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a smart home device (for example, a refrigerator, a television, an air conditioner, an electricity meter, etc.), a smart robot, a mechanical arm, a workshop device, a wireless terminal in a self-driving vehicle, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical treatment, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a vehicle-mounted terminal, a road side unit (RSU) with terminal function, etc., a flight device (for example, a smart robot, a hot air balloon, a drone, an airplane), etc. The terminal device in the present application can also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit built into a vehicle as one or more components or units. The terminal device can also be other devices with terminal function, for example, the terminal device can also be a device with terminal function in D2D communication. In the embodiments of the present application, the terminal device can send a sensing signal, and can also receive a sensing signal. For example, the terminal device can receive a sensing request from a sensing function network element, and then send a sensing signal and / or receive a sensing signal based on the sensing request to obtain relevant sensing data.

[0152] Embodiments of the present application do not limit the device form of the terminal device, and the device for implementing the function of the terminal device can be a terminal device; or can be a device capable of supporting the terminal device to implement the function, such as a chip system. The device can be installed in the terminal device or used in matching with the terminal device. In embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0153] AN is used to implement access-related functions, can provide network access functions for authorized users in a specific area, and can determine transmission links of different qualities to transmit user data according to the level of the user, the demand of the service, and the like. AN forwards control signals and user data between the terminal device and the CN. AN can include: an access network device, which can also be referred to as an access network node, a radio access network (RAN) node, a RAN device, a RAN entity, or an access node, etc., located at the network side of the above-mentioned communication system, used to help the terminal device to implement wireless access, and has wireless transceiving function or a chip or chip system that can be arranged in the device. In embodiments of the present application, the access network device can send a sensing signal, or can receive a sensing signal. For example, the access network device can receive a sensing request from the sensing function network element, and then send a sensing signal and / or receive a sensing signal based on the sensing request to obtain relevant sensing data.

[0154] The access network device includes, but is not limited to, a base station, an evolved Node B (eNodeB / eNB), an access point (AP), a transmission reception point (TRP or transmission point, TP), a next generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a Wi-Fi system, etc. The access network device can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, an open radio access network (ORAN), or a wireless controller in a centralized radio access network (CRAN) scenario. The access network device can also be one or a group (including multiple antenna panels) of antenna panels of a base station in 5G, or can also be a network node constituting a gNB, a TRP or a TP or a transmission measurement function (TMF), such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), a road side unit (RSU) with base station function, optionally, the access 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 V2X technology can be an RSU. All or part of the functions of the access network device in this 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 access network device in this application can also be a logical node, a logical module or software that can implement all or part of the functions of the access network device.

[0155] The CU and the DU can be separately arranged, or can also be included in the same network element, for example, a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, for example, included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It can be understood that the access network device can be a CU node, or a DU node, or a device including the CU node and the DU node. In addition, the CU can be divided into a network device in the access network RAN, or the CU can be divided into a network device in the CN, which is not limited here.

[0156] 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, the CU-CP, the CU-UP, the DU, and the RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), the DU, and the 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.

[0157] The form of the access network device is not limited in the embodiments of this application, and the device for implementing the function of the access network device can be the access network device; or can be a device capable of supporting the access network device to implement the function, for example, a chip system. The device can be installed in the access network device or used in matching with the access network device.

[0158] The CN is mainly responsible for maintaining subscription data of the mobile network, and provides functions such as session management, mobility management, policy management, and security authentication for terminal devices. The CN can include the following network elements: a user plane function (UPF), an authentication server function (AUSF), an access and mobility management function (AMF), a session management function (SMF), a network slice selection function (NSSF), a policy control function (PCF), a unified data management (UDM), an SF, a network exposure function (NEF), and an application function (AF).

[0159] The UPF is mainly responsible for user data processing (forwarding, receiving, charging, etc.). For example, the UPF can receive user data from a DN, and forward the user data to a terminal device through an access network device. The UPF can also receive user data from a terminal device through an access network device, and forward the user data to a DN. In a PDU session, the UPF directly connected to the DN through N6 is also called a protocol data unit session anchor (PSA).

[0160] The AUSF is mainly used to perform security authentication of a terminal device.

[0161] The AMF is mainly used for mobility management in a mobile network. For example, user location update, user registration network, user handover, etc.

[0162] The SMF is mainly used for session management in a mobile network. For example, session establishment, modification, and release. Specific functions include, for example, allocating an internet protocol (IP) address for a user, selecting a UPF that provides packet forwarding functions, etc.

[0163] The NSSF is mainly used for selecting a network slice for a terminal device.

[0164] The PCF mainly supports providing a unified policy framework to control network behavior, providing policy rules to control layer network functions, and being responsible for obtaining user subscription information related to policy decision. The PCF can provide policies such as quality of service (QoS) policies, slice selection policies, and the like to the AMF and the SMF.

[0165] The UDM is mainly used for storing user data such as subscription data, authentication / authorization data, and the like.

[0166] The SF is mainly involved in receiving a sensing service request and obtaining a corresponding sensing requirement, selecting and requesting a sensing device related to the sensing operation to perform a sensing operation and receiving corresponding sensing measurement data, and opening the sensing measurement data or a sensing result obtained based on the sensing measurement data to the sensing requester. The SF can be separated in control plane and user plane, that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separated. The SF-C can send control signaling such as a sensing control request to the sensing device through the control plane, and the SF-U can receive the sensing measurement data from the sensing device through the data plane and optionally process the sensing measurement data to obtain the sensing result. The SF-C can control the SF-U, for example, the SF-C can select a suitable SF-U and configure one or more of the identification rules, processing rules, or routing rules for the sensing measurement data to the SF-U. The SF can be a location management function (LMF), or the SF can be part of the LMF; or the SF and the LMF are combined, without limitation.

[0167] The NEF is mainly used to support the exposure of capabilities and events. For example, the NEF can expose some capabilities of the 5G network to third-party applications through an application program interface (API), and the third-party application can obtain some capabilities of the 5G network by calling the API provided by the NEF through the AF, so that the third-party application can control some behaviors of the 5G network and the terminal device.

[0168] The AF is a functional network element deployed by a third party, which delivers application-side requirements for the network side, such as QoS requirements or user state event subscription, and the like. The main role is to tell the PCF the latest business requirements of a third-party enterprise for a certain application, and the PCF will generate corresponding QoS rules according to the requirements to ensure that the services provided by the network meet the requirements proposed by the third party.

[0169] It should be noted that the above exemplary shows several core network elements contained in the CN, in addition to which, other core network elements can also be included, for example, a unified data repository (UDR), mainly used for storing structured data, the content stored including subscription data and policy data, structured data exposed to the outside and application-related data.

[0170] It can be understood that the above-mentioned network elements or functions can be both physical entities in hardware devices and software instances running on dedicated hardware, or virtualized functions instantiated on a shared platform (for example, a cloud platform). In short, an NF can be implemented by hardware or software.

[0171] The DN is a network located outside the operator network, and the operator network can access multiple DNs. Various services can be deployed on the DN, and data and / or voice services can be provided for terminal devices. For example, the DN is a private network of a certain smart factory, and the sensors installed in the workshop of the smart factory can be terminal devices. A control server of the sensors is deployed in the DN, and the control server can provide services for the sensors. The sensors can communicate with the control server, obtain instructions from the control server, and transmit the collected sensor data to the control server according to the instructions. For another example, the DN is an internal office network of a certain company, and the mobile phones or computers of employees of the company can be terminal devices. The mobile phones or computers of the employees can access information and data resources on the internal office network of the company.

[0172] In FIG. 1, N1-N12, N14, N15, N22, N33, NS1, NS2, and NS5 are interface serial numbers. Exemplarily, the meanings of the above-mentioned interface serial numbers can refer to the meanings defined in the 3GPP standard protocol, and the meanings of the above-mentioned interface serial numbers are not limited in the present application. It should be noted that the interface names between the network functions in FIG. 1 are only an example, and the interface names of the system architecture can also be other names in the specific implementation, which are not limited in the present application. In addition, the names of the messages (or signaling) transmitted between the above-mentioned network elements are also only an example, and the functions of the messages themselves are not limited.

[0173] It should be noted that in the architecture shown in FIG. 1, the interface between the (R)AN and the CN can also be referred to as an NG interface (not shown in FIG. 1), and the (R)AN and the CN are connected through the NG interface. The NG interface can include an NG-C interface and an NG-U interface, wherein the NG-C interface is a control plane interface, and the connection parties are the (R)AN and the AMF, which are used to transmit control plane data; the NG-U interface is a user plane interface, and the connection parties are the (R)AN and the UPF, which are used to transmit user plane data.

[0174] It should be understood that the AMF, SMF, UPF, NEF, AUSF, NRF, PCF, UDM shown in FIG. 1 can be understood as network elements in the core network for implementing different functions, for example, can be combined into a network slice as needed. These core network network elements can be independent devices or can be integrated into the same device to implement different functions, and the specific form of the network elements is not limited in the present application.

[0175] It should also be understood that the above naming is only defined for the convenience of distinguishing different functions and should not constitute any limitation on the present application. The present application does not exclude the possibility of using other names in 5G networks and other future networks.

[0176] 2, Harmonized communication and sensing (HCS)

[0177] HCS is a key technology in future wireless communication systems, aiming to integrate wireless communication and sensing functions in the same system, and to use various propagation characteristics of wireless signals to realize positioning, detection, imaging and identification of targets and other sensing functions to obtain information about the surrounding physical environment, improve communication performance and enhance user experience. HCS can also be referred to as integrated sensing and communication (ISAC), joint communications and sensing (JCS), or joint communications and sensing (JCAS), etc.

[0178] The sensing process is realized by using sensing signals. Network devices can perform sensing by transmitting sensing signals and receiving echo signals to obtain information about the location and speed of targets in the environment.

[0179] Among them, the sensing signal can refer to a signal used to sense or detect a target, or in other words, the sensing signal refers to a signal used to sense or detect environmental information. For example, the sensing signal can be an electromagnetic wave transmitted by the network device to sense the environmental information. The sensing signal can also be referred to as a radar signal, a radar sensing signal, a detection signal, a radar detection signal, a ring sensing signal, etc., without limitation.

[0180] The echo signal is a signal generated by the reflection of the sensing signal by the target in the environment. The time delay of the echo signal relative to the transmitted sensing signal reflects the distance of the target. The Doppler frequency shift of the echo signal relative to the transmitted sensing signal reflects the speed of the target.

[0181] The target can include various tangible objects on the ground that can be perceived, such as mountains, forests, or buildings, and can also include movable objects such as vehicles, unmanned aerial vehicles (UAVs), pedestrians, terminal devices, and the like. The target is a target that can be perceived by a network device with a perception function, and the target can feed back electromagnetic waves to the network device. The target can also be referred to as a target object, a perception target, a detected target, a perceived object, a detected object, or a perceived device, without limitation.

[0182] It can be understood that the above-mentioned target can be moving or fixed, and can be active or passive. Active can mean that the perception target has data processing capability, such as a base station, a mobile phone, a router, a vehicle, a UAV, a radio frequency identification (RFID) device, and the like. Passive can mean that the perception target does not have data processing capability, such as a human body, an animal, a plant, a vehicle, a building, and the like.

[0183] HCS can help the development of autonomous driving, and HCS mainly enables two scenarios of vehicle networking and UAV, and supporting autonomous driving is a key requirement. By applying massive multiple input multiple output (MIMO) beam scanning technology of a cellular network to the perception field, both communication and perception can be provided in the HCS scenario; if extended to an indoor scenario, positioning services can also be provided. Some examples of application scenarios of HCS are introduced below:

[0184] (1) Autonomous driving

[0185] Intelligent transportation and UAV (scenario 1):

[0186] Since the perception distance of a vehicle or a UAV itself is short or non line of sight (NLOS) cannot be perceived, a wireless communication system can generate a large range of dynamic map information based on perception.

[0187] Intelligent transportation and UAV (scenario 2):

[0188] In the process of driving a vehicle or a UAV, a ghost head danger event such as a sudden appearance of a person or an object, a wireless communication system can identify a dangerous event based on perception and notify a UE to perform an emergency operation.

[0189] Intelligent transportation and UAV (scenario 3):

[0190] Vehicle or UAV autonomous driving assistance, a wireless communication system can generate a customized high-precision dynamic map based on perception to assist a UE in autonomous driving.

[0191] (2) Safety supervision

[0192] Scenario 1 (Intelligent transportation and UAVs):

[0193] Illegal driving, such as a vehicle occupying an emergency lane, or a UAV leaving the flight path, then the wireless communication system can identify the vehicle violation based on sensing and perform real-time warning / punishment after the fact.

[0194] Scenario 2 (Intelligent transportation, national railway perimeter, UAVs):

[0195] Foreign objects (people, animals, falling rocks, etc.) enter high-speed or railway tracks, or UAVs enter no-fly zones (e.g., airports), then the wireless communication system can identify foreign objects based on sensing, or foreign objects and perform real-time emergency handling.

[0196] (3) Family health

[0197] Scenario 1: Abnormal posture detection such as falling, then the wireless communication system can identify abnormal postures based on sensing and alarm.

[0198] Scenario 2: Health detection such as human respiration / heartbeat, then the wireless communication system can identify abnormal indicators based on sensing and alarm.

[0199] (4) Weather monitoring: The wireless communication system can sense and detect or predict changes in the environment, climate, and weather.

[0200] 3. Sensing mode

[0201] In the current 3GPP discussion, taking the access network device in the above Figure 1 (R) AN as an example, the base station has been determined that the sensing mode can be divided into the following 6 modes:

[0202] (1) Base station self-transmission and self-reception: The sensing signal is transmitted by the base station, reflected by the target in the environment, and then the echo signal is received by the base station.

[0203] (2) Base station A transmission and base station B reception: The sensing signal is transmitted by base station A, reflected by the target in the environment, and then the echo signal is received by base station B.

[0204] (3) Base station transmission and terminal device reception: The sensing signal is transmitted by the base station, reflected by the target in the environment, and then the echo signal is received by the terminal device.

[0205] (4) Terminal device transmission and base station reception: The sensing signal is transmitted by the terminal device, reflected by the target in the environment, and then the echo signal is received by the base station.

[0206] (5) Terminal device self-transmission and self-reception: The sensing signal is transmitted by the terminal device, reflected by the target in the environment, and then the echo signal is received by the terminal device.

[0207] (6) Terminal device A sends, terminal device B receives: the sensing signal is sent by terminal device A, and the echo signal is received by terminal device B after being reflected by the target in the environment.

[0208] 4. Sensing KPI

[0209] Unlike the quality of service (QoS) indicators of communication services, sensing has its own key indicators, and the sensing KPI includes (distance / speed) sensing accuracy, (distance / speed) sensing resolution, detection rate (or false detection rate), false alarm rate, refresh rate, confidence, latency, etc.

[0210] The sensing accuracy can include sensing distance accuracy, speed accuracy, angle accuracy, etc., and is used to indicate the error capability, or error requirement, or proximity between the sensing measurement result obtained by the sensing device performing sensing on the measured target and the actual result, for example, the sensing angle accuracy can indicate the error between the sensing measurement value of the measured target in the angle and the true value.

[0211] The sensing resolution can include distance resolution, speed resolution, angle resolution, etc., and respectively indicates the ability, or requirement, or difference required by the sensing device performing sensing on the measured target to distinguish two adjacent targets in distance, speed, and angle, or respectively indicates the ability, or requirement, or difference required by the sensing device performing sensing on the measured target to distinguish two adjacent targets in distance, speed, and angle.

[0212] The detection rate can be used to indicate the probability of judging that there is a target when there is actually a target, or to indicate the ratio of successful detection events to all detection events for the actually existing target when the sensing result is obtained within a predetermined period. For example, the probability of judging that there is a target when there is actually a target is P1, and the probability of judging that there is no target when there is actually a target is 1-P1. For example, the sensing device judges that there are 95 vehicles on road a through sensing measurement, and there are actually 100 vehicles on road a, and the detection rate is 95%.

[0213] The false alarm rate can be used to indicate the probability of judging that there is a target when there is actually no target, or to indicate the probability of judging that there is no target when there is actually a target, or to indicate the ratio of events that do not represent target objects to all detection events when the sensing result is obtained within a predetermined period. For example, the probability of judging that there is a target when there is actually no target is Q1, and the probability of judging that there is no target when there is actually no target is 1-Q1.

