Communication method and apparatus

Abstract

A communication method and apparatus, used for reducing the overhead of feeding back a sensing result in a multi-carrier sensing scenario. The method comprises: a first communication apparatus receives resource configuration information, the resource configuration information being used for configuring a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, and the second sensing resource being a sensing resource within a second carrier; the first communication apparatus receives a first sensing signal on the basis of the first sensing resource, and obtains a first sensing result on the basis of the first sensing signal, the first sensing result comprising a sensing result of a first object; the first communication apparatus receives a second sensing signal on the basis of the second sensing resource, and obtains a second sensing result on the basis of the second sensing signal, the second sensing result comprising a sensing result of the first object; and the first communication apparatus sends a third sensing result, the third sensing result being a sensing result of the first object obtained on the basis of the first sensing result and the second sensing result.

Description

Communication method and apparatus

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese Patent Application No. 202411273118.1, filed on September 11, 2024, and entitled "A Communication Method and Apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of mobile communication technology, and in particular, to a communication method and apparatus. BACKGROUND

[0004] With the development of network technology, a base station can utilize a communication signal to implement detection, positioning, identification, and imaging of a target object, and a wireless communication system composed of a base station and a terminal, or a base station and a base station, can utilize the perception function to obtain surrounding environment information, intelligently and accurately allocate communication resources, tap potential communication capabilities, and enhance user experience. Taking a communication system composed of a base station and a terminal as an example, one possible way is that the base station transmits a perception signal, the terminal receives a reflected echo signal of the perception signal after being reflected by a perception target, and the terminal can obtain a perception result of the perception target according to the received echo signal.

[0005] Currently, in a multi-carrier perception scenario, how to reduce the feedback overhead of the perception result is a technical problem to be solved. SUMMARY

[0006] The present application provides a communication method and apparatus to reduce the feedback overhead of the perception result in a multi-carrier perception scenario.

[0007] In the first aspect, an embodiment of the present application provides a communication method, which can be executed by a first communication apparatus, or in other words, the method can be applied to the first communication apparatus. In the absence of special description, the "first communication apparatus" in the present application can refer to a terminal device or a base station and the like access network device itself, or a component (for example, a functional module, a communication module, a processor, a circuit, a chip, or a chip system, etc.) in the terminal device or the base station and the like access network device, or a logic module or software capable of realizing all or part of the functions of the terminal device or the access network device. The first communication apparatus can be used to obtain a perception result according to a perception signal, for example, the first communication apparatus is a receiving end of an echo signal corresponding to the perception signal. Optionally, the perception signal can be transmitted by the first communication apparatus, or can be transmitted by a second communication apparatus.

[0008] Taking the first communication device as an execution subject, the method comprises: the first communication device receiving resource configuration information, the resource configuration information being used for configuring a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource in a first carrier, and the second sensing resource being a sensing resource in a second carrier; the first communication device receiving a first sensing signal according to the first sensing resource, obtaining a first sensing result according to the first sensing signal, the first sensing result comprising a sensing result of a first object; the first communication device receiving a second sensing signal according to the second sensing resource, obtaining a second sensing result according to the second sensing signal, the second sensing result comprising a sensing result of the first object; and the first communication device sending a third sensing result, the third sensing result being a sensing result of the first object obtained according to the first sensing result and the second sensing result.

[0009] Based on the method of the first aspect, the first sensing result corresponding to the first carrier and the second sensing result corresponding to the second carrier both comprise a sensing result of a first object, and the first communication device can send a third sensing result, wherein the third sensing result can be a sensing result of the first object obtained according to the first sensing result and the second sensing result, that is, in the process of the first communication device feeding back the sensing result of the first object, the first communication device only needs to feed back the sensing result of the first object obtained by merging the sensing results of multiple carriers, and does not need to repeatedly send the sensing result of the first object for each carrier, thereby reducing the feedback overhead of the sensing result.

[0010] In a possible implementation, the first sensing result further comprises a sensing result of a second object; the first communication device can further send the sensing result of the second object, wherein the sending order of the third sensing result and the sensing result of the second object is determined according to a priority of the sensing result of the first object and a priority of the sensing result of the second object.

[0011] Based on the method, the first communication device can determine the sending order of the sensing results of multiple objects according to the priorities. The sending order can represent the reliability between the sensing results, and accordingly, the second communication device can determine the reliability of the sensing results according to the sending order. Therefore, the reliability of the sensing results can be implicitly indicated by the sending order.

[0012] In a possible implementation, the priority of the sensing result of the first object and / or the priority of the sensing result of the second object is determined according to at least one of the following information: a correspondence relationship between the position information of an object and the priority; a correspondence relationship between the speed information of an object and the priority; a correspondence relationship between the characteristics of an object and the priority; a correspondence relationship between the number of carriers corresponding to the sensing result of an object and the priority; and the priority of the first carrier.

[0013] Based on the implementation, the priority between the perception results of different objects can be reasonably determined according to the at least one correspondence in the application.

[0014] In a possible implementation, the priority of the perception result of the first object and the priority of the perception result of the second object are determined according to the correspondence between the number and the priority of the carrier corresponding to the perception result of the object, and the priority of the perception result of the first object is higher than the priority of the perception result of the second object if the second perception result does not include the perception result of the second object and the number and the priority are positively correlated in the correspondence between the number and the priority of the carrier corresponding to the perception result of the object.

[0015] Based on the implementation, if the perception results corresponding to the first carrier and the second carrier both include the perception result of the first object, and the perception result of the first carrier includes the perception result of the second object and the perception result of the second carrier does not include the perception result of the second object, it can be determined that the priority of the perception result of the first object is higher than the priority of the perception result of the second object, or the sending order of the first object is prior to the sending order of the second object. It can be considered that the priority of the perception result of the object covered by the perception signals of multiple carriers (such as the perception result of the first object) is higher than the priority of the perception result of the object covered by the perception signal of only one carrier (such as the perception result of the second object).

[0016] In a possible implementation, the resource configuration information is used to configure the perception resources in N carriers, the N carriers include the first carrier and the second carrier; the perception results corresponding to K carriers in the N carriers include the perception result of the first object, K is a positive integer greater than or equal to 1, the K carriers include the first carrier and the second carrier, and the third perception result is obtained according to the perception results corresponding to the K carriers; the perception results corresponding to L carriers in the N carriers include the perception result of the second object, L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; in the case that K is greater than L, the priority of the perception result corresponding to the first object is higher than the priority of the perception result corresponding to the second object.

[0017] Based on the implementation, it can be considered that the greater the number of carriers corresponding to the perception result of the object, the higher the priority or reliability of the perception result of the object. It can also be said that in the case that the perception result of the object is included in the perception results of more carriers, the priority of the perception result of the object is higher, that is, the reliability of the perception result of the object is higher.

[0018] In a possible implementation, the second perception result further comprises a third object's perception result; the first communication device can further send the third object's perception result, and the sending order of the third perception result, the second object's perception result and the third object's perception result is determined according to the priority of the first object's perception result, the priority of the second object's perception result and the priority of the third object's perception result; or, the sending order of the third perception result and the third object's perception result is determined according to the priority of the first object's perception result and the priority of the third object's perception result; or, the sending order of the second object's perception result and the third object's perception result is determined according to the priority of the second object's perception result and the priority of the third object's perception result.

[0019] Based on the implementation, when the perception results of the multiple carriers contain the perception results of different objects, the sending order of the perception results of the different objects can be determined according to the priorities, so as to support implicitly indicating the reliability of the perception results corresponding to the different carriers through the sending order.

[0020] In a possible implementation, the priority of the third object's perception result is determined according to at least one of the following information: a correspondence between the position information of an object and the priority; a correspondence between the speed information of an object and the priority; a correspondence between the characteristics of an object and the priority; a correspondence between the number of carriers corresponding to an object's perception result and the priority; the priority of the second carrier.

[0021] Based on the implementation, the priority of the third object's perception result can be reasonably determined according to the at least one correspondence.

[0022] In a possible implementation, the first communication device can receive first indication information, the first indication information being used to determine the priority of the first object's perception result and the priority of the second object's perception result, and the first indication information being used to indicate at least one of the following: a correspondence between the position information of an object and the priority; a correspondence between the speed information of an object and the priority; a correspondence between the characteristics of an object and the priority; the priority of the first carrier and the priority of the second carrier.

[0023] Based on the implementation, the first communication device can receive the indication information of the above correspondences, so as to obtain the above correspondences. In additional implementations, the above correspondences can also be preconfigured in the first communication device, for example, the above correspondences are stored in the out-of-box configuration of the first communication device, or the first communication device can obtain the above correspondences based on a related protocol.

[0024] In a possible implementation, the perception result of the first object and / or the perception result of the second object comprises at least one of the following information: position information of the object; speed information of the object; and feature of the object.

[0025] Based on this implementation, the first communication device can determine the priority of the perception result of the object according to the position information, the speed information, and / or the feature in the perception result of the object, in combination with the correspondence described above. The feature of the object can include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0026] In a second aspect, an embodiment of the present application provides a communication method, which can be executed by a second communication device, or in other words, the method can be applied to the second communication device. In the absence of special description, the "second communication device" in the present application can refer to a terminal device, an access network device such as a base station, a core network element such as a perception network element, or the like, or can be a component (for example, a functional module, a communication module, a processor, a circuit, a chip, or a chip system) in the terminal device, the access network device, or the core network element, or can be a logic module or software capable of realizing all or part of the functions of the terminal device or the access network device or the core network element. The second communication device can be used to receive the perception result fed back by the first communication device, for example, the second communication device is the sender of the perception signal, or can be an access network device or a core network element that configures the perception resource.