[0214] The refresh rate can indicate the frequency of updating the perception measurement data or the perception result, or the continuity of the perception measurement data or the perception result. The refresh rate can also be called the frame rate. For example, the perception measurement data is the perception point cloud information or the point cloud image, and the refresh rate can be the refresh rate of the point cloud information. The higher the refresh rate, the better the continuity of the point cloud information or the point cloud image. For example, the refresh rate of 30 times per second can be used to represent 30 times of point cloud information or 30 frames of point cloud images in 1 second. For another example, the perception measurement data is further processed to obtain the perception result, and the perception result is the perception image information. The refresh rate of 30 times per second can be used to represent 30 frames of image information in 1 second.

[0215] The confidence can be used to indicate the percentage of the real perception result in all the perception results obtained by detection under a given perception accuracy.

[0216] The latency can be used to indicate the time interval from receiving the perception request from the perception requester to returning the perception result to the requester, or the time interval from triggering the perception request by the perception application to applying the perception result, or the time interval from performing the perception operation by the perception device to returning the perception result to the perception requester.

[0217] Currently, in the communication perception scenario, the SF in the CN can calculate the perception result according to the perception measurement data reported by the perception device, or directly receive the perception result reported by the perception device to perform the subsequent operation for the perceived object according to the perception result. For example, in the unmanned aerial vehicle detection or road supervision, the wireless communication system (such as the 5G system) needs to identify different objects in the target perception area and perform the subsequent operation, such as identifying the illegal UAV and tracking it, identifying the pedestrian / motorcycle / car / truck on the road and managing it (such as pedestrian collision warning / vehicle speed measurement / road supervision), etc.

[0218] As shown in FIG. 2, the application function (application function, AF) or the terminal device can request the corresponding perception service from the SF according to the demand, such as identifying the driving speed of the vehicle on the road. The SF can select the perception device to perform the corresponding perception task, such as the RAN device 1 and the terminal device as the perception device. The RAN device 1 can perform the perception on the vehicle driving in the perception area in the self-initiated and self-received perception mode, and the terminal device can perform the perception on the vehicle driving in the perception area in the RAN device 1 initiated and terminal device received perception mode, and report the perception measurement data or the perception result calculated according to the perception measurement data to the SF in the CN, so that the SF performs the subsequent operation for the detected vehicle according to the perception result.

[0219] Since the perceived objects are various, there is a need to distinguish different types of objects and different objects of the same type, so as to perform independent / differentiated processing. In addition, object movement or sensing device movement (such as mobile base station or terminal device) can cause the object to move out of the sensing area of the current sensing device and enter the sensing area of another sensing device, which involves the processing of sensing continuity of the object. For example, in the scenario shown in FIG. 2, the sensing device can change from RAN device 1 to RAN device 2 during vehicle movement, or RAN device 1 and RAN device 2 jointly sense, and similarly, the terminal device as the sensing device can also change, and the sensing mode can also change.

[0220] However, how to enable different sensing devices and SFs to identify the sensing results of the same object, so as to perform specific management or processing on the object, needs to be studied.

[0221] To this end, the embodiments of the present application provide a communication method and device, which allocates an identifier for different objects by a sensing device or SF, so as to ensure the consistency of the object label between different sensing devices and SFs, regardless of the change of the sensing device caused by object movement or sensing device movement, thereby enabling the network to perform related processing on a specific object, such as fusing the sensing data obtained by different sensing devices, or controlling the sensing device to perform sensing operation.

[0222] In order to better understand the embodiments of the present application, the following points are explained before introducing the embodiments of the present application.

[0223] First, in the embodiments of the present application, “for indicating” can include direct indication and indirect indication. When describing that “indication information” is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, and it does not mean that A must be carried in the indication information.

[0224] The information indicated by the indication information is referred to as to-be-indicated information. In the specific implementation process, there are many ways to indicate the to-be-indicated information, for example but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or an index of the to-be-indicated information. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be only indicated in part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can also be realized by means of the arrangement order of each information agreed in advance (for example, specified by a protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common part of each information can be identified and uniformly indicated, so as to reduce the indication overhead caused by separately indicating the same information.

[0225] In addition, the specific indication manner can also be various existing indication manners, for example but not limited to the indication manners described above and various combinations thereof. The specific details of various indication manners can refer to the prior art, and will not be described herein. As can be known from the above, for example, when multiple information of the same type needs to be indicated, the indication manners of different information can be different. In the specific implementation process, the required indication manner can be selected according to the specific needs, and the selected indication manner is not limited by the embodiments of the present application. In this way, the indication manners involved in the embodiments of the present application should be understood as covering various methods that can enable the to-be-indicated party to know the to-be-indicated information.

[0226] The to-be-indicated information can be sent as a whole, or can be divided into multiple sub-information and sent separately, and the sending period and / or sending occasion of the sub-information can be the same or different. The specific sending method is not limited by the present application. The sending period and / or sending occasion of the sub-information can be predefined, for example, predefined according to a protocol, or configured by the transmitting end device by sending configuration information to the receiving end device.

[0227] Secondly, in the embodiments of the present application, the first, second and various numerical numbers are only for differentiation for convenience of description, and do not limit the scope of the embodiments of the present application. For example, different indication information is differentiated. For another example, the first indication information and the second indication information are only for differentiating different indication information, and the sequence thereof is not limited. Those skilled in the art can understand that the words “first”, “second” and the like do not limit the number and execution sequence, and the words “first”, “second” and the like do not necessarily mean different.

[0228] Thirdly, in the embodiments of the present application, the descriptions such as “when”, “in the case of”, “if” and “if” all refer to the device making corresponding processing under certain objective circumstances, and are not limited by time, and the device does not necessarily have a judgment action when implemented, and it does not mean that there are other limitations.

[0229] Meanwhile, in the embodiments of the present application, the words “exemplary” or “for example” are used to represent an example, illustration or description. Any embodiment or design scheme described as “exemplary” or “for example” in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, the words “exemplary” or “for example” are used to present the relevant concept in a specific manner, so as to facilitate understanding.

[0230] Finally, the network architecture and service scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the emergence of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0231] Please refer to FIG. 3, which is a schematic diagram of an architecture of a communication system to which the embodiments of the present application are applied, which can be applicable to the 5G network architecture shown in FIG. 1. As an example, as shown in FIG. 3, the communication system includes a perception network element and at least one perception device, such as a first perception device and a second perception device. Among them, the perception devices can communicate directly or indirectly, and the perception devices can also communicate directly or indirectly.

[0232] In the embodiments of the present application, the perception device is a device with perception and communication functions, which can be a terminal device or an access network device. The specific description of the terminal device and the access network device can be referred to the related description in the 5G communication system shown in FIG. 1, which is not repeated here. In some implementations, the perception device can also be a core network element, which is not limited.

[0233] The perception network element is a device deployed in the core network in the sensing-integrated scenario, which is used to implement the sensing function, and can be an independent network element or co-located with other network elements. The deployment mode can be centralized or distributed. The perception network element can implement the functions of sensing task issuing, sensing device selection, sensing service control, processing sensing measurement data independently or jointly with other network elements, and outputting sensing measurement results or directly providing sensing measurement data to the sensing requester. For example, the perception network element can be an SF. The SF can be separated in control plane and user plane, that is, the SF-C function and the SF-U function are separated. Among them, the SF-C can send control signaling such as a sensing control request to the perception device through the control plane, and the SF-U can receive the sensing measurement data from the perception device through the data plane and optionally process the sensing measurement data to obtain the sensing result. The SF-C can control the SF-U, for example, the SF-C can select a suitable SF-U and configure one or more of the identification rules, processing rules, or routing rules for the sensing measurement data to the SF-U. The SF can be an LMF, or the SF can be part of the LMF; or the SF and the LMF are co-located, which is not limited. The SF-U can also be referred to as SF data plane (SF-D).

[0234] It should be pointed out that the scheme in the embodiments of the present application can also be applied to other communication systems, and the corresponding names can also be replaced by the names of the corresponding functions in other communication systems.

[0235] In the communication system, the first perception device can assign a first identifier to the first target object according to a first message for requesting to perceive the target object issued by the perception network element, and send the first identifier and a first perception result associated with the first identifier to the perception network element. Alternatively, the perception network element can send the first message to the first perception device, and assign the first identifier to the first target object according to the first perception result of the first target object reported by the first perception device based on the first perception result reported by the first perception device based on the first message. Thus, an identifier can be assigned to each target object perceived, so that each target object can be distinguished according to the identifier when the target object is perceived subsequently. Whether the change / switch of the perception device occurs due to the movement of the target object or the movement of the perception device, the marking consistency of the target object between different perception devices and the perception device can be ensured, so that the continuity of perception can be ensured and the reliability of perception can be improved.

[0236] The communication method provided by the embodiments of the present application will be described in detail below in combination with FIGS. 4-10.

[0237] Exemplarily, FIG. 4 is a flowchart of a communication method provided by an embodiment of the present application. The communication method can be applied to the communication between the perception device and the perception network element shown in FIG. 3. The subject performing the actions of the perception device in the method can also be a device / module in the perception device, such as a chip, a processor, a processing unit, etc. in the perception device, which is not limited in the embodiments of the present application. The subject performing the actions of the perception network element in the method can also be a device / module in the perception network element, such as a chip, a processor, a processing unit, etc. in the perception network element, which is not limited in the embodiments of the present application.

[0238] As shown in FIG. 4, the communication method includes:

[0239] S401, the perception network element sends a first message to the first perception device. Correspondingly, the first perception device receives the first message from the perception network element.

[0240] The first message is used to request to perceive the target object. It can be understood that the first message is a message used to trigger the first perception device to perform perception. In the embodiments of the present application, the name of the first message is not limited, which can also be called a perception control request message, a perception request message, a perception data request message, etc., which is not limited.

[0241] The perception network element can select the perception device, such as the first perception device, for performing the corresponding perception task from a plurality of perception devices according to the perception capability of the perception device, the perception task requirement (or called the perception task demand), etc., so as to send the first message to the first perception device to trigger the first perception device to perform the perception of the target object.

[0242] The perception capability of the perception device can include one or more of a perception coverage area, a perception overlap area, a location boundary where a perception handover occurs, a supported perception target type, or a supported perception KPI, and the perception task requirement can include one or more of a perception area / location, a perception latency requirement, a perception accuracy requirement, a perception resolution requirement, a false detection rate requirement, a false alarm rate requirement, a refresh rate requirement, or a confidence requirement. The perception latency requirement, the perception accuracy requirement, the perception resolution requirement, the false detection rate requirement, the false alarm rate requirement, the refresh rate requirement, or the confidence requirement can be understood as a perception KPI requirement, and specific descriptions thereof can be found in the foregoing Related Technical 4, which will not be repeated here.

[0243] The first message includes feature information of a target object requested to be perceived, and the feature information is used to indicate a feature of the target object requested to be perceived. It can be understood that the first message is used to request to perceive the target object meeting the feature information. The feature information can include at least one of a perception area / location, a perception KPI requirement, a type of the target object, a contour of the target object, a size of the target object, a material of the target object, a speed of the target object, or a position of the target object.

[0244] The perception area / location can be regarded as a perception area feature of the target object, and can indicate a geographical position or area where the device (such as the first perception device) performing the perception operation is located. The perception area / location can be represented by absolute coordinates or relative coordinates, for example, a latitude and longitude range, which is not limited. That is, the first perception device needs to perform perception in the perception area to obtain a perception result of the target object located in the perception area.

[0245] The perception KPI requirement is used to indicate a KPI required to be achieved by performing the perception, including a perception accuracy and a perception resolution. Specific descriptions thereof can be found in the foregoing Related Technical 4, which will not be repeated here. That is, the first perception device needs to achieve the perception KIP requirement when performing the perception.

[0246] Optionally, the feature information of the target object can also be indicated by point cloud feature information of the target object. For example, the point cloud feature information of the target object can include at least one of a point cloud size of the perception area / location, the perception KPI requirement, the type of the target object, a point cloud contour of the target object, a point cloud size of the target object, a material of the target object, a point cloud signal strength of the target object, a point cloud speed of the target object, or a point cloud position of the target object. It can be understood that when there are multiple target objects, the first message includes feature information corresponding to each target object, which can be indicated in the form of a list.

[0247] That is, the characteristic information of the target object can be used to indicate the common characteristics of a class of objects or a group of similar objects, or can be used to indicate the specific characteristics of a certain object, which is not limited.

[0248] For example, the characteristic information includes a perception area, at this time the first message can be used to request to perceive the perception area, and the target object can include all objects that meet the supported perception KPIs obtained by the first perception device performing perception in the perception area. For another example, the characteristic information includes a perception area and a perception KPI requirement, at this time the first message can also be used to request to perceive the perception area, and the target object can include objects that meet the perception KPI requirement obtained by the first perception device performing perception in the perception area. For another example, the characteristic information includes a drone (type of target object), at this time the first message is used to request to perceive the drone, and the target object can include all drones perceived by the first perception device in its perception coverage area. For another example, the characteristic information includes a drone (type of target object) and a drone size of A x B x C (size of target object, A, B, and C can represent length, width, and height, respectively), at this time the first message is used to request to perceive the drone with a size of A x B x C, and the target object can include the drone with a size of A x B x C perceived by the first perception device in its perception coverage area. For another example, the characteristic information includes a drone, a size of the drone, a speed of the drone, and a location of the drone, at this time the characteristic information can be a specific characteristic of a certain drone, and the first perception device can uniquely perceive one drone according to the characteristic information.

[0249] Optionally, the first message can also include other perception-related information, such as a service continuity indication, a perception time period, etc., which is not limited.

[0250] For the first perception device sending the first message to the first perception device, the first message can be directly sent to the first perception device through an interface, or the first message can be routed to the first perception device through an access and mobility management network element (such as the AMF in the 5G system described above). That is, the interaction between the perception device and the management network element can be through a direct interface interaction without passing through the access and mobility management network element, or can be routed through the access and mobility management network element, which is not limited.

[0251] S402, the first perception device performs perception to obtain a first perception result of the first target object according to the first message, and allocates a first identifier to the first target object.

[0252] Among them, the first target object is one of the target objects that meet the characteristic information, or the target objects that meet the characteristic information include the first target object, and the first identifier is used to mark the first target object.

[0253] That is, the first perception device can perform perception according to the received first message, obtain a first perception result of each target object in one or more target objects satisfying the characteristic information, one first perception result corresponds to one target object, and different first perception results correspond to different target objects, and assign different identifiers to each target object (relative to each first perception result) according to the first perception result of each target object satisfying the characteristic information perceived. In other words, the first perception device can perform perception according to the characteristic information, and the perception result obtained from the perception result matching the characteristic information is the perception result of the target object, and the object corresponding to the perception result is the target object, so as to assign different identifiers to each target object according to the target object corresponding to different perception results.

[0254] Taking the first target object in the target object satisfying the characteristic information as an example, the first perception device can assign a first identifier to the first target object according to the obtained first perception result of the first target object, and the first identifier is associated with the first perception result of the first target object. It can be understood that when there are multiple target objects satisfying the characteristic information, there can also be a second target object, a third target object, etc., which is not limited.

[0255] Whether the object perceived by the first perception device satisfies the characteristic information is determined by the first perception device according to all the perception results obtained by the first perception device, that is, the first perception device can match all the perception results perceived by the first perception device with the characteristic information, and the perception result satisfying the characteristic information is taken as the first perception result, and the object corresponding to the first perception result is the target object. The target object satisfying the characteristic information can be understood as the perception result satisfying the characteristic information, and each perception result feeds back one target object.

[0256] It should be understood that the perception result can be used to feed back the position, trajectory, size, speed, etc. of the target object. In the embodiments of the present application, the perception result such as the first perception result, the second perception result, the third perception result and the like described later can refer to perception measurement data such as perception raw data of the target object, range-velocity (RV) / range-velocity-angle (RVA) spectrum data, point cloud data, etc. It can also refer to the final perception result obtained after processing the perception measurement data, such as the position, trajectory, speed, type, size, contour, etc. of the target object, which is not limited.

[0257] That is, the first perception device can send the first identifier and the perception measurement data associated with the first identifier to the perception network element, so that the perception network element obtains the perception result of the position, trajectory, speed and other characteristics of the target object marked by the first identifier according to the processing of the perception measurement data, or the first perception device can directly send the perception result of the position, trajectory, speed and other characteristics of the target object marked by the first identifier obtained according to the processing of the perception measurement data to the perception network element.

[0258] In a possible design, the first identifier can be determined according to the identifier of the first perception device, so as to distinguish which perception device allocates the first identifier. The first identifier can include the identifier of the first perception device or include part of the identifier of the first perception device. Hereinafter, the first identifier is taken as ID1_n as an example, where n is the serial number of the first target object in all target objects perceived by the first perception device, and n is an integer.

[0259] For example, the format of the first identifier can be the identifier of the first perception device+random code, or the identifier of the first perception device+type code+random code, etc. Different values of the type code and the random code can constitute different first identifiers, which are used to identify different target objects. The type code can be used to indicate the type of the target object, the applicable perception scene, etc., which is not limited herein. For example, the first perception device is a RAN device, and the format of the first identifier can be RAN ID+random code, or RAN ID+cell ID+random code, or RAN ID+cell ID+type code+random code, or RAN ID+type code+random code, etc., which is not limited herein. For another example, the first perception device is a terminal device, and the format of the first identifier can be UE ID+random code, or UE ID+cell ID+random code, or UE ID+cell ID+type code+random code, or UE ID+type code+random code, etc., which is not limited herein.

[0260] For example, the first perception device obtains N target objects (N is greater than 1) that satisfy the characteristic information according to the first message, that is, the first perception device obtains N first perception results. Then, the first perception device can allocate a first identifier to each of the N target objects according to the N first perception results, such as ID1_1, ID1_2, ID1_3, …, ID1_N or ID1_0, ID1_0, ID1_2, …, ID1_N-1, where each first identifier is associated with the first perception result of a corresponding target object.

[0261] It can be understood that the first perception device can perform perception in a self-transmitting and self-receiving perception mode or in an A-transmitting and B-receiving perception mode, which is not limited herein.

[0262] S403, the first perception device sends the first identifier and the first perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the first perception result from the first perception device.

[0263] The first perception device sends the first perception result of the perceived first target object and the first identifier allocated for the first target object to the perception network element, so that the perception network element learns the identifier of the perceived first target object and the perception result of the target object marked by the identifier. Correspondingly, the perception network element saves the received first identifier and first perception result, i.e., saves the first identifier of the first target object and the first perception result associated with the first identifier.

[0264] When the subsequent perception network element performs perception control on the first target object, the first perception device can be instructed to perform relevant perception operations on the target object through the first identifier of the first target object. For example, the first target object is a drone, and the perception network element determines according to the first perception result that the drone is an illegal drone. Then, the perception network element can send a tracking command to the first perception device, and the tracking command includes the first identifier to instruct the first perception device to track the drone and perform control processing.

[0265] In the case where multiple target objects exist, the first perception device can feed back the first identifier of each target object perceived and the associated first perception result to the perception network element in the form of a list, so as to distinguish the perception results of different target objects.

[0266] Optionally, the first identifier and the first perception result can be carried in a response message corresponding to the first message or other messages, for example, the first identifier and the first perception result can be carried in a perception control response message, a perception data reporting message, etc., and the like, which is not limited.

[0267] Optionally, after the perception network element obtains the first identifier and the first perception result, the perception network element can also allocate a third identifier for the first target object according to the first perception result, and associate the first identifier with the third identifier. In a possible design, the third identifier can be determined according to the identifier of the perception network element. For example, the format design of the third identifier can refer to the format design of the first identifier, which is not repeated and limited.

[0268] In the communication method shown in FIG. 4, the first sensing device performs sensing according to the first message for sensing the target object sent by the sensing network element according to the request, assigns different identities to each sensed target object based on the sensing result (for example, assigns a first identity to the first target object), and feeds back to the sensing network element, so that when subsequent sensing of the target object is performed, the sensing device and the sensing network element can distinguish each target object according to the identity. Whether the sensing device changes / switches due to the movement of the target object or the movement of the sensing device, the identity consistency of the target object between different sensing devices and sensing network elements can be ensured, and the sensing result belongs to which target object can be known through the identity, so that the continuity of sensing can be ensured and the reliability of sensing can be improved.

[0269] For the first sensing device assigning the first identity to the sensed first target object, the application of the first identity in various scenarios will be described in detail below.

[0270] Scenario one, the first identity is used for performing sensing operation between sensing devices: in this scenario one, the following sensing operation cases exist:

[0271] Case 1, the first sensing device performs sensing fusion: the first target object is located in the overlapping sensing coverage area of the first sensing device and at least one adjacent sensing device, but the first sensing device does not switch the sensing of the first target object to other sensing devices, that is, no switching of the sensing device occurs, the first sensing device can use the first identity to request to obtain the sensing result of the sensing device (the second sensing device is taken as an example below) that can sense the first target object, so as to perform sensing result fusion and improve sensing accuracy. At this time, the first sensing device can be considered as the main sensing device, and the second sensing device can be considered as the auxiliary sensing device.

[0272] In the sensing fusion case, the communication method provided by the embodiment of the application can further include:

[0273] S404, the first sensing device sends a second message to the second sensing device. Correspondingly, the second sensing device receives the second message from the first sensing device.

[0274] The second message is used to request the sensing result of the first target object. It can be understood that the second message is used to request the second sensing device to sense the first target object and provide the sensing result. The embodiment of the application does not limit the name of the second message. For example, the second message can also be called a sensing data request message, a sensing data acquisition message, a sensing request message, and the like. This is not limited.

[0275] The second message includes the first identifier and first characteristic information of the first target object, the first characteristic information can be used to indicate specific characteristics of the first target object, and is used to uniquely identify which object in the overlapping coverage range is the first target object. The first characteristic information is determined according to the first perception result and / or the characteristic information of the target object.

[0276] That is, the first perception device can determine the first characteristic information of the first target object according to the first perception result of the first target object obtained by the first perception device and / or the characteristic information of the target object. For example, the first characteristic information includes the type, size, position, trajectory, etc. of the first target object, which can enable the second perception device to know which target object corresponding to the perception result is the first target object when performing perception.

[0277] For example, the first characteristic information includes the type, size, position, trajectory, and moving speed of the first target object. The first characteristic information can be determined according to the first perception result of the first target object obtained by the first perception device. The first perception result can feed back information such as the type, size, position, trajectory, and moving speed of the first target object. Alternatively, the first characteristic information can be determined according to the characteristic information of the target object. In this case, the characteristic information of the target object can be the first characteristic information, which indicates specific characteristics of the first target object. Alternatively, the first characteristic information can be determined according to the first perception result of the first target object obtained by the first perception device and the characteristic information of the target object. For example, some specific characteristic information of the first target object fed back by the first perception result is fused with the characteristic information of the target object, which indicates common characteristics of a type of object or a group of similar objects. In this way, the first characteristic information obtained can also uniquely identify the first target object.

[0278] Optionally, the second message can also include other perception parameters, such as an overlapping perception coverage area, a reporting configuration of the perception result, indicating periodic reporting or event-triggered reporting, etc., which are not limited.

[0279] In some scenarios, the characteristic information of the target object is the first characteristic information, which is not limited.

[0280] It should be understood that when the first perception device requests the perception result of the first target object from multiple perception devices (including the second perception device), the first perception device can send a request to the next perception device after obtaining the perception result of one perception device. For example, the second perception device is the first perception device that sends a request. After the second perception device feeds back the perception result of the first target object obtained according to the first feature information to the first perception device, the first perception device carries the feature information determined according to the fusion perception result of the perception result of the first target object obtained by the second perception device and the perception result of the first target object obtained locally by the first perception device when requesting the perception result from the next perception device. When sending a request to the next perception device, the feature information of the first target object can be determined by fusing all the perception results obtained before. Details are not repeated.

[0281] It should be understood that the first perception device can determine which perception devices the first target object currently locates in the overlapping perception coverage range according to the obtained first perception result and the perception capability of the adjacent perception device, so as to request the other perception devices to obtain the perception result of the first target object based on the perception requirement to perform the fusion of the perception result.

[0282] It should also be understood that when the first perception device requests the perception result of multiple target objects from the second perception device, the first feature information and the first identifier corresponding to the multiple target objects can be carried in the second message in the form of a list, or the first perception device requests to obtain the perception result of different target objects through different second messages. Details are not limited.

[0283] Optionally, the perception devices can directly interact with each other, or indirectly interact through an access and mobility management network element (such as AMF in 5G) and / or a perception network element. Details are not limited.

[0284] S405, the second perception device performs perception on the first target object according to the first feature information, and obtains a second perception result.

[0285] After the second perception device receives the second message, the second perception device can perform perception according to the first feature information in the second message, and filter the perception result matching the first feature information from all the obtained perception results, that is, the second perception result of the first target object. At this time, the second perception device does not assign an identifier to the first target object according to the second perception result, and does not send the second perception result and the first identifier to the perception network element.

[0286] S406, the second perception device sends the first identifier and the second perception result to the first perception device. Correspondingly, the first perception device receives the first identifier and the second perception result from the second perception device.

[0287] After the second perception device obtains the second perception result, the second perception device sends the second perception result and the first identifier to the first perception device, so that the first perception device learns from the first identifier that the second perception result is the perception result of the first target object.

[0288] Optionally, the first identifier and the second perception result can be carried in a response message or other message corresponding to the second message, which is not limited.

[0289] S407, the first perception device fuses the first perception result and the second perception result according to the first identifier to obtain a first fused perception result.

[0290] After the first perception device obtains the perception result of the target object from other perception devices, the first perception device can identify which perception results belong to the first target object according to the first identifier, such as the first perception result associated with the first identifier and the second perception result associated with the first identifier, so as to fuse all perception results associated with the first identifier to obtain the fused perception result of the first target object, i.e., the first fused perception result, to obtain a perception result with better performance (such as accuracy, resolution, detection rate, false alarm rate, size, contour, etc.).

[0291] S408, the first perception device sends the first identifier and the first fused perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the first fused perception result from the first perception device.

[0292] After the first perception device performs perception fusion to obtain the first fused perception result of the first target object, the first perception device can send the first fused perception result and the first identifier to the perception network element. Correspondingly, the perception network element can learn from the received first identifier which target object the first fused perception result belongs to, so as to determine whether to perform a specific perception operation on the first target object for the first fused perception result.

[0293] When the first perception device does not need the second perception device to provide the perception result of the first target object, such as when the first target object leaves the overlapping perception coverage area of the first perception device and the second perception device, the first perception device can send a message indicating termination of sending the perception result of the first target object or a message indicating termination of perception of the first target object to the second perception device, the message including the first identifier. Thus, the second perception device can terminate sending the perception result of the first target object to the first perception device, or terminate perception of the first target object.

[0294] Therefore, when performing the perception fusion operation, the first perception device can carry the first identifier in a perception result request message when requesting the perception result of the first target object from other perception devices, so that it can identify which perception results among the perception results fed back by other perception devices are the perception results of the first target object according to the first identifier, to ensure the accuracy of the fused perception result.

[0295] For the case 1, in addition to the above implementation, in one possible implementation, the second message can include feature information of the target object, at this time, the second perception device can perform perception according to the feature information in the overlapping perception coverage range, obtain one or more perception results meeting the feature information, and send them to the first perception device, at this time, the first perception device can match the second perception result from the one or more perception results obtained by the second perception device according to the first perception result, so as to perform fusion processing on the first perception result and the matched second perception result, and obtain the first fusion perception result.

[0296] In another possible implementation, the second message can include feature information of the target object, at this time, the second perception device can perform perception according to the feature information in the overlapping perception coverage range, obtain one or more perception results meeting the feature information, and assign a second identifier to each perception result obtained by it, and send each perception result and the second identifier corresponding to it to the first perception device. At this time, the first perception device can still match the second perception result from the one or more perception results obtained by the second perception device according to the first perception result, and associate the second identifier corresponding to the second perception result with the first identifier. Therefore, in the subsequent perception fusion process, the first perception device can use the second identifier to request the perception result of the first target object from the second perception device.

[0297] Case 2, perception switching scenario: when the first perception device cannot serve as the main perception device for perceiving the first target object, and switches the perception device for perceiving the first target object, for example, the first perception device cannot meet the perception KPI requirement when performing perception on the first target object, or the first target object will leave the perception coverage range of the first perception device, then the first perception device can select a perception device as the main perception device for perceiving the first target object, and inform the selected perception device of the first identifier. The following takes the second perception device as an example, which can also be called the target perception device, and this is not limited. In this case 2, the communication method provided by the embodiments of the present application can further include:

[0298] S409, the first perception device sends a third message to the second perception device. Correspondingly, the second perception device receives the third message from the first perception device.

[0299] The third message is a message for performing the sensing switching, such as the third message for instructing to switch the sensing of the first target object to the second sensing device. In the embodiments of the present application, the name of the third message is not limited, for example, the third message can also be called a sensing switching message, a switching request message, and the like, which is not limited.

[0300] The third message includes the first identifier and second characteristic information of the first target object. The second characteristic information is similar to the first characteristic information in S404, and can be used to indicate the specific characteristics of the first target object, and to uniquely identify which object in the objects located in the sensing coverage is the first target object. Unlike the first characteristic information, the second characteristic information can be determined according to the sensing result of the first target object obtained by the first sensing device and / or the characteristic information of the target object, wherein the sensing result of the first target object obtained by the first sensing device includes the first sensing result.

[0301] That is, when the sensing result of the first target object obtained by the first sensing device only includes the first sensing result, the second characteristic information can be the first characteristic information. When the sensing result of the first target object obtained by the first sensing device includes the first sensing result obtained by the first sensing device itself and a plurality of sensing results obtained from other sensing devices, the first sensing device can perform fusion processing on the plurality of sensing results of the first target object obtained by the first sensing device to obtain a fusion sensing result, and then determine the second characteristic information according to the fusion sensing result and / or the characteristic information of the target object, that is, the second characteristic information is determined according to the fusion sensing result of the first target object obtained by the first sensing device and / or the characteristic information of the target object.

[0302] The first identifier is associated with the sensing result of the first target object obtained by the second sensing device, so that the first sensing device can know whether the received sensing result belongs to the first target object.

[0303] Therefore, when determining to switch the sensing of the first target object to the second sensing device, the first sensing device can determine which sensing device can be used as the target sensing device for switching according to the obtained sensing result of the first target object and the sensing capability of the other one or more sensing devices (including the second sensing device), so that the first sensing device can send the third message to the target sensing device, i.e., the second sensing device, to instruct to switch the sensing of the first target object to the second sensing device. The third message includes the second characteristic information for the second sensing device to identify the first target object, and the first identifier allocated by the first sensing device for the first target object.

[0304] S410, the second sensing device performs sensing according to the third message to obtain a fourth sensing result of the first target object.

[0305] After receiving the third message, the second sensing device can determine whether to perform the sensing switching. If yes, the second sensing device can perform the sensing according to the second feature information in the third message to obtain a fourth sensing result of the first target object.

[0306] Optionally, the second sensing device can further send a response message corresponding to the third message to the first sensing device, where the response message corresponding to the third message is used to notify whether the sensing switching is completed or successful. If the sensing switching is completed, the first sensing device can terminate (stop) or end the sensing of the first target object according to the response message corresponding to the third message. At this time, the response message corresponding to the third message can be considered to indicate the termination of the sensing of the first target object, but the first sensing device does not delete the first identifier. If the sensing switching is not completed, the first sensing device can reselect other sensing devices to perform the sensing switching. Optionally, the response message corresponding to the third message can include the reason for the uncompleted sensing switching.

[0307] In a possible implementation, after determining to perform the sensing of the first target object, the second sensing device can further send a seventh message to the sensing network element, where the seventh message is used to indicate that the sensing of the first target object is switched to the second sensing device, and the seventh message includes the first identifier. That is, the second sensing device can inform the sensing network element that the sensing of the first target object marked by the first identifier is switched to the second sensing device. It should be understood that the embodiments of the present application do not limit the name of the seventh message, for example, the third message can also be called a sensing switching message, a switching request message, and the like, which are not limited.

[0308] In this implementation, optionally, after obtaining the seventh message, the sensing network element can also send a response message corresponding to the seventh message to the second sensing device, which is used to indicate that the sensing network element knows that the sensing switching occurs.

[0309] If the first sensing device and the second sensing device cannot directly interact with each other, but the first sensing device can send the third message to the second sensing device through the sensing network element. In this process, the sensing network element can know that the first target object marked by the first identifier will be switched to the second sensing device for sensing, that is, the reporting path of the sensing result of the first target object is switched from the first sensing device to the sensing network element to the second sensing device to the sensing network element. Then, in the above implementation, the second sensing device sending the seventh message to the sensing network element is an optional step. If the first sensing device and the second sensing device can directly interact with each other, then the second sensing device can send the seventh message to the sensing network element.

[0310] In the implementation process, the second sensing device does not need to reassign a new identifier to the first target object due to the sensing switch, but can directly cause the first identifier to report the sensing result to the sensing network element after obtaining the fourth sensing result, such as performing the following S411a and S416a.

[0311] In addition, the embodiment of the present application also provides a possible design. The second sensing device can assign a new identifier, such as a second identifier, to the first target object due to the sensing switch, that is, the identifier of the first target object is variable in the life cycle of target tracking, and the second sensing device informs the sensing network element of the assigned second identifier, so as to report the second identifier in the subsequent sensing result reporting process, such as performing the following S411b and S416b. Optionally, the second sensing device can store the first identifier and the second identifier in association.