[0027] Taking the second communication device as an execution subject, the method comprises the following steps: the second communication device sends resource configuration information, the resource configuration information is used to configure first perception resource and second perception resource, the first perception resource is the perception resource in a first carrier, and the second perception resource is the perception resource in a second carrier; and the second communication device receives third perception result from the first communication device, the third perception result is the perception result of a first object obtained according to a first perception result and a second perception result, the first perception result comprises the perception result of the first object, the second perception result comprises the perception result of the first object, the first perception result is obtained according to a first perception signal, the first perception signal is received by the first communication device according to the first perception resource, and the second perception result is obtained according to a second perception signal, the second perception signal is received by the first communication device according to the second perception resource.

[0028] In a possible implementation, the first perception result further comprises a perception result of a second object, and the second communication device can further receive the perception result of the second object. The sending sequence of the third perception result and / or the perception result of the second object is determined according to the priority of the perception result of the first object and the priority of the perception result of the second object.

[0029] In a possible implementation, the priority of the perception result of the first object and / or the priority of the perception result of the second object is determined according to at least one of the following information: a correspondence relationship between the position information of the object and the priority; a correspondence relationship between the speed information of the object and the priority; a correspondence relationship between the feature of the object and the priority; and a correspondence relationship between the number of carriers corresponding to the perception result of the object and the priority.

[0030] In a possible implementation, the priority of the perception result of the first object and the priority of the perception result of the second object are determined according to a correspondence relationship between the number of carriers corresponding to the perception result of the object and the priority, and the priority of the perception result of the first object is higher than the priority of the perception result of the second object if the second perception result does not include the perception result of the second object and the number of carriers corresponding to the perception result of the object and the priority are positively correlated in the correspondence relationship.

[0031] In a possible implementation, the resource configuration information is used to configure perception resources in N carriers, the N carriers include the first carrier and the second carrier; the perception result corresponding to K carriers in the N carriers includes the perception result of the first object, K is a positive integer greater than or equal to 1, the K carriers include the first carrier and the second carrier, and the third perception result is obtained according to the perception result corresponding to the K carriers; the perception result corresponding to L carriers in the N carriers includes the perception result of the second object, L is a positive integer greater than or equal to 1, and the L carriers include the first carrier; in the case that K is greater than L, the priority of the perception result corresponding to the first object is higher than the priority of the perception result corresponding to the second object.

[0032] In a possible implementation, the second perception result further includes a perception result of a third object, and the second communication device can further receive the perception result of the third object. The sending order of the third perception result, the perception result of the second object, and the perception result of the third object is determined according to the priority of the perception result of the first object, the priority of the perception result of the second object, and the priority of the perception result of the third object; or the sending order of the third perception result and the perception result of the third object is determined according to the priority of the perception result of the first object and the priority of the perception result of the third object; or the sending order of the perception result of the second object and the perception result of the third object is determined according to the priority of the perception result of the second object and the priority of the perception result of the third object.

[0033] In a possible implementation, the priority of the perception result of the third object is determined according to at least one of the following information: a correspondence relationship between position information of the object and the priority; a correspondence relationship between speed information of the object and the priority; a correspondence relationship between a feature of the object and the priority; a correspondence relationship between a number of carriers corresponding to the perception result of the object and the priority; and the priority of the second carrier.

[0034] In a possible implementation, the second communication device can further send first indication information used to determine the priority of the perception result of the first object and the priority of the perception result of the second object, and the first indication information is used to indicate at least one of the following: a correspondence relationship between position information of the object and the priority; a correspondence relationship between speed information of the object and the priority; a correspondence relationship between a feature of the object and the priority; the priority of the first carrier; and the priority of the second carrier.

[0035] In a possible implementation, the perception result of the first object and / or the perception result of the second object includes at least one of the following information: position information of the object; speed information of the object; and a feature of the object.

[0036] In a possible implementation, the feature of the object includes at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0037] The technical effects brought by the second aspect and any possible implementation thereof can refer to the beneficial effects of the solutions in the first aspect and the corresponding implementation, which will not be described here again.

[0038] In a third aspect, an embodiment of the present application provides a communication method, which can be executed by a first communication device. The first communication device can be described in the first aspect. Taking the first communication device as an execution subject, the method comprises: receiving, by the first communication device, resource configuration information, wherein the resource configuration information is used to configure a first sensing resource and a second sensing resource, the first sensing resource is a sensing resource in a first carrier, and the second sensing resource is a sensing resource in a second carrier; receiving, by the first communication device, a first sensing signal according to the first sensing resource, obtaining a first sensing result according to the first sensing signal, wherein the first sensing result comprises a sensing result of a second object; receiving, by the first communication device, a second sensing signal according to the second sensing resource, obtaining a second sensing result according to the second sensing signal, wherein the second sensing result comprises a sensing result of a third object; and sending, by the first communication device, the sensing result of the second object and the sensing result of the third object, wherein a sending order of the sensing result of the second object and the sensing result of the third object is determined according to a priority corresponding to the sensing result of the second object and a priority corresponding to the sensing result of the third object.

[0039] Based on the third aspect, the first communication device can determine the sending order of the sensing result of the second object and the sensing result of the third object according to the priority of the sensing result of the second object and the priority of the sensing result of the third object. The sending order can represent the reliability between the sensing results, and accordingly, the second communication device can determine the reliability of the sensing results according to the sending order. Therefore, the reliability of the sensing results can be implicitly indicated by the sending order.

[0040] In a possible implementation, the priority corresponding to the sensing result of the second object and / or the priority corresponding to the sensing result of the third object is determined according to at least one of the following information: a corresponding relationship between the position information of the object and the priority; a corresponding relationship between the characteristics of the object and the priority; the priority of the first carrier; the priority of the second carrier; and a corresponding relationship between the number of carriers corresponding to the sensing result of the object and the priority.

[0041] Based on the implementation, the priority of the sensing result of the second object and the priority of the sensing result of the third object can be reasonably determined according to the at least one corresponding relationship.

[0042] In a possible implementation, the resource configuration information includes sensing resources in N carriers, the N carriers including the first carrier and the second carrier, N being a positive integer greater than 1; the sensing result corresponding to L carriers of the N carriers includes the sensing result of the second object, L being a positive integer greater than or equal to 1, and the L carriers including the first carrier; the sensing result corresponding to M carriers of the N carriers includes the sensing result of the second object, M being a positive integer greater than or equal to 1, and the M carriers including the second carrier; and in a case where L is greater than M, the sending order of the sensing result of the second object is earlier than the sending order of the sensing result of the third object.

[0043] Based on the implementation, it can be considered that the greater the number of carriers corresponding to the sensing result of an object, the higher the priority or reliability of the sensing result of the object. It can also be said that in a case where the sensing result of an object is included in the sensing results of more carriers, the sensing result of the object has a higher priority, that is, the sensing result of the object has higher reliability.

[0044] In a possible implementation, the first sensing result further includes a sensing result of a first object, the second sensing result further includes the sensing result of the first object, and the first communication apparatus can further send a third sensing result, which is the sensing result of the first object obtained according to the first sensing result and the second sensing result.

[0045] Based on the implementation, the first sensing result corresponding to the first carrier and the second sensing result corresponding to the second carrier both include the sensing result of the first object, and the first communication apparatus can send the third sensing result without repeatedly sending the sensing result of the first object for each carrier, so as to reduce the feedback overhead of the sensing result.

[0046] In a possible implementation, the priority of the sensing result of the first object is determined according to at least one of the following information: a corresponding relationship between the position information of an object and the priority; a corresponding relationship between the speed information of an object and the priority; a corresponding relationship between the characteristics of an object and the priority; a corresponding relationship between the number of carriers corresponding to the sensing result of an object and the priority; and the priority of the first carrier.

[0047] Based on the implementation, the priority of the sensing result of the first object can be reasonably determined according to the at least one corresponding relationship in the present application.

[0048] In a possible implementation, the method further includes: receiving first indication information, the first indication information being used to indicate at least one of the following: a correspondence between the position information of the object and the priority, a correspondence between the characteristic of the object and the priority, the priority of the first carrier, and the priority of the second carrier.

[0049] Based on this implementation, the first communication device can receive the indication information of the above correspondences to obtain the above correspondences. In another implementation, the above correspondences can also be pre-configured in the first communication device, for example, the above correspondences are stored in the factory configuration of the first communication device, or the first communication device can obtain the above correspondences based on a related protocol.

[0050] In a possible implementation, the perception result of the second object and / or the perception result of the third object includes at least one of the following: the position information of the object, the speed information of the object, and the characteristic of the object.

[0051] Based on this implementation, the first communication device can determine the priority of the perception result of the object according to the position information, the speed information, and / or the characteristic in the perception result of the object, in combination with the above correspondences. The characteristic of the object can include at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

[0052] In a fourth aspect, an embodiment of the present application provides a communication method, which can be executed by a second communication device. The second communication device can be described in the second aspect. Taking the second communication device as an execution subject, the method includes: the second communication device sending resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource in a first carrier, and the second sensing resource being a sensing resource in a second carrier; and the second communication device receiving a perception result of a second object and a perception result of a third object, wherein the perception result of the second object is included in a first perception result, the first perception result includes a perception result of a first object, the first perception result is obtained according to a first sensing signal, the first sensing signal corresponds to the first sensing resource, the perception result of the third object is included in a second perception result, the second perception result is obtained according to a second sensing signal, the second sensing signal corresponds to the second sensing resource, and the sending order of the perception result of the second object and the perception result of the third object is determined according to a priority corresponding to the perception result of the second object and a priority corresponding to the perception result of the third object.

[0053] In a possible implementation, the priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined according to at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a priority of the first carrier; a priority of the second carrier; and a correspondence relationship between a number of carriers corresponding to a perception result of an object and a priority.