[0312] In this design, how the sensing network element knows the second identifier exists as follows:

[0313] In a possible implementation 1, if the first sensing device and the second sensing device cannot directly interact with each other, the second sensing device can cause the sensing network element to know the second identifier in the process of interacting with the first sensing device through the sensing network element in the sensing switch process. For example, after the second sensing device receives the third message of the first sensing network element through the sensing network element, the second sensing device can assign a second identifier to the first target object according to the third message, and send the second identifier to the first sensing device through the sensing network element in the response message corresponding to the third message, so as to cause the sensing network element to know the second identifier and associate the first identifier with the second identifier.

[0314] In a possible implementation 2, if the first sensing device and the second sensing device can directly interact with each other, the second sensing device can assign a second identifier to the first target object according to the third message after determining to perform sensing on the first target object, and send the first identifier and the second identifier in the seventh message, that is, the seventh message includes the first identifier and the second identifier, to indicate that the identifier of the first target object changes from the first identifier to the second identifier under the sensing of the second sensing device, so as to cause the sensing network element to know the second identifier, store and associate the first identifier with the second identifier.

[0315] Optionally, the second identifier can be determined according to the identifier of the second sensing device. The format design of the second identifier can be referred to the format design of the first identifier as described above, which will not be repeated and limited. In this way, the sensing network element can determine the sensing device currently sensing the first target object according to the first identifier, so as to perform sensing control on the first target object.

[0316] Optionally, if the perception network element assigns the third identifier to the first target object, the perception network element associates the second identifier and the third identifier.

[0317] Optionally, if the perception network element has the association between the first identifier and the third identifier, the perception network element can delete the first identifier associated with the third identifier, or delete the association between the third identifier and the first identifier.

[0318] In this design, the first perception device can also delete the first identifier of the first target object according to the response message corresponding to the third message, or the first perception device can delete the first identifier by default after a period of time when the first target object is not detected, which is not limited.

[0319] S411a, the second perception device sends the first identifier and the fourth perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the fourth perception result from the second perception device.

[0320] After the second perception device obtains the fourth perception result, the second perception device sends the fourth perception result associated with the first identifier to the perception network element, so that the perception network element knows that the fourth perception result belongs to the first target object according to the first identifier, so that the perception network element can execute subsequent related perception operations on the first target object according to the fourth perception result.

[0321] For example, the first identifier and the fourth perception result are carried in the perception data reporting message and sent.

[0322] S411b, the second perception device sends the second identifier and the fourth perception result to the perception network element. Correspondingly, the perception network element receives the second identifier and the fourth perception result from the second perception device.

[0323] In the above design in which the second perception device assigns the second identifier to the first target object, that is, the second identifier is an identifier assigned by the second perception device to the first target object. After the second perception device obtains the fourth perception result, the second perception device sends the fourth perception result associated with the second identifier to the perception network element, so that the perception network element knows that the fourth perception result belongs to the first target object according to the second identifier, so that the perception network element can execute subsequent related perception operations on the first target object according to the fourth perception result.

[0324] Optionally, the second perception device can also report the first identifier to the perception network element together with the second identifier and the fourth perception result.

[0325] For example, the second identifier and the fourth perception result are carried in the perception data reporting message and sent.

[0326] Case 3, the scenario that the second sensing device performs sensing fusion: after the sensing of the first target object is switched to the second sensing device, when the second sensing device performs sensing fusion, taking the sensing device participating in the sensing fusion as the first sensing device as an example, that is, the first target object is located in the overlapping sensing coverage of the first sensing device and the second sensing device, similar to the sensing fusion of the first sensing device in the above S404a-S408a, at this time, the communication method provided by the embodiment of the application can further include:

[0327] S412, the second sensing device sends a fourth message to the first sensing device. Correspondingly, the first sensing device receives the fourth message from the second sensing device.

[0328] The fourth message is used to request the sensing result of the first target object obtained by the first sensing device, and the fourth message includes the first identifier.

[0329] The difference from the above S404 is that the first sensing device is the source sensing device of the first target object, and it stores the related feature information of the first target object, therefore, the feature information of the first target object can not be included in the fourth message, and the first identifier can make the first sensing device know which target object performs sensing, and other related descriptions can be referred to the above S404, which will not be described here.

[0330] S413, the first sensing device performs sensing to obtain the third sensing result of the first target object according to the fourth message.

[0331] S414, the first sensing device sends the first identifier and the third sensing result to the second sensing device. Correspondingly, the second sensing device receives the first identifier and the third sensing result from the first sensing device.

[0332] S415, the second sensing device performs fusion processing on the third sensing result and the fourth sensing result according to the first identifier to obtain the second fusion sensing result.

[0333] The specific description of S413-S415 can be referred to the related description in the above S405-S407, which will not be described here.

[0334] It should be understood that if the sensing device (taking the third sensing device as an example) other than the first sensing device provides the sensing result of the first target object, then the second sensing device can send a message similar to the first sensing device in the above S404 to request the sensing result of the first target object, which includes the first identifier and the feature information of the first target object, or which includes the second identifier and the feature information of the first target object, which will not be described here.

[0335] S416a, the second perception device sends the first identifier and the second fusion perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the second fusion perception result from the second perception device.

[0336] Similarly, in the case where the second perception device does not assign the second identifier to the first target object, the second perception device reports the second fusion perception result using the first identifier.

[0337] S416b, the second perception device sends the second identifier and the second fusion perception result to the perception network element. Correspondingly, the perception network element receives the second identifier and the second fusion perception result from the second perception device.

[0338] In the case where the second perception device assigns the second identifier to the first target object, the second perception device reports the second fusion perception result using the second identifier.

[0339] When the second perception device does not need the first perception device to provide the perception result of the first target object, such as when the first target object leaves the overlapping perception coverage area of the first perception device and the second perception device, the second perception device can send a fifth message to the first perception device. Correspondingly, the first perception device receives the fifth message from the second perception device. The fifth message is used to indicate termination of sending the perception result of the first target object or to indicate termination of perception of the first target object, and the fifth message includes the first identifier. Thus, the first perception device can terminate sending the perception result of the first target object to the second perception device or terminate perception of the first target object according to the fifth message.

[0340] Optionally, the fifth message can be a message itself for requesting termination of sending the perception result, such as a defined perception data termination request message or a perception termination request message, or can be a message multiplexing other functions, such as a perception control request. In this case, the fifth message can include first indication information, which is used to indicate deletion of the identifier of the first target object, or to indicate termination of perception of the first target object, or to indicate termination of sending the perception result of the first target object.

[0341] In the case where the second perception device also assigns an identifier to the first target object, after receiving the fifth message, the first perception device can also delete the first identifier according to the fifth message, that is, the first perception device no longer performs perception on the first target object. If the first perception device still needs to participate in fusion perception in the future, the second perception device can request the perception result from the first perception device according to the second identifier and the characteristic information of the first target object.

[0342] Thus, when sending a sensing switch, the first sensing device can send a message for requesting the sensing switch to the switched sensing device, i.e., a target sensing device, using the first identifier, so that the second sensing device reports a subsequent sensing result, and marks, by the first identifier, which target object the sensing result belongs to, or performs sensing fusion, and marks, by the first identifier, which target object's sensing result is requested, thereby improving the reliability of sensing.

[0343] In the three cases of scenario one, when the sensing network element determines that there is no need to perform sensing on the first target object according to the sensing results reported by the sensing devices, for example, the first target object disappears, i.e., does not appear within a preset time, or the sensing task ends, or it is determined that other conditions occur that do not require sensing on the first target object, the sensing network element can also send a message for terminating sensing to the sensing devices participating in the sensing of the first target object.

[0344] In a possible design, the sensing network element can send a sixth message to the first sensing device, and correspondingly, the first sensing device receives the sixth message from the sensing network element, so that the first sensing device can delete the first identifier according to the sixth message. The sixth message is used to indicate deletion of the identifier of the first target object, and the sixth message includes the first identifier.

[0345] It should be understood that when the first sensing device is still participating in the sensing of the first target object, the sixth message can also be understood as a message for instructing the first sensing device to terminate the sensing of the first target object; when the first sensing device has already stopped participating in the sensing of the first target object, the sixth message can also be understood as a message for instructing the network to have terminated the sensing of the first target object, or other sensing devices have terminated the sensing of the first target object.

[0346] In the case where the sixth message itself is not a message for deleting the identifier, such as a message that multiplexes other defined functions, for example, a sensing service request, a sensing request, etc., the sixth message can also include first indication information, which is used to indicate deletion of the identifier of the first target object. Similarly, in some scenarios, the first indication information can be used to instruct the first sensing device to terminate the sensing of the first target object and delete the first identifier.

[0347] In a possible design, the sensing network element sends an eighth message to the second sensing device, and correspondingly, the second sensing device receives the eighth message from the sensing network element, and the eighth message is used to indicate deletion of the identifier of the first target object.

[0348] In a case where the second perception device does not assign the first target object with the first identifier, the eighth message is used to indicate deletion of the first identifier, and the eighth message includes the first identifier, so that the second perception device can delete the first identifier according to the eighth message; in a case where the second perception device assigns the first target object with the identifier, the eighth message is used to indicate deletion of the second identifier, and the eighth message includes the second identifier, so that the second perception device can delete the second identifier according to the eighth message.

[0349] Similar to the sixth message, when the second perception device is still participating in perception of the first target object, the eighth message can also be understood as being used to instruct the second perception device to terminate perception of the first target object; when the second perception device has already stopped participating in perception of the first target object, the eighth message can also be understood as being used to instruct the network to have terminated perception of the first target object, or other perception devices to have terminated perception of the first target object.

[0350] Optionally, if the second perception device stores the first identifier, the eighth message can include the first identifier. Optionally, if the second perception device stores the first identifier and the second identifier, or the association relationship between the first identifier and the second identifier, and the eighth message does not include the first identifier, the second perception device can delete the first identifier according to the association relationship.

[0351] Similar to the sixth message, in a case where the eighth message itself is not a message used to delete an identifier, such as the eighth message multiplexing a message with other defined functions, the eighth message can also include first indication information, the first indication information being used to instruct deletion of the identifier of the first target object.

[0352] The three cases in the above scenario one mainly describe how perception devices use identifiers of target objects to perform perception switching and perception fusion processing. The schemes in the above three cases can be decoupled or coupled, which is not limited.

[0353] In an alternative implementation, in addition to the schemes shown in scenario one, there is scenario two: the perception network element can directly use the identifier of the target object to perform perception switching and perception fusion processing without the process of interaction between perception devices. Taking a case where the second perception device is a secondary perception device selected by the perception network element to perform perception fusion and is a target perception device selected by the perception network element to switch perception as an example, in the scenario two, the method provided by the embodiments of the present application can further include:

[0354] S417, the perception network element sends a ninth message to the second perception device. Correspondingly, the second perception device receives the ninth message from the perception network element.

[0355] The ninth message is used to request perception of the first target object.

[0356] In a possible case 1, when the perception network element determines, according to the first perception result reported by the first perception device and the perception capabilities of the perception devices, that the first target object is currently located in the overlapping perception coverage range of the first perception device and one or more other perception devices (including the second perception device), the perception network element can select at least one perception device as an auxiliary perception device, take the second perception device as an example, and send a ninth message to the second perception device to obtain the perception result of the first target object obtained by the second perception device, so as to perform perception fusion on the perception result obtained by the first perception device and the perception result obtained by the second perception device.

[0357] In a possible case 2, when the perception network element determines, according to the first perception result reported by the first perception device, that the first target object will leave the perception coverage range of the first perception device, or the perception accuracy of the first perception device cannot meet the perception requirement, the perception network element can select at least one target perception device, such as the second perception device, according to the perception capabilities of the other perception devices and the current location of the first target object, take the second perception device as the main perception device for perceiving the first target object, and send a ninth message to the second perception device to obtain the perception result of the first target object obtained by the second perception device.

[0358] Of course, in the case where the second perception device is the main perception device, if the first target object is subsequently located in the overlapping perception coverage range of the second perception device and one or more other perception devices, the perception device can also select at least one perception device as an auxiliary perception device, and send a ninth message to obtain the perception result required for performing perception fusion.

[0359] In a possible design 1, the ninth message can include a first identifier and first feature information of the first target object, the first feature information being determined according to the first perception result and / or the feature information of the target object, and specific descriptions of the first feature information can be referred to the related descriptions in S404, which will not be described herein. In this design 1, the first feature information can be used for the second perception device to uniquely identify the perception result of the first target object from the perception result obtained by perceiving in the perception coverage range thereof when performing perception, so that the second perception device can feed back the identified perception result of the first target object to the perception network element together with the first identifier.

[0360] In a possible design 2, the ninth message includes the first feature information of the first target object. In this design 2, the ninth message can also be used to instruct the second perception device to allocate an identifier to the first target object.

[0361] S418, the second perception device performs perception according to the ninth message to obtain a fifth perception result of the first target object.

[0362] For design 1 in S417, after receiving the ninth message, the second perception device can perform perception according to the first feature information in the ninth message, obtain the fifth perception result of the first target object, and then perform S419a below.

[0363] For design 2 in S417, after receiving the ninth message, the second perception device can perform perception according to the first feature information in the ninth message, obtain the fifth perception result of the first target object, and then assign a second identifier to the first target object according to the fifth perception result, associate the assigned second identifier with the fifth perception result, and then perform S419b below.

[0364] S419a, the second perception device sends the first identifier and the fifth perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the fifth perception result from the second perception device.

[0365] Optionally, the first identifier and the fifth perception result can be sent in a response message corresponding to the ninth message.

[0366] S419b, the second perception device sends the second identifier and the fifth perception result to the perception network element. Correspondingly, the perception network element receives the second identifier and the fifth perception result from the second perception device.

[0367] Optionally, the second identifier and the fifth perception result can be sent in a response message corresponding to the ninth message.

[0368] After receiving the second identifier and the fifth perception result, the perception network element can associate the first identifier with the second identifier and save the association. Optionally, if the perception network element assigns a third identifier to the first target object, the perception network element can also associate the second identifier with the third identifier.

[0369] In the scenario where the perception network element performs perception fusion, the perception network element also performs S420 below:

[0370] S420, the perception network element performs fusion processing on the first perception result and the fifth perception result to obtain a third fusion perception result.

[0371] For design 1 in S417 above, the perception network element can perform fusion processing on the first perception result and the fifth perception result associated with the first identifier to obtain the third fusion perception result.

[0372] For design 2 in S417 above, the perception network element can perform fusion processing on the first perception result and the fifth perception result according to the association between the first identifier and the second identifier to obtain the third fusion perception result.

[0373] Therefore, the perception network element can more accurately perform perception management and control on the first target network element according to the third fused perception result.

[0374] When the perception network element determines that the first target object leaves the perception coverage area of the second perception device or other conditions that do not require the second perception device to perceive the first target object occur, the perception network element can send a tenth message to the second perception device, and correspondingly, the second perception device receives the tenth message from the perception network element. The tenth message is used to indicate deletion of the identifier of the first target object.

[0375] For design 1 in S417 described above, the tenth message can include the first identifier; for design 2 in S417 described above, the tenth message can include the second identifier. At this time, the second perception device can delete the identifier of the first target object according to the tenth message.

[0376] Similar to the sixth message and the eighth message described above, in the case where the tenth message itself is not a message for deleting the identifier, such as the tenth message multiplexing other defined functions, the tenth message can also include first indication information, which is used to indicate deletion of the identifier of the first target object. In some scenarios, the tenth message or the first indication information can be used to indicate termination of perception of the first target object and deletion of the identifier, which will not be described here.

[0377] Similarly, the perception network element can also perform the process of terminating perception or deleting the identifier for the first perception device, which will not be described here.

[0378] In scenario two, after the perception network element obtains the first identifier of the first target object allocated by the first perception device, the perception network element can use the first identifier to obtain perception results from other perception devices to perform perception fusion operations, or select other perception devices to perform perception switching operations, so as to ensure that the perception device and the perception network element can uniquely identify one target object according to the first identifier, and to ensure the continuity of perception and improve the reliability of perception.

[0379] The communication method shown in FIG. 4 will be described in detail below in combination with a specific implementation scenario. Take the first perception device as the perception device 1, the second perception device as the perception device 2, and the perception network element as the SF for example.

[0380] Referring to FIG. 5, it is a flowchart of a communication method provided by an embodiment of the present application. The perception device 1 is used to allocate an identifier to a target object, and the identifier of the target object does not change in the entire tracking life cycle. The perception devices perform perception fusion and perception switching, etc. As shown in FIG. 5, the communication method includes:

[0381] S501, the SF sends a perception control request #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #1 from the SF.

[0382] The perception control request #1 is used to request the perception device 1 to perceive the target object, and the perception control request includes the characteristic information of the target object. That is, the perception device 1 receives the perception task based on the perception control request #1.

[0383] The perception control request #1 corresponds to the first message in S401 described above, and the specific description of the characteristic information of the target object can refer to the related description of the characteristic information in S401 described above, which will not be repeated here. The specific implementation process of S501 can refer to the related description in S401 described above, which will not be repeated here.

[0384] S502, the perception device 1 performs perception to obtain a perception result #1 of the first target object according to the perception control request #1, and assigns an identifier #1 to the first target object.

[0385] The perception device 1 can perform perception according to the characteristic information of the target object in the perception control request #1 to obtain a perception result that meets the characteristic information, and each perception result corresponds to a target object. Then the perception device 1 can assign an identifier to each perception result that meets the characteristic information, that is, each target object. Taking the first target object as an example, an identifier #1 is assigned, and the corresponding perception result is a perception result #1. Exemplarily, the format of the identifier #1 is: perception device 1 ID + random code, or perception device 1 ID + type code + random code, etc., which is not limited.

[0386] The perception result #1 corresponds to the first perception result in S402 described above, and the identifier #1 corresponds to the first identifier in S402 described above. The specific implementation process of S502 can refer to the related description in S402 described above, which will not be repeated here.

[0387] S503, the perception device 1 sends a perception data reporting message #1 to the SF. Correspondingly, the SF receives the perception data reporting message #1 from the perception device 1.

[0388] The perception data reporting message #1 is used to report perception data, including the perception result #1 and the identifier #1. The SF saves the perception result #1 and the identifier #1, and when the SF performs perception control on the first target object in the future, the perception device 1 can be instructed to perform related perception operations on the first target object through the identifier #1.

[0389] When the perception device 1 performs perception fusion, such as knowing that the first target object is located in the overlapping perception coverage range of the perception device 1 and the perception device 2 according to the perception result #1, and selecting the perception device 2 as the auxiliary perception device for perception, the following S504-S507 can also be performed:

[0390] S504, the perception device 1 sends a perception data request #1 to the perception device 2. Correspondingly, the perception device 2 receives the perception data request #1 from the perception device 1.

[0391] The perception data request #1 is used to request the perception device 2 to obtain the perception data of the first target object, and the perception data request #1 includes the identification #1 and the feature information #1 of the first target object.

[0392] The perception data request #1 corresponds to the second message in the above S404, the feature information #1 corresponds to the first feature information in the above S404, and the specific implementation process of S504 can be referred to the related description in the above S404, which will not be repeated here.

[0393] Optionally, the perception device 2 can refer to multiple perception devices, because there can be a case that the perception coverage areas of multiple perception devices overlap with each other, at this time, the perception device 1 can request the perception data from multiple perception devices respectively.

[0394] S505, the perception device 2 sends a perception data response #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception data response #1 from the perception device 2.

[0395] The perception data response #1 is a response message of the perception data request #1, and the perception data response #1 includes the perception result #2 and the identification #1. The perception result #2 is the perception result of the first target object obtained by the perception device 2 according to the feature information #1 in the received perception data request #1.

[0396] That is, the perception device 2 can perform perception according to the feature information #1, match the perception result satisfying the feature information #1, and the perception result satisfying the feature information #1 is the perception result #2 of the first target object, which is associated with the identification #1 and fed back to the perception device 1.

[0397] At this time, the perception device 2 as an auxiliary perception device does not allocate a new identification for the first target object, and does not report the perception result #2 to the SF.

[0398] It should be understood that if the feature information of the first target object such as the characteristic information #1 is fixed and does not change, it can be used all the time, but there can be dynamic change part in the feature information, such as position and speed, at this time, the perception device 2 only matches and obtains the corresponding target object at the position and speed corresponding to the time or time period (i.e. there is valid timestamp information) after receiving the information sent by the perception device 1, and then the perception device 2 iteratively updates (i.e. real-time obtains the latest feature information of the object) according to the perception result obtained by itself.

[0399] The perception result #2 corresponds to the second perception result in S405 described above. For a specific implementation process of S505, please refer to the related description in S405 and S406 described above, and no further description is made herein.

[0400] S506, the perception device 1 fuses the perception result #1 and the perception result #2 according to the identifier #1 to obtain a fused perception result #1.

[0401] The perception device 1 identifies the perception result #2 belonging to the first target object from the perception result of the perception device 2 according to the identifier #1, and fuses the perception result #1 obtained by itself with the perception result #2 to obtain the fused perception result #1, so as to obtain a perception result with better performance (such as accuracy, resolution, detection rate, false alarm rate, size, contour, etc.).

[0402] The fused perception result #1 corresponds to the first fused perception result in S407 described above.

[0403] It should be understood that when there are multiple auxiliary perception devices, the perception device 1 can fuse the perception results associated with the identifier #1 from multiple auxiliary perception devices.

[0404] S507, the perception device 1 sends a perception data reporting message #2 to the SF. Correspondingly, the SF receives the perception data reporting message #2 from the perception device 1.

[0405] The perception data reporting message #2 includes the fused perception result #1 and the identifier #1. That is, after the perception device 1 performs perception fusion, it can associate the fused perception result #1 with the identifier #1 and report it to the SF through the perception data reporting message #2.

[0406] When the perception device 1 determines to switch the perception device to perform perception on the first target object, such as determining that the first target object will leave its perception coverage area according to the perception result of the first target object perceived by it, or that the perception accuracy thereof cannot meet the requirements, etc., such as selecting the switched perception device as the perception device 2, the following S508-S512 can be performed:

[0407] S508, the perception device 1 sends a perception task switching request to the perception device 2. Correspondingly, the perception device 2 receives the perception task switching request from the perception device 1.

[0408] The perception task switching request is used to request switching the perception of the first target object to the perception device #2, and the perception task switching request includes the identification #1 and the feature information #2 of the first target object. The identification #1 and the feature information #2 of the first target object can be understood as part of the information in the perception context. That is, when the perception device 1 determines to initiate the perception switching, the perception task switching request is sent to the selected target perception device, i.e., the perception device 2, to indicate the target object information perceived by the perception device 2 after the switching.

[0409] If the perception device 1 and the perception device 2 perform the perception fusion process shown in S504-S507, the feature information #2 can not be included in the perception task switching request.

[0410] The perception task switching request corresponds to the third message in S409, and the feature information #2 corresponds to the second feature information in S409. The specific implementation process of S508 can be referred to the related description in S409, and will not be described here.

[0411] S509, the perception device 2 sends a perception task switching response to the perception device 1. Correspondingly, the perception device 1 receives the perception task switching response from the perception device 2.

[0412] The perception task switching response is a response message of the perception task switching request, and is used to inform that the switching is completed.

[0413] That is, after the perception device 2 determines that the switching is completed, the perception device 2 saves the identification #1, and feeds back the perception task switching response to the perception device 1 to indicate that it accepts the switched perception task. The identification #1 can be used for subsequent perception control of the first target object, and other perception devices (such as the perception device 1) or the SF perform related perception operations or data processing on the target through the identification.

[0414] The perception task switching response corresponds to the response message corresponding to the third message in S410, and will not be described here.

[0415] S510, the perception device 2 sends a perception control path switching request to the SF. Correspondingly, the SF receives the perception control path switching request from the perception device 2.

[0416] The perception control path switching request is used to request switching the perception of the first target object to the perception device #2, and the perception control path switching request includes the identification #1. That is, after the perception device 2 accepts the switching request, the perception control path switching request can also be sent to the SF to indicate that the perception control path for reporting the perception result of the first target object is changed from the perception device 1 to the SF to the perception device 2 to the SF.

[0417] The perception control path switching request corresponds to the seventh message in S410, and details are not repeated.

[0418] S511, the SF sends a perception control path switching response to the perception device 2. Correspondingly, the perception device 2 receives the perception control path switching response from the SF.

[0419] The perception control path switching response is a response message of the perception control path switching request, which can be used to inform the SF that the perception device for the first target object has been switched from the perception device 1 to the perception device 2.

[0420] The perception control path switching response corresponds to the response message corresponding to the seventh message in S410, and details are not repeated.

[0421] If the perception task switching process between the perception device 1 and the perception device 2, i.e., S508 and S509, is implemented by routing or forwarding of the SF, the SF can learn the switching in the routing or forwarding process, and then S510 and S511 are optional steps.

[0422] S512, the perception device 2 sends a perception data reporting message #3 to the SF. Correspondingly, the SF receives the perception data reporting message #3 from the perception device 2.

[0423] The perception data reporting message #3 includes the perception result #3 and the identifier #1.

[0424] That is, the perception device 2 can perform perception according to the feature information #2, match the perception result satisfying the feature information #2, and report the perception result satisfying the feature information #2 to the SF as the perception result #3 of the first target object and the identifier #1. Correspondingly, the SF saves the correspondence between the perception result #3 and the identifier #1.

[0425] The perception result #3 corresponds to the fourth perception result in S410, and the specific implementation of S512 can refer to the related description in S410 and S411, and details are not repeated.

[0426] Similarly, when the perception device 2 performs perception fusion, such as when the first target object is located in the overlapping perception coverage range of the perception device 1 and the perception device 2 according to the perception result #3, and the perception device 1 is selected as the auxiliary perception device for perception, the following S513-S516 can also be performed:

[0427] S513, the perception device 2 sends a perception data request #2 to the perception device 1. Correspondingly, the perception device 1 receives the perception data request #2 from the perception device 2.

[0428] The perception data request #2 is used to request the perception data of the first target object acquired by the perception device 1, and includes the identifier #1.

[0429] The perception data request #2 corresponds to the fourth message in the above S412, and the specific implementation of the S513 can be referred to the related description in the above S412, and will not be described here.

[0430] In S514, the perception device 1 sends a perception data response #2 to the perception device 2. Correspondingly, the perception device 2 receives the perception data response #2 from the perception device 1.

[0431] The perception data response #2 is a response message of the perception data request #2, and includes the perception result #4 and the identifier #1. The perception result #4 is the perception result of the first target object acquired by the perception device 4 according to the received perception data request #2.

[0432] The perception result #4 corresponds to the third perception result in the above S413 and S414, and the specific implementation of the S514 can be referred to the related description in the above S413 and S414.

[0433] In S515, the perception device 2 performs fusion processing on the perception result #3 and the perception result #4 according to the identifier #1 to obtain a fusion perception result #2.

[0434] The perception device 2 identifies the perception result #4 belonging to the first target object from the perception result of the perception device 1 according to the identifier #1, and fuses the perception result #3 acquired by itself with the perception result #4 to obtain the fusion perception result #2, so as to obtain a perception result with better performance (such as accuracy, resolution, detection rate, false alarm rate, size, contour, etc.).

[0435] The fusion perception result #2 corresponds to the second fusion perception result in the above S415, and will not be described here.

[0436] In S516, the perception device 2 sends a perception data reporting message #4 to the SF. Correspondingly, the SF receives the perception data reporting message #4 from the perception device 2.

[0437] The perception data reporting message #4 includes the fusion perception result #2 and the identifier #1. Thus, the fusion perception result #2 acquired by the perception device 2 performing perception fusion can be associated with the identifier #1, and reported to the SF through the perception data reporting message #4, so that the SF can know which target object the fusion perception result #2 belongs to according to the identifier #1, and thus can perform perception management and control on the target object according to the fusion perception result #2.

[0438] When the sensing device 2 does not need the sensing result of the first target object sensed by the sensing device 1, such as the first target object leaving the overlapping sensing coverage area of the sensing device 1 and the sensing device 2, or the sensing accuracy reaching the requirement, etc., the following S517 can also be performed:

[0439] S517, the sensing device 2 sends a sensing data termination request to the sensing device 1. Correspondingly, the sensing device 1 receives the sensing data termination request from the sensing device 2.

[0440] The sensing data termination request is used to request termination of sending the sensing data of the first target object, and the sensing data termination request includes the identifier #1. At this time, after receiving the sensing data termination request, the sensing device 1 can terminate the sensing of the first target object, but does not delete the identifier of the first target object, that is, the identifier #1, or does not release the identifier bit occupied by the identifier of the target object (that is, cannot be allocated for identifying other target objects).

[0441] The sensing data termination request corresponds to the fifth message described above, and details are not repeated.

[0442] When the sensing network element determines that the first target object does not need to be sensed, such as the first target object disappearing or not appearing within a preset time, or not needing to track and sense the first target object, or the sensing task being terminated, the sensing network element can also trigger the sensing device to delete the identifier of the first target object, such as performing the following S518 and S519:

[0443] S518, the SF sends a sensing control request #2 to the sensing device 1. Correspondingly, the sensing device 1 receives the sensing control request #2 from the SF.

[0444] The sensing control request #2 is used to request the sensing device 1 to terminate the sensing of the first target object or delete the identifier of the first target object, and the sensing control request #2 includes the identifier #1. Thus, the sensing device 1 can determine to delete the identifier of the first target object, that is, the identifier #1, according to the identifier #1 in the sensing control request #2, and terminate the sensing of the first target object.

[0445] The sensing control request #2 corresponds to the sixth message described above, and details are not repeated.

[0446] S519, the SF sends a sensing control request #3 to the sensing device 2. Correspondingly, the sensing device 2 receives the sensing control request #3 from the SF.

[0447] The sensing control request #3 is used to request the sensing device 2 to terminate the sensing of the first target object or delete the identifier of the first target object, and the sensing control request #3 includes the identifier #1. Thus, the sensing device 2 can determine to delete the identifier of the first target object, that is, the identifier #1, according to the identifier #1 in the sensing control request #3, and terminate the sensing of the first target object.

[0448] The perception control request #3 corresponds to the eighth message described above, and no further description is given.

[0449] Optionally, the perception control request can itself indicate that the perception device terminates the perception of the target object. If the perception control request itself cannot indicate that the perception device terminates the perception of the target object, the perception control request can also carry first indication information to indicate that the perception of the first target object is terminated or the identification of the first target object is deleted.

[0450] It should be understood that the embodiments of the present application do not limit the execution order of S518 and S519 described above.

[0451] Therefore, the perception device 1 that allocates the target object identification, and the service perception device 2 terminate the perception of the target object and delete the related information of the target object (including the identification of the target object).

[0452] Referring to FIG. 6, another flowchart of a communication method provided by the embodiments of the present application is shown. The identification of the target object changes in the entire tracking life cycle. The perception device 1 allocates an identification for the target object. The switched perception device 2 also allocates a new identification for the target object, and the perception devices perform perception fusion and perception switching, etc. As shown in FIG. 6, the communication method includes:

[0453] S601, the SF sends a perception control request #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #1 from the SF.

[0454] The perception control request #1 is used to request the perception device 1 to perceive the target object. The perception control request includes the feature information of the target object.

[0455] S602, the perception device 1 performs perception to obtain a perception result #1 of the first target object according to the perception control request #1, and allocates an identification #1 for the first target object.

[0456] S603, the perception device 1 sends a perception data reporting message #1 to the SF. Correspondingly, the SF receives the perception data reporting message #1 from the perception device 1.

[0457] The perception data reporting message #1 is used to report the perception data, including the perception result #1 and the identification #1. The SF saves the perception result #1 and the identification #1.

[0458] When the perception device 1 performs perception fusion, for example, it is learned from the perception result #1 that the first target object is located in the overlapping perception coverage range of the perception device 1 and the perception device 2, and the perception device 2 is selected as the auxiliary perception device for perception, the following S604-S607 can also be performed:

[0459] S604, the perception device 1 sends a perception data request #1 to the perception device 2. Correspondingly, the perception device 2 receives the perception data request #1 from the perception device 1.

[0460] The perception data request #1 includes the identification #1 and the characteristic information #1 of the first target object.

[0461] S605, the perception device 2 sends a perception data response #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception data response #1 from the perception device 2.

[0462] The perception data response #1 includes the perception result #2 and the identification #1.

[0463] S606, the perception device 1 fuses the perception result #1 and the perception result #2 according to the identification #1, and obtains a fused perception result #1.

[0464] S607, the perception device 1 sends a perception data reporting message #2 to the SF. Correspondingly, the SF receives the perception data reporting message #2 from the perception device 1.