[0054] In a possible implementation, the resource configuration information includes perception resources in N carriers, the N carriers including the first carrier and the second carrier, N being a positive integer greater than 1; the perception result corresponding to L carriers in the N carriers includes the perception result of the second object, L being a positive integer greater than or equal to 1, and the L carriers including the first carrier; the perception result corresponding to M carriers in the N carriers includes the perception result of the second object, M being a positive integer greater than or equal to 1, and the M carriers including the second carrier; and in a case where L is greater than M, the sending order of the perception result of the second object is earlier than the sending order of the perception result of the third object.

[0055] In a possible implementation, the first perception result further includes a perception result of a first object, the second perception result further includes the perception result of the first object, and the second communication apparatus is further configured to receive a third perception result, the third perception result being a perception result of the first object obtained according to the first perception result and the second perception result.

[0056] In a possible implementation, the sending order of the third perception result, the perception result of the second object, and the perception result of the third object is determined according to a priority of the perception result of the first object, a priority of the perception result of the second object, and a priority of the perception result of the third object.

[0057] In a possible implementation, the priority of the perception result of the first object is determined according to at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between speed information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a correspondence relationship between a number of carriers corresponding to a perception result of an object and a priority; and a priority of the first carrier.

[0058] In a possible implementation, the second communication apparatus is further configured to send first indication information, the first indication information being used to indicate at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a priority of the first carrier; and a priority of the second carrier.

[0059] In a possible implementation, the perception result of the second object and / or the perception result of the third object comprises at least one of the following information: position information of the object; speed information of the object; and feature of the object.

[0060] In a fifth aspect, a communication apparatus is provided. The apparatus can implement the method in any one of the first aspect to the fourth aspect and any possible implementation thereof. The apparatus has the functions of the first communication apparatus or the second communication apparatus. The apparatus is, for example, a terminal device, or a functional module in a terminal device, or a network device or a functional module in a network device, etc.

[0061] In an optional implementation, the apparatus can include a module corresponding to each of the methods / operations / steps / actions in any one of the first aspect to the fourth aspect and any possible implementation thereof. The module can be a hardware circuit, or software, or a combination of hardware circuit and software. In an optional implementation, the apparatus includes a processing unit (sometimes referred to as a processing module) and a communication unit (sometimes referred to as a transceiving module, a communication module, etc.). The transceiving unit can implement a sending function and a receiving function. When the transceiving unit implements the sending function, it can be referred to as a sending unit (sometimes referred to as a sending module). When the transceiving unit implements the receiving function, it can be referred to as a receiving unit (sometimes referred to as a receiving module). The sending unit and the receiving unit can be the same functional module, which is referred to as a transceiving unit and can implement the sending function and the receiving function. Alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiving unit is a general term for these functional modules.

[0062] For example, when the apparatus is used to execute the method described in any one of the first aspect to the fourth aspect, the apparatus can include a communication unit and a processing unit.

[0063] In a sixth aspect, the embodiments of the present disclosure further provide a communication apparatus including a processor configured to execute a computer program (or computer executable instructions) stored in a memory, when the computer program (or computer executable instructions) is executed, causing the apparatus to perform the method in any one of the first aspect to the fourth aspect and any possible implementation thereof.

[0064] In a possible implementation, the processor and the memory are integrated together;

[0065] In another possible implementation, the memory is located outside the communication apparatus.

[0066] The communication device also includes a communication interface for the communication device to communicate with other devices, such as transmitting or receiving data and / or signals. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.

[0067] In a seventh aspect, a computer-readable storage medium is provided, which is configured to store a computer program or instructions, which, when executed, cause the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof and the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof to be implemented.

[0068] In an eighth aspect, a computer program product is provided, which includes instructions, which, when executed on a computer, cause the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof to be implemented.

[0069] In a ninth aspect, the embodiments of the present application also provide a communication device, which is configured to execute the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof. The communication device can be the first communication device or the second communication device.

[0070] In a tenth aspect, a chip system is provided, which includes a logic circuit (or it is understood that the chip system includes a processor, which can include a logic circuit, etc.), and can also include an input / output interface. The input / output interface can be configured to input a message or output a message. The input / output interface can be the same interface, i.e., the same interface can implement the sending function and the receiving function; or the input / output interface includes an input interface and an output interface, the input interface is configured to implement the receiving function, i.e., to receive a message; and the output interface is configured to implement the sending function, i.e., to send a message. The logic circuit can be configured to perform operations other than the transceiving function in the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof; and the logic circuit can also be configured to transmit a message to the input / output interface or receive a message from the input / output interface from other communication devices. The chip system can be configured to implement the method according to any one of the first aspect to the fourth aspect and any possible implementation thereof. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0071] Optionally, the chip system can also include a memory, which can be configured to store instructions, and the logic circuit can invoke the instructions stored in the memory to implement corresponding functions.

[0072] In an eleventh aspect, a communication method is provided. As an implementation form, the communication method can include the method implemented by the first communication device in the first aspect and any possible implementation form thereof, and the method implemented by the second communication device in the second aspect and any possible implementation form thereof. Alternatively, the communication method can include the method implemented by the first communication device in the third aspect and any possible implementation form thereof, and the method implemented by the second communication device in the fourth aspect and any possible implementation form thereof.

[0073] In a twelfth aspect, a communication system is provided. As an implementation form, the communication system can include a first communication device and a second communication device. The first communication device can be configured to implement the method in the first aspect and any possible implementation form thereof, and the second communication device can be configured to implement the method in the second aspect and any possible implementation form thereof. Alternatively, the first communication device can be configured to implement the method in the third aspect and any possible implementation form thereof, and the second communication device can be configured to implement the method in the fourth aspect and any possible implementation form thereof.

[0074] The technical effects brought by the fifth aspect to the twelfth aspect above can be referred to the description of the beneficial effects of the corresponding solutions in the first aspect to the fourth aspect above, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0075] FIG. 1 is a schematic diagram of an architecture of a wireless communication system according to an embodiment of the present application;

[0076] FIG. 2 is a schematic diagram of an architecture of a wireless communication system in an O-RAN scenario according to an embodiment of the present application;

[0077] FIG. 3 is a schematic diagram of an architecture of a wireless communication system in another O-RAN scenario according to an embodiment of the present application;

[0078] FIG. 4 is a schematic diagram of an architecture of a wireless communication system in another O-RAN scenario according to an embodiment of the present application;

[0079] FIG. 5A is a schematic diagram of a sensing architecture according to an embodiment of the present application;

[0080] FIG. 5B is a schematic diagram of another sensing architecture according to an embodiment of the present application;

[0081] FIG. 6 is a schematic diagram of another sensing architecture according to an embodiment of the present application;

[0082] FIG. 7 is a schematic diagram of a sensing mode according to an embodiment of the present application;

[0083] FIG. 8 is a schematic diagram of a carrier aggregation mode according to an embodiment of the present application;

[0084] FIG. 9 is a flow diagram of a communication method according to an embodiment of the present application;

[0085] FIG. 10 is a schematic diagram of an inter-carrier sensing result overlap relationship according to an embodiment of the present application;

[0086] FIG. 11 is a flow diagram of another communication method according to an embodiment of the present application;

[0087] FIG. 12 is a schematic diagram of a communication apparatus according to an embodiment of the present application;

[0088] FIG. 13 is a schematic diagram of another communication apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0089] The specific implementation manners of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. However, the implementation manners of the present application can also include combinations of these embodiments without departing from the spirit or scope of the present application, such as using other embodiments and making structural changes. Therefore, the detailed description of the following embodiments should not be interpreted in a limiting sense. The terms used in the embodiment part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0090] The embodiments of the present application can be applied to various communication systems, such as a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD), a worldwide interoperability for microwave access (WIMAX) communication system, a 5G system or a new radio (NR), or a future communication system or other similar communication system, or an ultra wide band (UWB) system, or a wireless fidelity (WiFi) system.

[0091] FIG. 1 shows a possible, non-limiting system diagram. As shown in FIG. 1, the communication system includes a radio access network 100 and a core network 200, and optionally, the communication system can also include an Internet 300. The radio access network 100 can include at least one radio access network device (e.g., 110a and 110b in FIG. 1) and at least one terminal (e.g., 120a-120j in FIG. 1). The terminal is connected to the radio access network device in a wireless manner, and the radio access network device is connected to the core network in a wireless or wired manner. The core network device and the radio access network device can be independent and different physical devices, or the functions of the core network device and the logical functions of the radio access network device can be integrated on the same physical device, or a physical device can integrate part of the functions of the core network device and part of the functions of the radio access network device. The terminals can be connected to each other in a wired or wireless manner, and the radio access network devices can be connected to each other in a wired or wireless manner. FIG. 1 is only a schematic diagram, and the communication system can also include other network devices, such as a wireless relay device and a wireless backhaul device, which are not shown in FIG. 1.

[0092] The radio access network device can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc. The radio access network device can also be an open radio access network (O-RAN or ORAN) device or a cloud radio access network (CRAN) device. The radio access network device can also be a communication system that integrates two or more of the above systems. The radio access network device can be a macro base station (e.g., 110a in FIG. 1), a micro base station or an indoor station (e.g., 110b in FIG. 1), a relay node or a donor node, etc.

[0093] In addition, the wireless access network device can also be a module or unit that completes the function of the base station part, for example, can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0094] Embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For the convenience of description, the wireless access network device will be referred to as the access network device hereinafter. It can be understood that the access network device can also be referred to as a communication apparatus. For example, the access network device can be understood as an apparatus with the function of the access network device. For example, the apparatus with the function of the access network device can be the access network device, or part of the elements in the access network device, such as the CU, the DU, etc. It can also be an apparatus capable of supporting the access network device to implement the function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module, which can be installed in the access network device or can be used in matching with the access network device. In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0095] The terminal can also be referred to as a terminal device, a user equipment (UE), a mobile station, a mobile terminal, etc. The terminal can be widely applied to various scenarios, such as device-to-device (D2D), vehicle to everything (V2X) communication, MTC, IoT, virtual reality, augmented reality, industrial control, automatic driving, remote medical treatment, smart power grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, etc.

[0096] Embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal. It can be understood that the terminal can be referred to as a communication device. For example, the terminal can be understood as a device with terminal functions. For example, the device with terminal functions can be a terminal; it can also be a device capable of supporting the terminal to realize the function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module, which can be installed in the terminal or can be used with the terminal.

[0097] FIG. 2 shows an example diagram of an O-RAN system. It should be understood that the O-RAN system can also include other components in addition to the components shown in FIG. 3, which are not specifically limited here. As shown in FIG. 2, the access network device can communicate with the core network (CN) through a backhaul link and can communicate with the terminal device through an air interface. For example, the access network device can include a baseband unit (BBU) and a radio unit (RU). The BBU includes at least one CU and at least one DU, and the CU and the DU can communicate through at least one midhaul link. The BBU communicates with the core network through the backhaul link, and the RU communicates with at least one terminal device through the air interface. The BBU communicates with at least one RU through a front-haul link, and the BBU and the RU can be co-located or not co-located.

[0098] FIG. 3 is a diagram showing the network element function division and protocol layer structure of an O-RAN device. It should be noted that the configuration of the CU and the DU shown in FIG. 3 is only an example, and the CU and the DU can also be configured to have functions as needed.

[0099] In some examples, the CU is a logical node that hosts radio resource control (RRC) layer, service data adaptation protocol (SDAP) layer, packet data convergence protocol (PDCP) layer, and other control functions. The CU is connected to network nodes such as core network through some interfaces, which can be E2 interface or other interfaces. Optionally, the CU can have part of the functions of the core network. The CU (e.g., PDCP layer and higher layers) is connected to the DU (e.g., RLC layer and lower layers) through some interfaces, which can be F1 interface or other interfaces. In some examples, the interfaces (e.g., F1 interface) can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, UE context management, RRC message transfer, etc.). F1AP is an application protocol for F1 interface, which defines the signaling procedures for F1 in some examples. The F1 interface supports control plane F1-C and user plane F1-U.

[0100] In some examples, the CU can be split into a CU-CP (control unit-control plane) and a CU-UP (control unit-user plane), where the CU-CP is a logical node carrying the RRC layer and the PDCP-C (control plane part of PDCP) layer, used to implement the control plane function of the CU. The CU-CP can interact with a network element in the core network used to implement the control plane function. The network element in the core network used to implement the control plane function can be an access and mobility function network element, such as an access and mobility management function (AMF) in a 5G system. The AMF network element is used to be responsible for mobility management in a mobile network, such as location updating of a terminal device, registration of the terminal device to a network, handover of the terminal device, and the like. The CU-UP is a logical node carrying the SDAP layer and the PDCP-U (user plane part of PDCP) layer, used to implement the user plane function of the CU. The CU-UP can interact with a network element in the core network used to implement the user plane function. The network element in the core network used to implement the user plane function, for example, a user plane function (UPF) in a 5G system, is used to be responsible for forwarding and receiving data in a terminal device. The above configuration of the CU and the DU is merely an example, and the CU and the DU can have other functions according to needs. For example, the CU or the DU can be configured to have more protocol layer functions, or the CU or the DU can be configured to have partial processing functions of the protocol layers. For example, partial functions of the RLC layer and functions of the protocol layers above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of the protocol layers below the RLC layer are arranged in the DU. For another example, the functions of the CU or the DU can be divided according to service types or other system requirements, for example, functions requiring to meet a shorter delay requirement in processing time are arranged in the DU, and functions not requiring to meet the delay requirement are arranged in the CU.

[0101] In some examples, the DU is a logical node carrying a radio link control (RLC) layer, a medium access control (MAC) layer, a higher physical layer (higher PHY), and other functions. In some examples, the DU can control at least one RU. The DU is connected to the RU through some interfaces, which can be a front-haul interface. In some examples, the higher physical layer includes part of the PHY layer processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, and the like.

[0102] In some examples, an RU is a logical node that hosts lower physical layer (Lower PHY) and radio frequency (RF) processing. In some examples, an RU can be a 3GPP transmission reception point (TRP) or a remote radio head (RRH) or other similar functional entity. In some examples, the lower physical layer includes portions of PHY processing such as fast Fourier transform (FFT), inverse fast Fourier transformation (IFFT), digital beamforming and filtering, and other processing functions. An RU communicates with one or more UEs over a wireless link.

[0103] A DU and an RU can or can not be co-located. A DU and an RU exchange control plane information and user plane information over a lower-layer split-CUS-plane (LLS-CUS) interface via a fronthaul link. The LLS-CUS can include a LLS-C interface and a LLS-U interface that provide control plane (C-Plane) and user plane (U-Plane), respectively. In some examples, the control plane (C-Plane) refers to real-time control between a DU and an RU. A DU and an RU have a LLS-M interface of the fronthaul link to exchange management information, and the management plane (M-Plane) refers to non-real-time management operations between the DU and the RU.

[0104] A DU and an RU can cooperate to collectively implement the functionality of the PHY layer. A DU can be connected to one or more RUs. The functionality that a DU and an RU have can be configured in multiple ways depending on the design. For example, a DU is configured to implement baseband functionality and an RU is configured to implement mid- RF functionality. As another example, a DU is configured to implement high-layer functionality in the PHY layer and an RU is configured to implement low-layer functionality in the PHY layer or to implement the low-layer functionality and RF functionality. The high-layer functionality in the PHY layer can include a portion of the functionality of the PHY layer that is closer to the MAC layer, and the low-layer functionality in the PHY layer can include another portion of the functionality of the PHY layer that is closer to the mid-RF side.

[0105] FIG. 4 is a diagram illustrating a common architecture of a RAN chip. It is noted that the common architecture of the RAN chip shown in FIG. 4 is merely an example and can be configured according to actual needs.

[0106] Exemplarily, the RAN chip common architecture is divided into CU, DU and RU. The CU is a platform that performs upper layer L2 and L3 functions. The fronthaul and backhaul interfaces are used to carry the traffic between the CU and the DU and between the CU and the core network. The DU performs L1 and part of L2 functions, and the RU performs L1 computation and RF digital part functions. The fronthaul and backhaul interfaces are used to carry the traffic between the RU and the DU and between the CU and the DU. The integrated DU includes the above-mentioned DU and RU functions.

[0107] The CU / DU hardware includes a chassis platform, a mainboard, peripherals and cooling equipment. The mainboard contains a processing unit, memory, internal I / O interface and external connection port. The hardware accelerator design has an interface, and the hardware function components include storage of software, hardware and system debugging interface, and a single board management controller.

[0108] The DU system is usually implemented using a multi-core processor and one or more hardware accelerators. Part of the DU protocol stack can be implemented in software running on the multi-core processor, and the computation-intensive L1 and L2 functions can be offloaded to hardware accelerators based on field programmable gate array (FPGA) / graphics processing unit (GPU); or all L1 functions are offloaded to hardware accelerators based on FPGA / GPU, while other protocol stack contents are implemented in software running on the processor; or all the protocol stack is implemented in software running on the processor. The hardware accelerator supports interconnection with an x86 or non-x86 processor. Similarly, the accelerator has a multi-channel peripheral component interconnect express (PCIe) interface pointing to the CPU, and is externally connected through a GbE connection.

[0109] The RU includes three parts: an O-RAN processing unit (OPU), a digital processing unit (DPU) of the O-RU, and an RF processing unit of the O-RU.

[0110] Among them, the OPU receives the enhanced common public radio interface (eCPRI) frame from the O-RAN front haul, and performs the front haul interface, the bottommost L1 (encoding, scrambling, modulation, layer mapping, precoding), synchronization, beamforming and resource unit mapping. The OPU can be implemented as a CPU, FPGA or application specific integrated circuit (ASIC).

[0111] The DPU performs synchronization, digital down conversion (DDC) (digital down conversion in UL), digital up conversion (DUC) (digital up conversion in DL), crest factor reduction (CFR) and digital pre-distortion (DPD) to improve power amplifier efficiency by reducing the peak to average power ratio (PAPR) / adjacent channel leakage ratio (ACLR) of the RF front end; the DPU can be implemented as an FPGA or ASIC.

[0112] The RF processing unit of the O-RU includes a transceiver module, an up / down converter, a power amplifier, a low noise amplifier, a Tx / Rx filter. All conversions between the analog domain and the digital domain (digital-to-analog converter and analog-to-digital converter) (for example, RF sampling, frequency conversion using radio frequency, local oscillator and intermediate frequency mixing in upconversion and downconversion) are performed within the transceiver module. Note that the physical and logical partitions within the RF processing unit do not require specific boundaries.

[0113] It can be understood that the network architecture and service scenarios described in the embodiments of the application are for more clearly illustrating the technical solutions of the embodiments of the application, and do not constitute a limitation on the technical solutions provided by the embodiments of the application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the application are also applicable to similar technical problems.

[0114] Various aspects, embodiments or features described herein can be presented in terms of systems that can include a number of devices, components, modules, and the like. It is to be understood and appreciated that 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. Additionally, a combination of these approaches can be used. Furthermore, in an embodiment, the words "example" and / or "exemplary" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "example" and / or "exemplary" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, use of these terms are intended to convey that the feature(s) described in connection therewith is one implementation as compared to the other or previous implementations. The term "in an example" or "in an embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the disclosure. Thus, appearances of the term "in an example" or "in an embodiment" are not necessarily referring to the same embodiment or example. The terms "comprising," "including," containing," and / or "having" are used herein in the sense of "including at least the recited feature but not excluding others." The term "coupled" is used herein to express either an indirect or direct electrical connection between two or more elements.