[0465] When the perception device 1 determines to switch the perception device to perform the perception on the first target object, such as determining that the first target object will leave the perception coverage area thereof, the perception accuracy thereof cannot meet the requirements, and the like according to the perception result of the first target object perceived thereby, such as selecting the perception device 2 as the switched perception device, the following S608-S612 can be performed:

[0466] S608, the perception device 1 sends a perception task switching request to the perception device 2. Correspondingly, the perception device 2 receives the perception task switching request from the perception device 1.

[0467] The perception task switching request includes the identification #1 and the characteristic information #2 of the first target object.

[0468] S609, the perception device 2 sends a perception task switching response to the perception device 1. Correspondingly, the perception device 1 receives the perception task switching response from the perception device 2.

[0469] The specific description in S601-S609 can refer to the related description in S501-S509, and will not be described herein.

[0470] S610, the perception device 2 performs perception according to the characteristic information #2 to obtain a perception result #3, and allocates an identification #2 to the first target object.

[0471] The perception device 2 can perform perception according to the feature information #2, match the perception result satisfying the feature information #2, and the perception result satisfying the feature information #2 is the perception result #3 of the first target object. The perception device 2 assigns a new identifier, that is, the identifier #2, to the first target object according to the perception result #3. Optionally, if the perception device 2 obtains the perception data from the perception device 1, the identifier #2 is stored in association with the identifier #1. The identifier #2 is used to indicate other perception devices (such as the perception device 1) or the SF to perform related perception operations or data processing on the target object in subsequent perception control.

[0472] The identifier #2 corresponds to the second identifier described above, and the specific description of S610 can be referred to the related description in S512 described above, and details are not described herein.

[0473] It should be understood that the embodiments of the present application do not limit the execution sequence of S609 and S610.

[0474] S611, the perception device 2 sends a perception control path switching request to the SF. Correspondingly, the SF receives the perception control path switching request from the perception device 2.

[0475] The perception control path switching request includes the identifier #1 and the identifier #2. The perception device 2 can inform the SF of the identifier #2 assigned by the perception device 2 through the perception control path switching request, so as to indicate that the first target object is identified by the identifier #2 under the perception device 2; or in other words, the first target object is identified by the identifier #2 instead of the identifier #1. Optionally, the SF stores and associates the identifier #1 and the identifier #2.

[0476] S612, the SF sends a perception control path switching response to the perception device 2. Correspondingly, the perception device 2 receives the perception control path switching response from the SF.

[0477] If the perception task switching process between the perception device 1 and the perception device 2, that is, S608 and S609 described above, is implemented by routing or forwarding of the SF, the perception task switching response can include the identifier #1 and the identifier #2. At this time, the SF can learn the switching and the identifier #2 in the routing or forwarding process. Therefore, S611 and S612 are optional steps.

[0478] The specific implementation of S611 and S612 can be referred to the related description of S510 and S511 described above, and details are not described herein.

[0479] S613, the perception device 2 sends a perception data reporting message #3 to the SF. Correspondingly, the SF receives the perception data reporting message #3 from the perception device 2.

[0480] The perception data reporting message #3 includes the perception result #3 and the identifier #2. Thus, the perception device 2 reports the perception result in association with the identifier #2 assigned thereto. Optionally, the perception data reporting message #3 can further include the identifier #1.

[0481] Correspondingly, the SF saves the correspondence between the perception result #3 and the identifier #2.

[0482] Similarly, when the perception device 2 performs perception fusion, such as knowing from the perception result #3 that the first target object is located in the overlapping perception coverage of the perception device 1 and the perception device 2, and selecting the perception device 1 as the auxiliary perception device for perception, the following S614-S617 can also be performed:

[0483] S614, the perception device 2 sends a perception data request #2 to the perception device 1. Correspondingly, the perception device 1 receives the perception data request #2 from the perception device 2.

[0484] The perception data request #2 includes the identifier #1.

[0485] S615, the perception device 1 sends a perception data response #2 to the perception device 2. Correspondingly, the perception device 2 receives the perception data response #2 from the perception device 1.

[0486] The perception data response #2 includes the perception result #4 and the identifier #1.

[0487] S616, the perception device 2 performs fusion processing on the perception result #3 and the perception result #4 according to the identifier #1, to obtain a fusion perception result #2.

[0488] The specific implementation of S614-S616 can be referred to the related description in S513-S515 described above, and will not be described herein.

[0489] S617, the perception device 2 sends a perception data reporting message #4 to the SF. Correspondingly, the SF receives the perception data reporting message #4 from the perception device 2.

[0490] The perception data reporting message #4 includes the fusion perception result #2 and the identifier #2. Thus, the perception device 2 performs perception fusion to obtain the fusion perception result #2, which can be associated with the identifier #2 and reported to the SF through the perception data reporting message #4, so that the SF can know from the identifier #2 which target object the fusion perception result #2 belongs to and which perception device the fusion perception result #2 comes from, thereby being able to perform perception management and control on the target object according to the fusion perception result #2.

[0491] When the sensing device 2 does not need the sensing result of the first target object sensed by the sensing device 1, such as the first target object leaving the overlapping sensing coverage area of the sensing device 1 and the sensing device 2, or the sensing accuracy reaching the requirement, etc., the following S618 can also be performed:

[0492] S618. The sensing device 2 sends a sensing data termination request to the sensing device 1. Correspondingly, the sensing device 1 receives the sensing data termination request from the sensing device 2.

[0493] The sensing data termination request includes the identifier #1. At this time, after receiving the sensing data termination request, the sensing device 1 can terminate the sensing of the first target object and delete the identifier of the first target object, i.e., the identifier #1.

[0494] Optionally, the sensing data termination request can be the sensing task switching response of S609, i.e., indicating that the sensing data from the sensing device 1 is not needed through S609.

[0495] When the sensing network element determines that the first target object does not need to be sensed, such as the first target object disappearing or not appearing within a preset time, or not needing to track and sense the first target object, or the sensing task being terminated, the sensing network element can also trigger the sensing device to delete the identifier of the first target object, such as performing the following S619:

[0496] S619. The SF sends a sensing control request #2 to the sensing device 2. Correspondingly, the sensing device 2 receives the sensing control request #2 from the SF.

[0497] The sensing control request #2 includes the identifier #2. Therefore, the sensing device 2 can determine to delete the identifier of the first target object, i.e., the identifier #2, according to the identifier #2 in the sensing control request #2, and terminate the sensing of the first target object. Optionally, if the sensing device 2 saves the association relationship of the identifier #1 and the identifier #2, the sensing device 2 can also delete the identifier #1 according to the association relationship.

[0498] Referring to FIG. 7, FIG. 7 is a flow diagram of another communication method provided by an embodiment of the present application, without sensing fusion and sensing switching interaction between sensing devices, the SF collects sensing results from different sensing devices, different sensing devices independently assign identifiers for target objects, and the SF establishes an association relationship, and the identifier of the target object does not change in the life cycle of target tracking within the sensing coverage range of one sensing device.

[0499] As shown in FIG. 7, the communication method includes:

[0500] S701. The SF sends a sensing control request #1 to the sensing device 1. Correspondingly, the sensing device 1 receives the sensing control request #1 from the SF.

[0501] The perception control request #1 is used to request the perception device 1 to perceive the target object, and the perception control request includes the characteristic information of the target object.

[0502] S702, the perception device 1 performs perception to obtain the perception result #1 of the first target object according to the perception control request #1, and assigns an identifier #1 to the first target object.

[0503] S703, the perception device 1 sends a perception data reporting message #1 to the SF. Correspondingly, the SF receives the perception data reporting message #1 from the perception device 1.

[0504] The perception data reporting message #1 is used to report the perception data, including the perception result #1 and the identifier #1. The SF saves the perception result #1 and the identifier #1. Optionally, the perception data reporting message #1 further includes the characteristic information.

[0505] Optionally, the SF can assign an identifier, i.e., an identifier #3, to the first target object according to the perception result #1, and associate the identifier #1 and the identifier #3. The identifier #3 is associated with the third identifier in the above S403. For example, the format of the identifier #3 can be SF ID+random code, or SF ID+type code+random code.

[0506] The specific implementation process of S701-S703 can refer to the related description in the above S501-S503, which is not limited.

[0507] When the SF determines not to initiate the perception switching, i.e., determines to still keep the perception device 1 as the main perception device, in order to obtain better perception results, the SF can select one or more auxiliary perception devices. The following takes the perception device 2 as an example to request the perception result, perform perception fusion, or when the SF determines to replace the main perception device, such as the first target object will leave the perception coverage range of the perception device 1, the following takes the replaced main perception device as the perception device 2 as an example. Then the perception device can send a perception request to the perception device 2, which can also include the following S704-S706:

[0508] S704, the SF sends a perception data request #1 to the perception device 2. Correspondingly, the perception device 2 receives the perception data request #1 from the SF.

[0509] The perception data request #1 is used to request to obtain the perception result of the first target object, and the perception data request #1 includes the characteristic information #1 of the first target object. The characteristic information #1 is determined by the SF according to the perception result #1 and / or the characteristic information of the target object.

[0510] The perception data request #1 corresponds to the ninth message in the above S417, and the specific implementation process of S704 can refer to the related description in the above S417, which is not limited.

[0511] S705, the perception device 2 performs perception to obtain a perception result #2 of the first target object according to the feature information #1, and assigns an identifier #2 to the first target object.

[0512] The perception device 2 receives a perception data request #1, performs perception according to the feature information #1, and obtains a perception result #2 of the first target object from the perception result matching the feature information #1, and assigns an identifier #2 to the first target object according to the perception result #2. The identifier #2 is associated with the perception result #2.

[0513] At this time, the perception result #2 corresponds to the fifth perception result in S418 described above, and the specific implementation process of S705 can refer to the related description in S418 described above, which is not limited.

[0514] S706, the perception device 2 sends a perception data reporting message #2 to the SF. Correspondingly, the SF receives the perception data reporting message #2 from the perception device 2.

[0515] The perception data reporting message #2 includes the perception result #2 and the identifier #2. Optionally, the perception data reporting message #2 also includes the feature information #1.

[0516] After the perception device 2 obtains the perception result #2 of the first target object, it is associated with the identifier #2 and sent to the SF. Correspondingly, the SF can determine that the perception result #1 and the perception result #2 correspond to the same target object according to the perception result #1 and the perception result #2, and then associate the identifier #2 with the identifier #1, or save the association relationship between the identifier #1 and the identifier #2. Optionally, if S703 includes feature information and S706 includes feature information #1, the SF can determine that the perception result #1 and the perception result #2 correspond to the same target object according to the feature information and the feature information #1; or, the SF can determine that the perception result #1 and the perception result #2 correspond to the same target object according to the feature information, the feature information #1, the perception result #1, and the perception result #2.

[0517] Optionally, the SF associates the identifier #2 with the identifier #3, that is, the SF obtains the association relationship between the identifier #1, the identifier #2, and the identifier #3.

[0518] When performing perception fusion, the following S707 can also be included:

[0519] S707, the SF associates the identifier #2 with the identifier #1, and performs fusion processing on the perception result #1 and the perception result #2 to obtain a fusion perception result #1.

[0520] After the SF acquires the association relationship between the identifier #1 and the identifier #2, or the association relationship between the identifier #1, the identifier #2, and the identifier #3, the SF fuses the two parts of data, i.e., the perception result #1 and the perception result #2 of the first target object, according to the identifier #1 and the identifier #2, to obtain a perception result with better performance (such as accuracy, resolution, detection rate, false alarm rate, size, contour, and the like).

[0521] It should be understood that when the primary perception device is changed from the perception device 1 to the perception device 2, the SF can still select a secondary perception device on the basis that the perception device 2 is the primary perception device to send a perception data request to the secondary perception device during the perception fusion processing. For details, refer to S704-S707 described above, and no further description is made.

[0522] When the SF does not need the perception device 1 to perform perception and report a perception result, such as when the first target object leaves the perception coverage of the perception device 1 or the perception task is completed, the SF can trigger the perception device 1 to stop perception, such as S708 described below:

[0523] S708. The SF sends a perception control request #2 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #2 from the SF.

[0524] The perception control request #2 includes the identifier #1 and first indication information, and the first indication information is used to indicate deletion of the identifier #1.

[0525] Therefore, the perception device 1 can delete the identifier #1 according to the perception control request #2 to terminate the perception of the first target object.

[0526] The perception control request #2 corresponds to the sixth message described above, and no further description is made.

[0527] Similarly, when the SF does not need the perception device 2 to perform perception and report a perception result, such as when the first target object leaves the perception coverage of the perception device 2 or the perception task is completed, the SF can trigger the perception device 1 to stop perception, such as S709 described below:

[0528] S709. The SF sends a perception control request #3 to the perception device 2. Correspondingly, the perception device 2 receives the perception control request #3 from the SF.

[0529] The perception control request #3 includes the identifier #2 and first indication information, and the first indication information is used to delete the identifier #2.

[0530] Therefore, the perception device 2 can delete the identifier #2 according to the perception control request #3 to terminate the perception of the first target object.

[0531] The perception control request #3 corresponds to the eighth message or the tenth message described above, and no further description is made.

[0532] In addition to the above, the target object identification allocation can also be performed by the perception network element. The specific implementation process of the perception network element allocating an identification to the target object and the identification application will be described in detail below with reference to FIGS. 8-10.

[0533] As shown in FIG. 8, a flowchart of another communication method provided by an embodiment of the present application is shown. As shown in FIG. 8, the communication method includes the following steps.

[0534] S801, the perception network element sends a first message to the first perception device. Correspondingly, the first perception device receives the first message from the perception network element.

[0535] The first message is used to request perception of the target object, and the first message includes the characteristic information of the target object. The specific description of S801 can be referred to the related description in S401 above, and will not be repeated here.

[0536] S802, the first perception device performs perception according to the first message to obtain a first perception result of the first target object.

[0537] The target object satisfying the characteristic information includes the first target object.

[0538] That is, the first perception device can perform perception according to the characteristic information in the first message, and the perception result satisfying the characteristic information in the obtained perception result is the perception result of the target object. Taking the first perception result as an example, the first perception result satisfies the characteristic information, and the first target object corresponding to the first perception result is the target object satisfying the characteristic information.

[0539] If the first perception device perceives the perception results of multiple target objects according to the characteristic information, the first perception device can report the multiple perception results in the form of a list. The specific description of S802 can be referred to the related description in S402 above, and will not be repeated here.

[0540] S803, the first perception device sends the first perception result to the perception network element. Correspondingly, the perception network element receives the first perception result from the first perception device.

[0541] After the first perception device performs perception to obtain the perception result of the target object satisfying the characteristic information, such as the first perception result, it reports the first perception result to the perception network element. Optionally, the first perception result can be carried in a response message corresponding to the first message, or can be carried in other newly defined or defined messages, which is not limited.

[0542] S804, the perception network element allocates a first identification to the first target object according to the first perception result.

[0543] After the perception network element obtains the first perception result, the perception network element assigns a first identifier to the first target object corresponding to the first perception result, where the first identifier is used to uniquely identify the first target object.

[0544] In a possible design, the first identifier is determined based on the identifier of the perception network element. That is, the perception network element generates the first identifier based on the identifier of the perception network element, and the first identifier can include the identifier of the perception network element or include part of the identifier of the perception network element. For example, the format of the first identifier can be the identifier of the perception network element + a random code, or the identifier of the perception network element + a type code + a random code, and different values of the type code and the random code can constitute different first identifiers, which are used to identify different target objects. In this case, the first identifier corresponds to the third identifier in S403.

[0545] It should be understood that when the first perception device reports the perception results of multiple target objects, the perception network element assigns an identifier to the perception result of each target object, and different identifiers correspond to different perception results (that is, target objects).

[0546] S805. The perception network element sends the first identifier and the first characteristic information of the first target object to the first perception device. Correspondingly, the first perception device receives the first identifier and the first characteristic information of the first target object from the perception network element.

[0547] After the perception network element assigns the identifier to the target object corresponding to each perception result reported by the first perception device, the perception network element can inform the first perception device of all or part of the identifiers of the target objects and the corresponding first characteristic information according to the perception requirement, so that the first perception device learns the identifier of the target object corresponding to the perception result perceived by the first perception device, and learns which perception result corresponds to the target object marked by the identifier according to the first characteristic information associated with the identifier.

[0548] Taking the first target object as an example, the perception network element can determine the first characteristic information according to the first perception result and / or the characteristic information of the first target object, and the first characteristic information is used to indicate the specific characteristics of the first target object, and can be used by the first perception device to identify which perception result corresponds to the target object associated with the first identifier. The specific description of the first characteristic information can be referred to the related description of the first characteristic information and the second characteristic information in the communication method shown in FIG. 4, and will not be described here.