[0115] In this application, "transmit" and "receive" refer to the direction of signal transmission. For example, "transmit information to XX" can be understood as the destination of the information is XX, and "transmit information" can include direct transmission and indirect transmission through other communication devices, communication devices, units or modules. "Receive information from YY" can be understood as the source of the information is YY, and "receive information" can include direct reception from YY and indirect reception from YY through other communication devices, communication devices, units or modules. In addition, "transmit" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface. In other words, "transmit" or "receive" can be between devices, such as between network devices and terminals through the air interface, and "transmit" or "receive" can also be within a device, such as between components, modules, chips, software modules or hardware modules within a device through a bus, wire or interface.

[0116] In this application, "for indicating" can include direct indication and indirect indication. When describing a certain "information" for indicating A, it can include that the information directly indicates A or indirectly indicates A, and does not mean that A must be carried in the information.

[0117] The information indicated by one information is referred to as to-be-indicated information. In the implementation process, there are many ways to indicate the to-be-indicated information, for example, but not limited to, directly indicating the to-be-indicated information, 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 achieved 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 to reduce the indication overhead caused by separately indicating the same information.

[0118] In addition, the specific indication manner can also be various existing indication manners, for example, but not limited to, the above-mentioned indication manners and various combinations thereof. The specific details of various indication manners can refer to the prior art, and will not be described herein. As can be seen from the above, for example, when multiple information of the same type needs to be indicated, the indication manners of different information can be different. In the 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 manner involved in the embodiments of the present application should be understood as covering various methods that can enable the to-be-indicated party to know the to-be-indicated information.

[0119] 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. Taking the configuration of the access network device to the UE as an example, the configuration information can include, for example, but not limited to, one of RRC signaling (or RRC message), MAC layer signaling, and physical layer signaling, or a combination of at least two of them. The MAC layer signaling includes, for example, a MAC control element (CE). The physical layer signaling includes, for example, downlink control information (DCI) and other signaling or messages carried on a physical downlink control channel (PDCCH), and in addition, downlink data (for example, data transmitted on a physical downlink shared channel (PDSCH).

[0120] The "preset" or "predefined" or "preconfigured" can be realized by pre-storing corresponding codes, tables or other means for indicating relevant information in the device (e.g., including terminals and network devices), and can also be pre-defined in the protocol. The specific implementation of the present application is not limited. Wherein, "save" can mean saved in one or more memories. The one or more memories can be separately set, or integrated in the encoder or decoder, processor, or communication device. The one or more memories can be part of a separate setting, and part of the integrated decoder, processor, or communication device. The type of memory can be any form of storage medium, and the present application does not limit it.

[0121] The following briefly describes the technical concepts involved in the present application:

[0122] 1. Perception object

[0123] The perception object can also be called a perception target, a perception point, a unit point, or a reflection point. In the present application, the perception object can be simply referred to as an object. The perception object can be a static object, such as a surrounding environment, for example, a building, etc. The perception object can also be a dynamic object, such as a drone, a car, etc., which is not limited in the present application.

[0124] 2. Perception signal

[0125] The perception signal is a signal for perception. The perception signal can be a signal that can be known by the receiving end for the initial amplitude and phase. Alternatively, the perception signal can be a reference signal, such as a CSI-RS or a sounding reference signal (SRS), and the initial amplitude and phase information of the perception signal can be pre-configured to the receiving end by configuring a sequence, etc. The perception signal can also be a data signal, and the receiving end can calculate the initial amplitude and phase of each data signal by data checking and other known modulation methods. The perception signal can also be any other signal that can be known by the receiving end for the initial amplitude and phase. The present application does not limit the presentation form of the perception signal.

[0126] 3. Perception result

[0127] The perception result can also be called perception data or perception information. It refers to the relevant information of the perception object obtained by the receiving end through the perception signal. Exemplarily, the perception result can be a distance-angle spectrum or a point cloud. The present application does not limit the specific form of the perception result.

[0128] The distance-angle spectrum refers to a two-dimensional matrix or spectrum, for example, with time delay as the horizontal axis and angle as the vertical axis, and the energy-to-interference-plus-noise ratio (SNR) ratio of each point as an element in the distance-angle spectrum.

[0129] Point clouds, or point cloud data, are datasets of points in space that can represent three-dimensional shapes or perceived objects. The position of each point in a point cloud is described by a set of Cartesian coordinates, and some may contain information such as the intensity of the object's reflective surface and its velocity.

[0130] In the fifth generation mobile communication system (the 5 th In the evolution from 5G (first-generation, 5G) to 5G-advanced (5G-A) technology, integrated communication and sensing technology is considered one of the key technologies for expanding the service capabilities of mobile communication networks. The core idea of ​​this technology is to add sensing capabilities to the mobile communication network, building the ability to detect and image objects, thereby integrating communication and sensing capabilities into a single network to achieve harmonious coexistence and even mutual benefit.

[0131] The technical principles of sensing differ somewhat from those of communication. In communication, the transmitting end modulates information onto radio waves and sends it to the receiving end, which then demodulates the signal to obtain the information. Sensing, however, requires the transmitting end to send radio waves in a specific direction. When these radio waves strike the surface of an object, they are reflected, and the receiving end receives and processes these reflected waves to obtain information such as the object's position, speed, and type.

[0132] Sensing can generally be divided into two modes: single-site sensing and dual-site sensing. In single-site sensing, the transmitting and receiving ends of the sensing signal are the same device. From the signal flow perspective, the sensing station both transmits and receives the signal reflected from the object's surface (also known as the echo signal). Therefore, single-site sensing is also called the self-transmitting and self-receiving mode, as shown in Figure 5A. In dual-site sensing, the transmitting and receiving ends of the sensing signal are two different devices. From the signal flow perspective, after sensing station A transmits the sensing signal, the signal reflected from the object's surface is received by sensing station B. Therefore, dual-site sensing is also called the A-transmitting and B-receiving mode, as shown in Figure 5B.

[0133] The application scenarios of this application include, but are not limited to, integrated communication and sensing scenarios. Figure 6 shows a possible, non-limiting schematic diagram of an integrated communication and sensing scenario, in which access network devices and terminals in a communication network can sense objects that do not have communication capabilities while communicating.

[0134] Fig. 7 shows a plurality of possible sensing modes. In Fig. 7, sensing mode (1) is a scenario where a base station transmits and receives sensing signals by itself, sensing mode (2) is a scenario where a UE transmits and receives sensing signals by itself, sensing mode (3) is a scenario where a base station A transmits and a base station B receives, sensing mode (4) is a scenario where a UE A transmits and a UE B receives, sensing mode (5) is a scenario where a base station transmits and a UE receives, and sensing mode (6) is a scenario where a UE transmits and a base station receives. Here, “transmits” can be understood as “transmits a sensing signal”, and “receives” can be understood as “receives a backscatter signal”. The present application can be applied to one or more of the sensing modes, or can be applied to other sensing modes other than those shown in Fig. 7, and the present application is not specifically limited.

[0135] In LTE and 5G NR systems, the function of carrier aggregation (CA) is also defined. Based on CA, multiple carriers can be aggregated together to serve one terminal device. The terminal device can also transmit and receive signals on multiple carriers simultaneously. Among the multiple carriers, one carrier is called a primary component carrier (PCC), and the cell corresponding to the PCC is called a PCell. The remaining carriers are called secondary component carriers (SCCs), and the cells corresponding to the SCCs are called SCells. According to whether the CCs participating in aggregation belong to the same frequency band and whether they are continuous in the frequency domain, CA can be divided into:

[0136] i. Intra-band continuous CA: The CCs belong to the same frequency band and are continuous in the frequency domain. As shown in Fig. 8, the aggregation of two continuous CCs in frequency band A can be an example of intra-band continuous CA.

[0137] ii. Intra-band non-continuous CA: The CCs belong to the same frequency band but are not continuous in the frequency domain. As shown in Fig. 8, the aggregation of two non-continuous CCs in frequency band A can be an example of intra-band non-continuous CA.

[0138] iii. Inter-band CA: The CCs belong to different frequency bands. As shown in Fig. 8, the aggregation of a CC in frequency band A and a CC in frequency band B can be an example of inter-band CA.

[0139] Based on CA, a terminal device can transmit and / or receive signals on multiple carriers. If the terminal device supports receiving sensing signals (or backscatter signals of sensing signals) on multiple carriers, the terminal device can perform sensing on multiple carriers. Similarly, a network device such as a base station can also perform sensing on multiple carriers.

[0140] However, in the current multi-carrier sensing scenario, how to reduce the reporting overhead of the sensing result is a technical problem to be solved.

[0141] The perception based on multiple carriers can be classified into coherent perception and non-coherent perception. The coherent perception can refer to that the terminal device or the base station jointly determines the perception result based on the perception signals of multiple carriers, that is, the perception signals of multiple carriers obtain one (or a group) of perception results. The non-coherent perception refers to that the terminal device or the base station performs perception on multiple carriers respectively to obtain multiple (or multiple groups) of perception results.

[0142] Currently, for the non-coherent perception scenario, the terminal device or the base station reports multiple perception results respectively after obtaining the multiple perception results. However, since there can be an overlap in coverage between multiple carriers, the perception results corresponding to multiple carriers respectively can have overlapping objects or overlapping areas. If the perception results corresponding to multiple carriers respectively are reported respectively, there can be repeated reporting of the perception areas of the overlapping areas or overlapping objects, resulting in excessive reporting overhead.

[0143] In this application, the reporting of the perception result can refer to any one or more of the following cases:

[0144] Case 1: For the self-transmitting and self-receiving modes such as the perception mode (1) and the perception mode (2) in FIG. 7, the terminal device or the base station, as the transmitting end of the perception signal and the receiving end of the echo signal, can obtain the perception result according to the echo signal. Further, the terminal device or the base station needs to report the perception result to a core network element such as a sensing function (SF) element.

[0145] Case 2: For the scenarios where the receiving end and the transmitting end are inconsistent such as the perception mode (3) to the perception mode (6) in FIG. 7, the receiving end can report the perception result to the transmitting end. The receiving end can be a terminal device or a network device, and the transmitting end can be a terminal device or a network device. In addition, it is also possible that the transmitting end reports the perception result to a core network element such as a sensing function element.