[0549] In the case where the identifiers of the target objects corresponding to multiple perception results are assigned, the perception network element can associate the identifier of each target object with the first characteristic information, and the association relationship between the identifiers of the multiple target objects and the first characteristic information can be carried in a list form in a message and sent to the first perception device, which is not limited.

[0550] Therefore, the perception network element can issue a perception request to the first perception device to obtain the perception result of the target object, so as to assign an identifier to the target object according to the perception result of the target object and send the identifier to the first perception device. In this way, the perception device and the perception network element can uniquely identify the same target object in the subsequent perception control process according to the identifier, and can identify which target object the obtained perception result belongs to according to the identifier, thereby improving the reliability of perception.

[0551] The application of the first identifier will be described in detail in combination with specific scenarios as follows.

[0552] Scenario one: the first identifier is used between perception devices to perform a perception operation. In this scenario one, the following perception operation cases exist.

[0553] Case 1: in a scenario of realizing perception fusion between perception devices, such as case 1 in the method shown in FIG. 4, the communication method shown in FIG. 8 can further include the following steps.

[0554] S806, the first perception device sends a fifth message to the second perception device. Correspondingly, the second perception device receives the fifth message from the first perception device.

[0555] The fifth message is used to request to obtain the perception result of the first target object, and the fifth message includes the first identifier and the first feature information. The fifth message corresponds to the second message in S404.

[0556] S807, the second perception device performs perception to obtain the fourth perception result of the first target object according to the fifth message.

[0557] The fourth perception result corresponds to the second perception result in S405.

[0558] S808, the second perception device sends the first identifier and the fourth perception result to the first perception device. Correspondingly, the first perception device receives the first identifier and the fourth perception result from the second perception device.

[0559] S809, the first perception device performs fusion processing on the first perception result and the fourth perception result according to the first identifier to obtain a second fusion perception result.

[0560] The second fusion perception result corresponds to the first fusion perception result in S407.

[0561] S810, the first perception device sends the first identifier and the second fusion perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the second fusion perception result from the first perception device.

[0562] The specific implementation process of S806-S810 can refer to the related description in S407-S408 described above, and no longer be limited.

[0563] In case 2, the communication method shown in FIG. 8 can further include the following steps in the case 2 of the method shown in FIG. 4.

[0564] S811, the first perception device sends a sixth message to the second perception device. Correspondingly, the second perception device receives the sixth message from the first perception device.

[0565] The sixth message is used to indicate that the perception of the first target object is switched to the second perception device, and the sixth message includes the first identifier and second characteristic information of the first target object. The second characteristic information is determined according to the perception result of the first target object obtained by the first perception device and / or the characteristic information of the target object. The perception result of the first target object obtained by the first perception device includes the first perception result.

[0566] Optionally, the second perception device sends a response message corresponding to the sixth message to the first perception device, and correspondingly, the first perception device receives the response message corresponding to the sixth message from the second perception device. The response message corresponding to the sixth message is used to notify whether the perception switching is completed. Further optionally, the first perception device can also delete the first identifier according to the response message corresponding to the sixth message. The sixth message corresponds to the third message in S409 described above, and no longer be limited.

[0567] S812, the second perception device performs perception to obtain a second perception result of the first target object according to the sixth message.

[0568] The second perception result corresponds to the fourth perception result in S410 described above, and no longer be limited.

[0569] Optionally, after determining to accept the perception switching, the second perception device can also send a second message to the perception network element, and correspondingly, the perception network element receives the second message from the second perception device. The second message is used to indicate that the perception of the first target object is switched to the second perception device, and the second message includes the first identifier. The second message corresponds to the seventh message in S410 described above, and no longer be limited.

[0570] S813, the second perception device sends the first identifier and the second perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the second perception result from the second perception device.

[0571] The specific implementation process of S811-S813 can refer to the related description in S409-S411a described above, and no longer be limited.

[0572] In case 3, the second perception device performs perception fusion as the primary perception device, as in case 3 of the method shown in FIG. 4, the communication method shown in FIG. 8 can further include:

[0573] In S814, the second perception device sends a seventh message to the first perception device. Correspondingly, the first perception device receives the seventh message from the second perception device.

[0574] The seventh message is used to request the perception result of the first target object obtained by the first perception device, and the seventh message includes the first identifier. The seventh message corresponds to the fourth message in S412 described above, and no further description is made herein.

[0575] In S815, the first perception device performs perception to obtain a fifth perception result of the first target object according to the seventh message.

[0576] The fifth perception result corresponds to the third perception result in S413 described above, and no further description is made herein.

[0577] In S816, the first perception device sends the first identifier and the fifth perception result to the second perception device. Correspondingly, the second perception device receives the first identifier and the fifth perception result from the first perception device.

[0578] In S817, the second perception device performs fusion processing on the second perception result and the fifth perception result according to the first identifier to obtain a third fusion perception result.

[0579] The third fusion perception result corresponds to the second fusion perception result in S415 described above, and no further description is made herein.

[0580] In S818, the second perception device sends the first identifier and the third fusion perception result to the perception network element. Correspondingly, the perception network element receives the third fusion perception result from the second perception device.

[0581] Optionally, the second perception device can send an eighth message to the first perception device, and correspondingly, the first perception device receives the eighth message from the second perception device. The eighth message is used to indicate termination of sending the perception result of the first target object, and the eighth message includes the first identifier. Further optionally, the first perception device can determine to delete the first identifier according to the eighth message. The eighth message corresponds to the fifth message in the method shown in FIG. 4, and no further description is made herein.

[0582] The specific implementation process of S814-S818 can be referred to the related description in S412-S416a described above, and no further description is made herein.

[0583] It should be understood that the schemes in the three cases in scenario one described above can be decoupled for execution, or can be coupled for execution, and no limitation is made herein. The implementation different from the scheme shown in scenario one described above is as follows in scenario two:

[0584] Scenario two, perception fusion and / or perception switching between perception devices, the perception network element triggers the perception device to perform perception fusion and / or perception switching, the communication method shown in FIG. 8 can further include:

[0585] S819, the perception network element sends a third message to the second perception device. Correspondingly, the second perception device receives the third message from the perception network element.

[0586] The third message is used to request to perceive the first target object, and the third message includes the first feature information and the first identifier. The third message corresponds to the ninth message in S417 described above, and details are not repeated.

[0587] S820, the second perception device performs perception to obtain a third perception result of the first target object according to the third message.

[0588] The third perception result can correspond to the fifth perception result in S418 described above, and details are not repeated.

[0589] S821, the second perception device sends the first identifier and the third perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the third perception result from the second perception device.

[0590] If the SF performs perception fusion, the following S822 can also be included:

[0591] S822, the perception network element performs fusion processing on the first perception result and the third perception result according to the first identifier to obtain a first fusion perception result.

[0592] The first fusion perception result corresponds to the third fusion perception result in S420 described above, and details are not repeated.

[0593] The specific implementation in S819-S822 can refer to the related description of design 1 in S417-S420 described above, and details are not repeated.

[0594] In the above scenarios 1-3, when the perception network element does not need the perception device to perform the perception operation, the perception network element can send a fourth message. The fourth message is used to indicate to delete the identifier of the first target object, and the fourth message includes the first identifier. Illustratively, the perception network element can send the fourth message to the first perception device and the second perception device respectively, so that the first perception device and the second perception device can delete the first identifier according to the fourth message and stop perceiving the first target object.

[0595] Optionally, the fourth message can further include first indication information, the first indication information being used for indicating deleting the first identifier, or in some scenarios, being used for indicating terminating the perception of the first target object. The fourth message corresponds to the sixth message, the eighth message, and the tenth message in the method shown in FIG. 4, and details are not repeated herein.

[0596] As can be known from the application of the first identifier, the perception network element allocates an identifier for a target object and sends the identifier to a perception device participating in perception. In subsequent perception fusion or perception switching and other perception processes, the perception network element and the perception device can uniquely identify a target object according to the identifier, and perform perception control on the target object according to a perception result of the target object.

[0597] The communication method shown in FIG. 8 is described in detail below in combination with a specific implementation. Take the first perception device as the perception device 1, the second perception device as the perception device 2, and the perception network element as the SF as an example.

[0598] Referring to FIG. 9, it is a flowchart of a communication method provided by an embodiment of the present application, which is used for allocating an identifier for a target object, and performing perception fusion and perception switching between perception devices. As shown in FIG. 9, the communication method includes the following steps.

[0599] S901, the SF sends a perception control request #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #1 from the SF.

[0600] The perception control request #1 is used for requesting the perception device 1 to perform perception on a target object, and the perception control request includes feature information of the target object. The perception control request #1 corresponds to the first message in S801. Details of the implementation of S901 can be referred to the related description in S801, and details are not repeated herein.

[0601] S902, the perception device 1 performs perception to obtain a perception result #1 of the first target object according to the perception control request #1.

[0602] The perception result #1 corresponds to the first perception result in S802, and details of the implementation of S902 can be referred to the related description in S802, and details are not repeated herein.

[0603] S903, the perception device 1 sends a perception data reporting message #1 to the SF. Correspondingly, the SF receives the perception data reporting message #1 from the perception device 1.

[0604] The perception data reporting message #1 includes the perception result #1.

[0605] S904, the SF allocates an identifier #1 for the first target object according to the perception result #1.

[0606] S905, the SF sends a perception control request #2 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #2 from the SF.

[0607] The perception control request #2 includes the identification #1 and the characteristic information #1 of the first target object, and the characteristic information #1 corresponds to the first characteristic information in S805.

[0608] The specific implementation of S904 and S905 can be referred to the related description in S804 and S805, and details are not described herein.

[0609] After the perception device 1 obtains the identification #1 of the first target object, the identification #1 can be used to perform the perception fusion, the perception switching and the like, and correspondingly, the SF can also use the identification #1 to perform the perception termination process. The perception fusion process, the perception switching process and the perception termination process are shown in S504-S519, and details are not described herein.

[0610] Referring to FIG. 10, it is a flow diagram of a communication method provided by the embodiment of the application, in which the SF is used to assign the identification to the target object, and the perception fusion and the perception switching are performed by the SF rather than the perception devices. As shown in FIG. 10, the communication method includes the following steps.

[0611] S1001, the SF sends a perception control request #1 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #1 from the SF.

[0612] The perception control request #1 is used to request the perception device 1 to perform the perception on the target object, and the perception control request includes the characteristic information of the target object.

[0613] S1002, the perception device 1 performs the perception to obtain the perception result #1 of the first target object according to the perception control request #1.

[0614] S1003, the perception device 1 sends a perception data reporting message #1 to the SF. Correspondingly, the SF receives the perception data reporting message #1 from the perception device 1.

[0615] The perception data reporting message #1 includes the perception result #1.

[0616] S1004, the SF assigns the identification #1 to the first target object according to the perception result #1.

[0617] S1005, the SF sends a perception control request #2 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #2 from the SF.

[0618] The perception control request #2 includes the identification #1 and the characteristic information #1 of the first target object.

[0619] The specific description of S1001-S1005 can refer to the related description in S901-S905, and will not be described here.

[0620] When the SF determines not to initiate the awareness switching, i.e., determines to still keep the awareness device 1 as the main awareness device, in order to obtain better awareness results, the SF can select one or more auxiliary awareness devices, and the following takes the awareness device 2 as an example to request the awareness results, perform the awareness fusion, or when the SF determines to replace the main awareness device, such as the first target object will leave the awareness coverage range of the awareness device 1, the following takes the replaced main awareness device as the awareness device 2 as an example, then the awareness device can send an awareness request to the awareness device 2, and at this time, the awareness request can further include the following S1006-S1008:

[0621] S1006, the SF sends an awareness control request #3 to the awareness device 2. Correspondingly, the awareness device 2 receives the awareness control request #3 from the SF.

[0622] The awareness control request #3 is used to request the awareness device 2 to perform awareness on the first target object, and the awareness control request #3 includes the identifier #1 and the feature information #1. The awareness control request #3 corresponds to the third message in S819, and will not be described here.

[0623] S1007, the awareness device 2 performs awareness according to the feature information #1 to obtain the awareness result #2 of the first target object.

[0624] S1008, the awareness device 2 sends an awareness data reporting message #2 to the SF. Correspondingly, the SF receives the awareness data reporting message #2 from the awareness device 2.

[0625] The awareness data reporting message #2 includes the identifier #1 and the awareness result #2, and the awareness result #2 corresponds to the third awareness result in S820, and will not be described here.

[0626] When performing the awareness fusion, the following S1009 can be further included:

[0627] S1009, the SF performs fusion processing on the awareness result #1 and the awareness result #2 according to the identifier #1 to obtain a fusion awareness result #1.

[0628] That is, the SF fuses the awareness result #1 and the awareness result #2 of the first target object according to the identifier #1 to obtain an awareness result with better performance (such as accuracy, resolution, detection rate, false alarm rate, size, contour, etc.). The fusion awareness result #1 corresponds to the first fusion awareness result in S822, and will not be described here.

[0629] The detailed implementation process of S1006-S1009 can refer to the related description in S819-S822, and details are not described herein.

[0630] It should be understood that when the primary perception device is changed from the perception device 1 to the perception device 2, the SF can still select a secondary perception device on the basis that the perception device 2 is the primary perception device to send a perception data request to the secondary perception device during the perception fusion processing. The detailed implementation can refer to S704-S707, and details are not described herein.

[0631] When the SF does not need the perception device 1 to perform the perception and report the perception result, for example, the first target object leaves the perception coverage of the perception device 1 or the perception task is completed, the SF can trigger the perception device 1 to stop the perception, for example, S1010 as follows:

[0632] S1010, the SF sends a perception control request #4 to the perception device 1. Correspondingly, the perception device 1 receives the perception control request #4 from the SF.

[0633] The perception control request #4 includes the identifier #1 and first indication information, and the first indication information is used to delete the identifier #1.

[0634] Therefore, the perception device 1 can delete the identifier #1 according to the perception control request #4 to terminate the perception of the first target object.

[0635] Similarly, when the SF does not need the perception device 2 to perform the perception and report the perception result, for example, the first target object leaves the perception coverage of the perception device 2 or the perception task is completed, the SF can trigger the perception device 1 to stop the perception, for example, S1011 as follows:

[0636] S1011, the SF sends a perception control request #5 to the perception device 2. Correspondingly, the perception device 2 receives the perception control request #5 from the SF.

[0637] The perception control request #5 includes the identifier #1 and first indication information, and the first indication information is used to indicate to delete the identifier #1.

[0638] Therefore, the perception device 2 can delete the identifier #1 according to the perception control request #3 to terminate the perception of the first target object.

[0639] The perception control request #4 and #5 correspond to the fourth message in the method shown in FIG. 8, and details are not described herein.

[0640] Therefore, when the perception device detects the target object, the SF allocates an identifier for the target object and notifies the perception device, and the SF can use the allocated identifier to perform the perception fusion, the perception switching, and the perception termination, and the like, to realize the perception management and control of the target object.

[0641] In a possible implementation, when the perception network element sends the first message to the first perception device, the specific feature (such as the accurate position, the contour, etc.) of the target object has been learned, that is, the feature information of the target object can indicate the specific feature (the specific feature) of a target object (such as the first target object), and the feature information of the target object can be replaced by the feature information of the first target object, then the perception network element can assign an identifier (such as the first identifier) to the target object corresponding to the feature information, and the first message includes the first identifier and the feature information of the first target object, and the first perception device can execute perception to obtain the first perception result of the first target object according to the feature information, and report the first perception result and the first identifier to the perception network element.

[0642] That is, the embodiment of the application further provides a communication method, as shown in FIG. 11, the communication method comprises:

[0643] S1101, the perception network element sends a first message to a first perception device, and correspondingly, the first perception device receives the first message from the perception network element.

[0644] The first message is used to request perception of a first target object, and the first message includes feature information of the first target object and a first identifier. The feature information of the first target object is for a specific feature of a certain specific target object, such as used to indicate the specific feature (such as the accurate position, the contour, etc.) of the first target object, which can make the first perception result uniquely identify the first target object and obtain the perception result of the first target object. The first identifier is an identifier assigned by the perception network element to the first target object according to the feature information of the first target object.

[0645] S1102, the first perception device executes perception according to the first message to obtain a first perception result of the first target object.

[0646] The first perception result can execute perception according to the feature information of the first target object to obtain the first perception result of the first target object, and send the first perception result to the perception network element together with the first identifier.

[0647] S1103, the first perception device sends the first identifier and the first perception result to the perception network element. Correspondingly, the perception network element receives the first identifier and the first perception result from the first perception device.

[0648] The implementation processes of subsequent perception fusion, perception switching, and perception termination can be similar to the embodiments shown in FIGS. 8-10, and will not be described here.