[0146] In order to reduce the overhead of reporting the perception result, this application provides a communication method. The method will be introduced below in combination with the flow shown in FIG. 9.

[0147] In this application, the first communication device and the second communication device are taken as examples for introduction. The first communication device can be understood as a device that determines the perception result according to the echo signal, which can be a terminal, a module or a chip in the terminal, or a base station or a module or a chip in the access network device. The first communication device can send the perception result to the second communication device. The second communication device can be a terminal, a module or a chip in the terminal, or a base station or a module or a chip in the access network device, or a core network element or a module or a chip in the core network element, etc., such as a sensing element.

[0148] The actions performed by the first communication device can also be replaced by actions performed by a terminal, an access network device, a module or chip in the terminal, or a module or chip in the access network device, and the actions performed by the second network device can also be replaced by actions performed by a terminal, an access network device, a core network device, a module or chip in the terminal, a module or chip in the access network device, or a module or chip in the core network element.

[0149] As shown in FIG. 9, the communication method provided by the embodiments of the present application can include the following steps:

[0150] S101: The second communication device sends resource configuration information.

[0151] Correspondingly, the first communication device receives the resource configuration information.

[0152] The resource configuration information can be used to configure a plurality of sensing resources. The resource configuration information is the configuration information of the sensing resources. The sensing resources can also be referred to as measurement resources or sensing signal resources, etc.

[0153] In the present application, the sensing resources can be the receiving resources of the echo signals. The sensing resources can include the time domain resources and the frequency domain resources of the echo signals. In some cases, the sensing resources can also be the sending resources of the sensing signals. For example, for a self-emission and self-reception scenario, the sending resources of the sensing signals and the receiving resources of the echo signals can be the same. In some cases, the sending resources of the sensing signals can be different from the receiving resources of the echo signals. Correspondingly, the first communication device can receive the echo signals in the sensing resources.

[0154] The plurality of sensing resources configured by the resource configuration information can correspond to a plurality of carriers. For example, the plurality of sensing resources can be the receiving resources of the echo signals in the plurality of carriers. The plurality of carriers can include at least two of the first carrier, the second carrier, or the third carrier, and can also include other carriers. The carrier can also be referred to as a carrier unit. The carrier can also be replaced by a frequency band or a beam. As shown in FIG. 8, any two carriers in the plurality of carriers can be a plurality of continuous carriers in the same frequency band, a plurality of discontinuous carriers in the frequency band, or different carriers between a plurality of frequency bands.

[0155] The sensing resources correspond to the carriers, which means that the sensing resources are the sensing resources in the carriers. The plurality of sensing resources can be located on at least two carriers. The present application does not limit the correspondence between the plurality of sensing resources and the at least two carriers. For example, the plurality of sensing resources can correspond to the at least two carriers one by one. For another example, at least two sensing resources in the plurality of sensing resources can correspond to the same carrier.

[0156] As an example, the resource configuration information can be used to configure sensing resources within N carriers, N being an integer greater than 1. The N carriers can include a first carrier, a second carrier, or a third carrier, etc.

[0157] In S101, the resource configuration information can be used to configure the first sensing resource and the second sensing resource.

[0158] The first sensing resource is a sensing resource within the first carrier, i.e., the first sensing resource corresponds to the first carrier. It can be considered that the first carrier can contain one or more sensing resources, which can include the first sensing resource.

[0159] The second sensing resource is a sensing resource within the second carrier, i.e., the second sensing resource corresponds to the second carrier. It can be considered that the second carrier can contain one or more sensing resources, which can include the second sensing resource.

[0160] It can be understood that as a way of indicating a sensing resource, the resource configuration information can contain time-frequency resource information of the sensing resource, and can also contain carrier information such as carrier index. The resource configuration information can also implicitly indicate the relationship between the sensing resource and the carrier through the frequency domain resource information of the sensing resource, for example, if the frequency domain resource of a certain sensing resource is located within the frequency domain resource of a carrier, it can be represented that the sensing resource is a sensing resource within the carrier.

[0161] It can also be considered that the resource configuration information can be used to configure sensing resources within N carriers, N being a positive integer greater than 1. Optionally, N can also be greater than 2, for example, the sensing resources within the first carrier, the second carrier, and the third carrier are configured.

[0162] In S102, the first communication device receives a first sensing signal according to the first sensing resource, and obtains a first sensing result according to the first sensing signal.

[0163] The first sensing result includes a sensing result of a first object. In this application, the object can also be referred to as a target, a sensing target, or a sensing object, etc.

[0164] The first sensing result can be understood as one or a group of sensing results determined by the first communication device according to the first sensing signal. In this application, one sensing result can refer to a sensing result corresponding to one position information, and a group of sensing results can include multiple sensing results, for example, a group of sensing results can include sensing results corresponding to multiple position information.

[0165] The first sensing signal can be considered as a backscattered signal of the sensing signal transmitted by the transmitting end of the sensing signal according to the first sensing resource. S102 can also be described as: the first communication device receives the backscattered signal of the first sensing signal according to the first sensing resource. The transmitting end of the sensing signal can be the first communication device, or the second communication device, or other communication devices, and is not specifically limited.

[0166] Specifically, the first sensing result can be considered as a sensing result determined according to the first sensing signal within a coherent processing time. The coherent processing time is a time period much larger than the transmission period of the sensing signal. Within the coherent processing time, the transmitting end of the sensing signal transmits multiple sensing signals in the same beam direction, the receiving end receives the backscattered signal of each sensing signal, and the backscattered signals of all sensing signals within the coherent processing time are coherently combined, and the ranging and velocity measurement of the target are realized according to the combined signal. The coherent combination of the backscattered signal can be realized by matching filtering and Fourier transform on all backscattered signals within the time period. When performing multi-carrier sensing, one sensing resource is configured for each carrier within a certain coherent processing time, and one or a group of sensing results can be obtained according to the backscattered signals within the coherent processing time. The first sensing result can be one or a group of sensing results obtained according to the first sensing signal within the coherent processing time. The coherent processing time can be pre-configured, for example, it can be defined in the sensing-related protocol, or it can be defined in the factory configuration; the coherent processing time can also be indicated by the sensing function network element or the second communication device to the first communication device, and the present application does not specifically limit it.

[0167] It can be understood that if the sensing result corresponding to a certain carrier contains the sensing result of a certain object, it can be indicated that the object can be detected by the sensing signal in the carrier.

[0168] In the present application, the sensing result can include point cloud data. For example, the first sensing result can be a set of one or more point cloud data. As described above, the point cloud data is a set of points in space, which can represent a three-dimensional shape or object. Specifically, the point cloud data can include position information, velocity information, or features, etc.

[0169] The position information can include angle information or coordinate information, etc. The angle information includes, for example, azimuth of arrival (AOA) or zenith angle of arrival (ZOA), etc. The coordinate can be, for example, a three-dimensional coordinate or a second coordinate in other forms.

[0170] The velocity information can include Doppler value, velocity value, phase change amount, etc.

[0171] The features can include information such as received power, radar cross section, or object size. The received power is, for example, reference signal receiving power (RSRP), per path RSRP (RSRPP).

[0172] In addition, the point cloud data or the features can further include information such as time delay information or reliability information of the perception result. The time delay information includes, for example, time of arrival (TOA), time difference of arrival (TDOA), or Rx-Tx timing difference. The reliability information can also be referred to as confidence information, and can be used to display information indicating the reliability of the point cloud data. The reliability can also be referred to as confidence.

[0173] In the present application, the object corresponding to the perception result can be determined according to the position information. If the position information of a plurality of point cloud data belongs to a certain position range, the plurality of point cloud data can be combined as the perception result of the same object. In addition, if the position information of a plurality of point cloud data does not belong to the same position range, the plurality of point cloud data can be respectively regarded as the perception result of different objects.

[0174] Optionally, the position range can be preconfigured, for example, it can be defined by a perception-related protocol, or it can be defined in a factory configuration. The position range can also be indicated by a perception function network element or a second communication device to the first communication device, which is not specifically limited in the present application. Therefore, according to the position information of the point cloud data, one or more objects corresponding to the perception result can be determined, and the first object can be one of the one or more objects corresponding to the first perception result. The first communication device can combine a plurality of point cloud data in the position range of the same object (such as the first object) according to the position information of the point cloud data, to obtain the perception result of the object.

[0175] Referring to the description of the point cloud data, the perception result of the object can include position information, speed information, or features of the object. For example, the position information of the object can be represented by the vertex coordinates of the position range, or by the center coordinates of the position range. In addition, the speed information of the plurality of point cloud data can be combined to obtain the speed information of the object. Specifically, the speed information of the plurality of point cloud data can be combined by a maximum likelihood estimation method. The features of the plurality of point cloud data can also be combined to obtain the features of the object, for example, the features of the plurality of point cloud data can be combined by a maximum likelihood estimation method to obtain the features of the object.

[0176] It can be considered that the position information of different objects is not repeated, so that different objects can be distinguished by the position information. Among them, the position information of the object can be the area information of the position range corresponding to the object. For example, the perception result of the object can be obtained by merging the point cloud data in the position range, and the position information of the object can be represented by the position range. For example, the position information of the object can be represented by the vertex coordinates of the position range, or the position information of the object can be represented by the center position of the position range.

[0177] The above introduces the way of obtaining the perception data of the object by merging multiple point cloud data according to the position information and the position range. According to the perception requirement, multiple point cloud data can also be merged to obtain the perception data of the object according to the speed information and the speed range, such as merging multiple point cloud data whose speed information belongs to the speed range into the perception data of the same object. Multiple point cloud data can also be merged to obtain the perception data of the object according to the feature and the range of the feature.