[0649] It should be understood that the dynamic part of the feature information involved in the embodiments of the present application is always changing, and the perception device needs to perform perception and matching in the first time after acquisition (whether from a source perception device or a perception network element), otherwise, if the time is too long, the dynamic part may have changed greatly, at which time the matching and identification of the target object cannot be performed.

[0650] In the above various embodiments, the method and / or steps implemented by the perception network element can also be implemented by components (such as a processor, a chip, a chip system, a circuit, a logic module, or software) available for the perception network element; in the above various embodiments, the method and / or steps implemented by the perception device can also be implemented by components (such as a processor, a chip, a chip system, a circuit, a logic module, or software) available for the perception device.

[0651] The above mainly introduces the schemes provided by the present application. Correspondingly, the present application also provides a communication apparatus, which is used to implement various methods in the above method embodiments. The communication apparatus can be a perception network element in the above method embodiments, or a device containing the perception network element, or a component available for the perception network element, such as a chip or a chip system. Or, the communication apparatus can be a perception device in the above method embodiments, or a device containing the perception device, or a component available for the perception device, such as a chip or a chip system.

[0652] In some embodiments, the communication apparatus contains hardware structures and / or software modules corresponding to the implementation of various functions in order to implement the above functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0653] The embodiments of the present application can divide the functional modules of the communication apparatus according to the above method embodiments, for example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing module. The above integrated module can be implemented in the form of hardware or software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division, and actual implementation can have another division manner.

[0654] For example, the communication apparatus is the sensing network element or the sensing device in the method embodiments, and FIG. 12 is a structural schematic diagram of the communication apparatus according to an embodiment of the present application. As shown in FIG. 12, the communication apparatus 1200 includes a processing module 1201 and a transceiver module 1202. The processing module 1201 is configured to perform the processing functions of the sensing network element or the sensing device in the method embodiments. The transceiver module 1202 is configured to perform the communication functions of the sensing network element or the sensing device in the method embodiments.

[0655] All the related contents of the steps in the method embodiments can be referred to the function description of the corresponding function modules, and will not be repeated here.

[0656] In a possible design, the transceiver module 1202 can include a receiving module and a sending module (not shown in FIG. 12). The sending module and the receiving module are configured to implement the sending function and the receiving function of the communication apparatus 1200, respectively.

[0657] In a possible design, the communication apparatus 1200 can further include a storage module (not shown in FIG. 12), which stores programs or instructions. When the processing module 1201 executes the programs or instructions, the communication apparatus 1200 can perform the functions of the sensing network element or the sensing device in the method shown in any one of FIGS. 4-11.

[0658] In some embodiments, the processing module 1201 involved in the communication apparatus 1200 can be implemented by a processor or a processor-related circuit component, and can be a processor or a processing unit. The transceiver module 1202 can be implemented by a transceiver or a transceiver-related circuit component, and can be a transceiver or a transceiving unit.

[0659] For example, FIG. 13 is a structural schematic diagram of another communication apparatus according to an embodiment of the present application. The communication apparatus can be the sensing network element or the sensing device in the method embodiments, or can be a chip (system) or other components or assemblies that can be arranged in the sensing network element or the sensing device. As shown in FIG. 13, the communication apparatus 1300 can include a processor 1301. In a possible design, the communication apparatus 1300 can further include a memory 1302 and / or a transceiver 1303. The processor 1301 is coupled with the memory 1302 and the transceiver 1303, for example, through a communication bus.

[0660] The components of the communication apparatus 1300 will be described in detail below in combination with FIG. 13:

[0661] The processor 1301 is a control center of the communication device 1300, which can be one processor or collectively refer to multiple processing elements. For example, the processor 1301 includes one or more central processing units (CPUs), application specific integrated circuits (ASICs), or one or more integrated circuits configured to perform the functions of the embodiments of the present application, such as one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0662] In one possible design, the processor 1301 can perform various functions of the communication device 1300 by running or executing software programs stored in the memory 1302 and calling data stored in the memory 1302.

[0663] In a specific implementation, as an example, the processor 1301 can include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 13.

[0664] In a specific implementation, as an example, the communication device 1300 can also include multiple processors, such as the processor 1301 and the processor 1304 shown in FIG. 13. Each of these processors can be a single-core processor or a multi-core processor. The processor here can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0665] The memory 1302 is configured to store software programs for performing the schemes of the present application and to be controlled by the processor 1301 to perform the schemes. The specific implementation can refer to the above method embodiments, and will not be repeated here.

[0666] In a possible design, the memory 1302 can be a read-only memory (ROM) or another type of static storage device that can store static information and instructions, a random access memory (RAM) or another type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or another optical disk storage, an optical disk storage (including a compact disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, and the like), a magnetic disk storage medium or another magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory 1302 can be integrated with the processor 1301 or exist independently and be coupled to the processor 1301 through an interface circuit (not shown in FIG. 13) of the communication apparatus 1300, and embodiments of the present application do not make a specific limitation in this regard.

[0667] The transceiver 1303 is configured to communicate with other communication apparatuses. For example, the communication apparatus 1300 is a terminal device, and the transceiver 1303 can be configured to communicate with a network device or another terminal device. For another example, the communication apparatus 1300 is a network device, and the transceiver 1303 can be configured to communicate with a terminal device or another network device.

[0668] In a possible design, the transceiver 1303 can include a receiver and a transmitter (not shown in FIG. 13). The receiver is configured to implement the receiving function, and the transmitter is configured to implement the sending function.

[0669] In a possible design, the transceiver 1303 can be integrated with the processor 1301 or exist independently and be coupled to the processor 1301 through an interface circuit (not shown in FIG. 13) of the communication apparatus 1300, and embodiments of the present application do not make a specific limitation in this regard.

[0670] It should be noted that the structure of the communication apparatus 1300 shown in FIG. 13 does not constitute a limitation on the communication apparatus, and actually, the communication apparatus can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0671] In addition, the technical effects of the communication apparatus 1300 can refer to the technical effects of the methods described in the above method embodiments, which are not described herein again.

[0672] In still another aspect, the embodiments of the present application further provide a computer program product containing instructions, which, when executed on a communication device, enable the communication device to perform the method according to any one of the embodiments described above.

[0673] In still another aspect, the embodiments of the present application further provide a computer readable storage medium. The computer readable storage medium stores computer programs or instructions, which, when executed on a communication device, enable the communication device to perform the method according to any one of the embodiments described above.

[0674] In still another aspect, the embodiments of the present application further provide a communication system, comprising: a sensing network element and a sensing device for implementing the method embodiments described above.

[0675] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or data storage device such as one or more servers, data centers, etc. integrated with one or more media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as digital video disk (DVD)), or semiconductor media (such as solid state disk (SSD)), etc.

[0676] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0677] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0678] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0679] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0680] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0681] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the essential part or part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a random access memory RAM, a magnetic disk or an optical disk, and various program code storage media.

[0682] Although the application has been described in connection with the embodiments thereof with reference to the various drawings, it will be understood that other variations and modifications of the details, and specific examples can be resorted to by those skilled in the art without departing from the spirit and scope of the application. In its broadest form, the application is directed to all new and useful processes, machines, articles of manufacture, compositions of matter, and methods that fall within the scope of the claims. The specification and drawings are, accordingly, to be regarded as illustrative rather than restrictive. For a better understanding of the application, its operating advantages, and the specific objects attained by its uses, reference should be made to the drawings and to the implementation in the claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0683] Although the application has been described in connection with specific embodiments thereof, it will be understood that it is capable of modifications and alternative constructions and combinations of parts herein described, drawing upon the spirit and scope of the application as expressed in the claims. Accordingly, the description and drawings are to be regarded as illustrative in nature and not as restrictive. Obviously, modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

A communication method characterized by comprising: The method comprises: The first sensing device receives a first message from a sensing network element, the first message being used for requesting sensing of a target object, the first message comprising feature information of the target object; The first sensing device performs sensing to obtain a first sensing result of a first target object according to the first message, and allocates a first identifier to the first target object, so that the target object satisfying the feature information comprises the first target object; The first sensing device sends the first identifier and the first sensing result to the sensing network element. The method of claim 1, wherein The first identifier is determined according to an identifier of the first sensing device. The method according to claim 1 or 2, characterized in that The method further comprises: The first sensing device sends a second message to a second sensing device, the second message being used for requesting a sensing result of the first target object, the second message comprising the first identifier and first feature information of the first target object, the first feature information being determined according to the first sensing result and / or the feature information of the target object; The first sensing device receives the first identifier and a second sensing result from the second sensing device, the second sensing result being obtained by the second sensing device according to the first feature information; The first sensing device performs fusion processing on the first sensing result and the second sensing result according to the first identifier, to obtain a first fusion sensing result; The first sensing device sends the first identifier and the first fusion sensing result to the sensing network element. The method according to any one of claims 1-3, characterized in that The method further comprises: The first sensing device sends a third message to a second sensing device, the third message being used for indicating switching of sensing of the first target object to the second sensing device, the third message comprising the first identifier and second feature information of the first target object, the second feature information being determined according to the sensing result of the first target object obtained by the first sensing device and / or the feature information of the target object, the sensing result of the first target object obtained by the first sensing device comprising the first sensing result. The method according to claim 4, characterized in that The method further comprises: The first sensing device receives a fourth message from the second sensing device, the fourth message being used for requesting the sensing result of the first target object obtained by the first sensing device, the fourth message comprising the first identifier; The first sensing device performs sensing on the first target object according to the fourth message to obtain a third sensing result; The first sensing device sends the first identifier and the third sensing result to the second sensing device. The method according to claim 5, characterized in that The method further comprises: The first sensing device receives a fifth message from the second sensing device, the fifth message being used for indicating termination of sending the sensing result of the first target object, the fifth message comprising the first identifier; The first sensing device deletes the first identifier according to the fifth message. The method according to claim 4 or 5, characterized in that The method further comprises: The first perception device receives a response message corresponding to the third message from the second perception device, and the response message corresponding to the third message is used to notify that the perception switching is completed. The first perception device deletes the first identifier according to the response message corresponding to the third message. The method according to any one of claims 1-7, characterized in that The method further comprises: The first perception device receives a sixth message from the perception network element, and the sixth message is used to instruct to delete the identifier of the first target object, and the sixth message comprises the first identifier. The first perception device deletes the first identifier according to the sixth message. A communication method characterized by comprising: The method comprises: The perception network element sends a first message to a first perception device, and the first message is used to request to perceive a target object, and the first message comprises feature information of the target object. The perception network element receives a first identifier and a first perception result from the first perception device, the first identifier is an identifier allocated by the first perception device for a first target object according to the first message, and the first perception result is a perception result of the first target object obtained by the first perception device according to the first message, and the target object satisfying the feature information comprises the first target object. The method of claim 9, wherein The first identifier is determined according to an identifier of the first perception device. The method according to claim 9 or 10, characterized in that The method further comprises: The perception network element sends a sixth message to the first perception device, and the sixth message is used to instruct to terminate the perception of the first target object, and the sixth message comprises the first identifier. The method according to any one of claims 9-11, characterized in that The method further comprises: The perception network element receives a seventh message from a second perception device, and the seventh message is used to instruct to switch the perception of the first target object to the second perception device, and the seventh message comprises the first identifier or the seventh message comprises the first identifier and a second identifier, and the second identifier is an identifier allocated by the second perception device for the first target object. The method of claim 12, wherein The method further comprises: The perception network element receives the first identifier and a fourth perception result from the second perception device; or The perception network element receives the second identifier and the fourth perception result from the second perception device; wherein the fourth perception result is obtained by the second perception device according to a second feature information of the first target object, the second feature information is determined according to the perception result of the first target object obtained by the first perception device and / or the feature information of the target object, and the perception result of the first target object obtained by the first perception device comprises the first perception result. The method according to claim 12 or 13, characterized in that The method further comprises: The perception network element sends an eighth message to the second perception device, and the eighth message is used to instruct to delete the identifier of the first target object, and the eighth message comprises the first identifier or the eighth message comprises the second identifier. The method according to any one of claims 9-11, characterized in that The method further comprises: The perception network element sends a ninth message to a second perception device, the ninth message being used for requesting perception on the first target object, the ninth message comprising first characteristic information of the first target object, the first characteristic information being determined according to the first perception result and / or characteristic information of the target object; The perception network element receives a second identifier and a fifth perception result from the second perception device, the second identifier being an identifier allocated by the second perception device to the first target object according to the ninth message, and the fifth perception result being obtained by the second perception device according to the ninth message; The perception network element associates the first identifier with the second identifier; The perception network element fuses the first perception result and the fifth perception result according to the association relationship between the first identifier and the second identifier, to obtain a third fused perception result. The method of claim 15, wherein The method further comprises: The perception network element sends a tenth message to the second perception device, the tenth message being used for instructing to delete the identifier of the first target object, the tenth message comprising the second identifier. The method according to any one of claims 9-16, characterized in that The method further comprises: The perception network element allocates a third identifier to the first target object according to the first perception result; The perception network element associates the first identifier with the third identifier. A communication method characterized by comprising: The method comprises: The second perception device receives a third message from the first perception device, the third message being used for instructing to switch perception on a first target object to the second perception device, the third message comprising a first identifier and second characteristic information of the first target object, the first identifier being an identifier allocated by the first perception device to the first target object, and the second characteristic information being determined according to a perception result of the first target object obtained by the first perception device and / or characteristic information of a target object, the characteristic information of the target object being used for indicating characteristics of the target object, the target object comprising the first target object; The second perception device performs perception on the first target object to obtain a fourth perception result according to the third message; The second perception device sends the first identifier and the fourth perception result to a perception network element, or the second perception device sends a second identifier and the fourth perception result to the perception network element, the second identifier being an identifier allocated by the second perception device to the first target object. The method of claim 18, wherein The first identifier is determined according to an identifier of the first perception device, and the second identifier is determined according to an identifier of the second perception device. The method according to claim 18 or 19, characterized in that Before the perception switching, the method further comprises: The second perception device receives a second message from the first perception device, the second message being used for requesting to obtain a perception result of a first target object, the second message comprising the first identifier and first feature information of the first target object, the first feature information being determined according to a first perception result of the first target object obtained by the first perception device and / or feature information of the target object, the first perception result being obtained by performing perception according to the feature information of the target object; The second perception device performs perception on the first target object according to the first feature information to obtain a second perception result; The second perception device sends the first identifier and the second perception result to the first perception device. The method according to any one of claims 18-20, characterized in that The method further comprises: The second perception device sends a fourth message to the first perception device, the fourth message being used for requesting the first perception result of the first target object obtained by the first perception device, the fourth message comprising the first identifier; The second perception device receives the first identifier and a third perception result from the first perception device, the third perception result being obtained by the first perception device performing perception on the first target object according to the fourth message; The second perception device performs fusion processing on the third perception result and the fourth perception result according to the first identifier to obtain a second fusion perception result; The second perception device sends the first identifier and the second fusion perception result to the perception network element, or the second perception device sends the second identifier and the second fusion perception result to the perception network element. The method of claim 21, wherein The method further comprises: The second perception device sends a fifth message to the first perception device, the fifth message being used for indicating to terminate sending the perception result of the first target object, the fifth message comprising the first identifier. The method according to any one of claims 18-22, characterized in that The method further comprises: The second perception device sends a response message corresponding to the third message to the first perception device, the response message corresponding to the third message being used for notifying that perception switching is completed. The method according to any one of claims 18-23, characterized in that In a case where the second perception device sends the first identifier and the fourth perception result to the perception network element, the method further comprises: The second perception device sends a seventh message to the perception network element, the seventh message being used for indicating to switch perception of the first target object to the second perception device, the seventh message comprising the first identifier. The method according to any one of claims 18-23, characterized in that In a case where the second perception device sends the second identifier and the fourth perception result to the perception network element, the method further comprises: The second perception device allocates the second identifier to the first target object according to the third message; The second perception device sends a seventh message to the perception network element, the seventh message being used for indicating to switch perception of the first target object to the second perception device, the seventh message comprising the first identifier and the second identifier. A communication device characterized by comprising: comprise: A module for performing the method of any one of claims 1-8, or 9-17, or 18-25. A communication device characterized by comprising: comprise: A processor; The processor is configured to execute computer programs or instructions to cause the method of any one of claims 1-8, or 9-17, or 18-25 to be implemented. A computer-readable storage medium, characterized by The computer readable storage medium stores computer programs or instructions, which, when executed by a communication device, implement the method of any one of claims 1-8, or 9-17, or 18-25. A computer program product, characterized in that The computer readable storage medium stores computer programs or instructions, which, when executed by a communication device, implement the method of any one of claims 1-8, or 9-17, or 18-25.

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