[0178] In addition, multiple point cloud data can also be merged according to multiple items in the position information, the speed information and the feature. For example, according to the feature information and the speed information, multiple point cloud data whose speed information belongs to a speed range in a position range are merged to obtain the perception data of the same object.

[0179] Optionally, in addition to the perception result of the first object, the first perception result can also include the perception result of other objects, such as the perception result of the second object. The perception result of the second object can refer to the description of the perception result of the first object. It can be understood that the perception result of the second object and the perception result of the first object are the perception results of objects corresponding to different positions.

[0180] S103: The first communication device receives a second perception signal according to a second perception resource, and obtains a second perception result according to the second perception signal.

[0181] Among them, the second perception result includes the perception result of the first object.

[0182] The second perception result can refer to the description of the first perception result. The difference between the second perception result and the first perception result is that the second perception result is obtained according to the echo signal of the second perception signal corresponding to the second perception resource.

[0183] In the flow of FIG. 9, the second sensing result can include the sensing result of the first object, i.e., the first sensing result and the second sensing result can both include the sensing result of the first object. Specifically, the first sensing result can include the sensing result of one or more objects, the second sensing result can include the sensing result of one or more objects, and the first sensing result and the second sensing result can include the sensing result of one or more same objects. The first object can be one of the one or more same objects. It is explained that the first object is sensed by the sensing signal corresponding to the sensing resource on the first carrier and is also sensed by the sensing signal corresponding to the sensing resource on the second carrier.

[0184] Optionally, in addition to the sensing result of the first object, the second sensing result can also include the sensing result of other objects, such as the sensing result of a third object.

[0185] S104: The first communication device sends a third sensing result to the second communication device, wherein the third sensing result is the sensing result of the first object determined according to the first sensing result and the second sensing result.

[0186] Correspondingly, the second communication device receives the third sensing result.

[0187] The third sensing result is the sensing result of the first object, and it can also be considered that the third sensing result is determined according to the sensing result of the first object in the first sensing result and the sensing result of the first object in the second sensing result. Specifically, the third sensing result is obtained by merging the sensing result of the first object in the first sensing result and the sensing result of the first object in the second sensing result. That is, in the case where multiple carriers include the sensing result of the same object, the first communication device can feed back the merged sensing result of the object, without the need to feed back the sensing result of the object for each carrier separately, which can avoid repeated feedback of the sensing result of the object and reduce the feedback overhead.

[0188] Specifically, the third sensing result can be the sensing result obtained by merging the sensing result of the first object in the first sensing result and the sensing result of the first object in the second sensing result.

[0189] For example, the sensing result of the first object in the first sensing result is denoted as L1(x1, y1, z1), the sensing result of the first object in the second sensing result is denoted as L2(x2, y2, z2), and the third sensing result can be denoted as L. In an exemplary merging manner, the maximum likelihood estimation method can be used to merge L1(x1, y1, z1) and L2(x2, y2, z2) to obtain L, and L, L1(x1, y1, z1) and L2(x2, y2, z2) satisfy:

[0190] wherein, The detection signal-to-noise ratio or the detection signal-to-interference ratio of the two detection positions L1(x1, y1, z1) and L2(x2, y2, z2) respectively.

[0191] It can be understood that the first communication device in S104 can be a receiving end of the echo signal, and the second communication device can be a sending end of the sensing signal. The first communication device can be a terminal, an access network device, or a module or chip in the terminal, or a module or chip in the access network device. The second communication device can be a terminal, an access network device, or a module or chip in the terminal, or a module or chip in the access network device.

[0192] Alternatively, the first communication device can be a sending end and a receiving end of the echo signal, and the second communication device can be a sensing function network element or other core network element. The first communication device can be a terminal, an access network device, or a module or chip in the terminal, or a module or chip in the access network device. The second communication device can be a core network element or a module or chip in the core network element. The core network element can be used to provide sensing configuration, and the resource configuration information can be determined according to the sensing configuration.

[0193] In a possible embodiment, in addition to sending the third sensing result through S104, the first communication device can also obtain and / or send other sensing results in addition to the sensing result of the first object. The other sensing results include, for example, sensing results of other objects in addition to the first object. The sensing results of the other objects can be obtained according to S102 and / or S103, or can be sensing results obtained according to other sensing resources in addition to the first sensing resource and the second sensing resource, which are not limited in the present application. For example, the sensing results of the other objects include the sensing result of the second object in the first sensing result and / or the sensing result of the third object in the second sensing result.

[0194] That is, the first communication device can send sensing results of multiple objects, wherein sending the sensing results of the multiple objects includes sending the third sensing result through S104. Sending the sensing results of the multiple objects can also include sending sensing results of other objects in addition to the sensing result of the first object.

[0195] In this embodiment, when sending the sensing results of the multiple objects, the first communication device can determine the sending order of the sensing results of the multiple objects according to the priorities of the sensing results of the multiple objects. For example, when sending the third sensing result through S104, the first communication device can determine the sending order between the third sensing result and the sensing results of the other objects according to the priority of the sensing result of the first object and the priorities of the sensing results of the other objects, and send the third sensing result and the sensing results of the other objects according to the sending order.

[0196] In this application, the sending order between multiple perception results can refer to the order of multiple perception results when reporting the perception results. For example, multiple perception results are carried in the same message (or information or field or cell, etc.), and the order can refer to the order of the arrangement position of the perception results in the message. For example, if the priority of a certain perception result is higher, the sending order of the perception result is earlier, and accordingly, the position of the perception result in the message is earlier. If the priority of a certain perception result is lower, the sending order of the perception result is later, and accordingly, the position of the perception result in the message is later. In addition, if multiple perception results are carried in multiple messages (or information or field or cell, etc.), the order can refer to the order of the position of the message carrying the perception result in the multiple messages. For example, if the priority of a certain perception result is higher, the sending order of the perception result is earlier, and accordingly, the position of the message carrying the perception result in the multiple messages is earlier. If the priority of a certain perception result is lower, the sending order of the perception result is later, and accordingly, the position of the message carrying the perception result in the multiple messages is later.

[0197] It can be considered that the priority of the perception result is related to the reliability of the perception result, wherein the higher the priority of the perception result is, the higher the reliability of the perception result is. The first communication device can implicitly indicate the reliability of the perception result through the sending order between multiple perception results, and accordingly, the second communication device can determine the reliability order of the perception result according to the sending order of the received multiple perception results (such as the perception results of multiple objects). Wherein, the earlier the sending order of the perception result is, the higher the reliability of the perception result is. For example, the second communication device receives the perception result of the first object and the perception result of the second object, wherein the sending order of the perception result of the first object is earlier, and the sending order of the perception result of the second object is later, and the second communication device can determine that the reliability of the perception result of the first object is higher than the reliability of the perception result of the second object.

[0198] In addition, in this application, the perception result (or the feature in the perception result) received by the second communication device can also contain reliability information for displaying the indicated reliability. That is, for the same perception result, the implicitly indicated reliability and the explicitly indicated reliability can coexist. Wherein, the reliability determined by the second communication device according to the sending order can be understood as a coarse-grained reliability, such as a reliability range, or as the reliability high and low between multiple perception results. The explicitly indicated reliability can be a fine-grained reliability, such as a quantized reliability.

[0199] The way to determine the priority of the perception result of multiple objects is introduced below.

[0200] In this application, the priority of the perception result of the plurality of objects can be related to one or more of the following information, and the priority between the perception results of the plurality of objects can be determined according to one or more of the following information:

[0201] (1) The correspondence relationship between the position information of the object and the priority.

[0202] In this application, there can be a correspondence relationship between the position information of the object and the priority, for example, different position information corresponds to different priority. When the perception result of the object is obtained, the priority of the perception result can be determined according to the position information of the object and the correspondence relationship. It can also be described that the priority of the perceived object (such as the first object) is related to the position information of the object, or the priority of the object is determined according to the position information of the object.

[0203] The correspondence relationship between the position information and the priority is shown in Table 1, for example.

[0204] Table 1

[0205] Table 1 is only an example of the correspondence relationship between the position information and the priority, and is not a specific limitation of the correspondence relationship. In Table 1, the position information can be coordinates or a position range, etc. The position range can be represented by the vertex coordinates or the center coordinates of the position range, etc.

[0206] When the first communication device determines the position information of the object, the correspondence relationship between the position information and the priority shown in Table 1 can be queried according to the position information to determine the priority of the perception result corresponding to the object. For example, if the position information of the first object is position #1, or the position information of the first object indicates that the position of the first object belongs to the position range corresponding to position #1, the priority of the perception result of the first object can be determined according to Table 1. Specifically, when the first communication device determines the perception result of the first object and the perception result of the other object, the priority of the perception result of the first object and the priority of the perception result of the other object can be queried through the correspondence relationship shown in Table 1.

[0207] In addition, in Table 1, the greater the value of the priority represents the higher the priority, for example, the priority of priority 3 is higher than the priority of priority 2, that is, the sending order of the perception result of priority 3 is earlier than the sending order of the perception result of priority 2. In addition, the greater the value of the priority can also represent the lower the priority, for example, the priority of priority 3 is lower than the priority of priority 2, that is, the sending order of the perception result of priority 2 is earlier than the sending order of the perception result of priority 3.

[0208] As a possible implementation, the correspondence between the location information and the priority can be pre-configured, such as defined in a second factory configuration of the first communication device, or defined in a protocol. For example, the first communication device locally stores the correspondence between the location information and the priority, i.e., the first communication device can obtain the correspondence from the local.

[0209] As another possible implementation, the correspondence between the location information and the priority can be configured to the first communication device by the second communication device, the perception function network element, or other network element or network device. Taking the second communication device configuring the correspondence as an example, the second communication device can send indication information of the correspondence to the first communication device, which can be used to indicate the correspondence between the location information and the priority, for example.

[0210] (2) Correspondence between the speed information of the object and the priority.

[0211] In this application, there can be a correspondence between the speed information of the object and the priority, such as different speed information corresponding to different priorities. When obtaining the perception result of the object, the priority of the perception result can be determined according to the speed information of the object and the correspondence. It can also be described that the priority of the object (such as the first object) is related to the speed information of the object, or the priority of the object is determined according to the speed information of the object.

[0212] The correspondence between the speed information and the priority is shown in Table 2, for example.

[0213] Table 2

[0214] Table 2 is only an example of the correspondence between the speed information and the priority, and is not a specific limitation of the correspondence. In Table 2, the speed information can be specifically the moving speed or the moving speed range of the object.

[0215] When the first communication device determines the speed information of the object, the correspondence between the speed information and the priority shown in Table 2 can be queried according to the speed information to determine the priority of the perception result corresponding to the object. For example, if the speed information of the first object is speed #1, or the speed information of the first object indicates that the speed of the first object belongs to the speed range corresponding to speed #1, the priority of the perception result of the first object can be determined according to Table 2. Specifically, when the first communication device determines the perception result of the first object and the perception result of other objects, the priority of the perception result of the first object and the priority of the perception result of other objects can be queried through the correspondence shown in Table 2.

[0216] In addition, in Table 2, the greater the value of the priority is, the higher the priority is. For example, the priority of priority 3 is higher than the priority of priority 2, that is, the sending order of the perception result of priority 3 is earlier than the sending order of the perception result of priority 2. In addition, the greater the value of the priority can also represent the lower the priority is. For example, the priority of priority 3 is lower than the priority of priority 2, that is, the sending order of the perception result of priority 2 is earlier than the sending order of the perception result of priority 3.

[0217] As a possible implementation manner, the correspondence between the speed information and the priority can be pre-configured, such as being defined in the factory configuration of the first communication device or being defined in a protocol. For example, the first communication device locally stores the correspondence between the speed information and the priority, that is, the first communication device can obtain the correspondence from the local.

[0218] As another possible implementation manner, the correspondence between the speed information and the priority can be configured to the first communication device by the second communication device, the perception function network element or other network element or network device. Taking that the second communication device configures the correspondence as an example, the second communication device can send indication information of the correspondence to the first communication device, and the indication information can be used to indicate the correspondence between the speed information and the priority, for example.

[0219] (3) Correspondence between the feature of the object and the priority.

[0220] In this application, the feature of the object can have a correspondence with the priority, such as different features corresponding to different priorities. When the perception result of the object is obtained, the priority of the perception result can be determined according to the feature of the object and the correspondence. It can also be described that the priority of the object (such as the first object) is related to the feature of the object, or the priority of the object is determined according to the feature of the object.

[0221] The correspondence between the feature and the priority is shown in Table 3, for example.

[0222] Table 3

[0223] Table 3 is only an example of the correspondence between the feature and the priority, and is not a specific limitation of the correspondence. In Table 3, the feature can be information such as the received power, the radar cross section or the size of the object. For example, feature #1 represents a certain received power or a range of received power, and feature #2 represents another received power or a range of received power. For another example, feature #1 represents a certain radar cross section or a range of radar cross section, and feature #2 represents a certain received power or a range of received power.

[0224] When the first communication device determines the characteristic of the object, the first communication device can query the correspondence between the characteristic and the priority according to Table 3 to determine the priority of the perception result corresponding to the object. For example, if the characteristic of the first object includes the characteristic #1, or the characteristic of the first object indicates that the characteristic of the first object belongs to the speed range corresponding to the speed #1, the first communication device can determine that the priority of the perception result of the first object is 3 according to Table 2. Specifically, when the first communication device determines the perception result of the first object and the perception result of the other object, the first communication device can query the priority of the perception result of the first object and the priority of the perception result of the other object according to the correspondence shown in Table 3.

[0225] In addition, in Table 3, the greater the value of the priority is, the higher the priority is. For example, the priority of the priority 3 is higher than the priority of the priority 2, that is, the sending order of the perception result of the priority 3 is earlier than the sending order of the perception result of the priority 2. In addition, the greater the value of the priority is, the lower the priority is. For example, the priority of the priority 3 is lower than the priority of the priority 2, that is, the sending order of the perception result of the priority 2 is earlier than the sending order of the perception result of the priority 3.

[0226] As a possible implementation, the correspondence between the characteristic and the priority can be pre-configured, for example, defined in the factory configuration of the first communication device or defined in a protocol. For example, the first communication device locally stores the correspondence between the characteristic and the priority, that is, the first communication device can obtain the correspondence from the local.

[0227] As another possible implementation, the correspondence between the characteristic and the priority can be configured to the first communication device by the second communication device, the perception function network element or other network elements or network devices. For example, the second communication device can send the indication information of the correspondence to the first communication device, and the indication information can be used to indicate the correspondence between the characteristic and the priority.

[0228] (4) The correspondence between the number of carriers corresponding to the perception result of the object and the priority.

[0229] The number of carriers corresponding to the perception result of the object can indicate the number of carriers in which the perception result of the object is included in the perception result according to the resource configuration information. The first perception result is obtained by receiving the echo signal according to the carrier corresponding to the perception result of the object, and the perception result obtained includes the perception result of the object.

[0230] For example, the configuration information is used to configure the perception resource in N carriers, and the carrier corresponding to the perception result of the first object is the carrier in which the perception result of the first object is included in the N carriers.

[0231] As a manner of determining the number of carriers corresponding to the perception result of the first object, the first communication apparatus can perform perception on all perception resources of the N carriers, determine perception results corresponding to the N carriers respectively, and if the perception results corresponding to K carriers among the N carriers contain the perception result corresponding to the first object, it can be determined that the number of carriers corresponding to the perception result of the first object is K.

[0232] Similarly, the carriers corresponding to the perception results of other objects (such as the second object or the third object) are carriers whose perception results contain the perception results of the other objects. For example, taking the other object as the second object as an example, the number of carriers corresponding to the perception results of the second object can be denoted as L, L being a non-negative integer less than or equal to N. For another example, taking the other object as the third object as an example, the number of carriers corresponding to the perception results of the third object can be denoted as M, M being a non-negative integer less than or equal to N.

[0233] In this application, there can be a corresponding relationship between the number of carriers corresponding to the perception results of an object and the priority of the perception results of the object, i.e., the first communication apparatus can determine the priority of the perception results of an object according to the number of carriers corresponding to the perception results of the object. For example, the greater the number of carriers, the higher the priority of the perception results of the object, or in other words, the perception results of the object have a more preferred sending order, or in other words, the number of carriers corresponding to the perception results of the object and the priority of the perception results of the object are positively correlated. It can be considered that the perception results of an object detected by multiple carriers are more accurate, and therefore the perception results of the object detected by multiple carriers can have a higher priority.

[0234] As an example, if the number of carriers corresponding to the perception results of an object is less than the number of carriers corresponding to the perception results of another object, the perception results of the object corresponding to the greater number of carriers have a higher priority, or in other words, the perception results of the object corresponding to the greater number of carriers have a sending order in advance, and the perception results of the object corresponding to the smaller number of carriers have a lower priority, or in other words, the perception results of the object corresponding to the smaller number of carriers have a sending order in the rear. For example, taking the first object and the second object as an example, if K > L, and the number of carriers corresponding to the perception results of the object and the priority of the perception results of the object are positively correlated, the priority of the perception results of the first object is higher than the priority of the perception results of the second object, or in other words, the sending order of the perception results of the first object is earlier than the sending order of the perception results of the second object.

[0235] For example, if the resource configuration information is used to configure a first sensing resource in the first carrier and a second sensing resource in the second carrier, the first communication device obtains a first sensing result and a second sensing result according to the first sensing resource and the second sensing resource respectively, wherein the first sensing result and the second sensing result both include the sensing result of the first object, in addition, the first sensing result further includes the sensing result of the second object, and the second sensing result does not include the sensing result of the second object, that is, the sensing result of the first object corresponds to two carriers (the first carrier and the second carrier), and the number of the carriers is 2, the sensing result of the second object corresponds to one carrier (the first carrier), and the number of the carriers is 1, in the case that the number of the carriers corresponding to the sensing result of the object and the priority are positively correlated, the first communication device can determine that the priority of the sensing result of the first object is higher than the priority of the sensing result of the second object, and / or the sending order of the sensing result of the first object is earlier than the sending order of the sensing result of the second object.

[0236] As a possible implementation, the correspondence between the number of the carriers corresponding to the sensing result of the object and the priority can be preconfigured, such as being defined in the factory configuration of the first communication device or being defined in a protocol. For example, the first communication device locally stores the correspondence between the number of the carriers corresponding to the sensing result of the object and the priority, that is, the first communication device can obtain the correspondence from the local. For example, the first communication device can default that the greater the number of the carriers corresponding to the sensing result of the object, the higher the priority of the sensing result of the object.

[0237] As another possible implementation, the correspondence between the number of the carriers corresponding to the sensing result of the object and the priority can be configured to the first communication device by the second communication device, the sensing function network element or other network elements or network devices. Taking that the second communication device configures the correspondence as an example, the second communication device can send indication information of the correspondence to the first communication device, and the indication information can be used to indicate the correspondence between the number of the carriers corresponding to the sensing result of the object and the priority. For example, the second communication device can send the indication information to the first communication device to indicate the first communication device that the greater the number of the carriers corresponding to the sensing result of the object, the higher the priority of the sensing result of the object.

[0238] (5) The correspondence between the number of the carriers corresponding to the sensing result of the object and the priority.

[0239] In the present application, there can be a correspondence between the carrier corresponding to the perception result of an object and the priority, i.e., the first communication device can determine the priority of the perception result of an object according to the carrier corresponding to the perception result of the object. For example, when the first object corresponds to a different carrier than other objects, the priority of the perception result of the first object and the priority of the perception result of the other objects can be determined according to the priorities of the carriers corresponding to the first object and the other objects, respectively.

[0240] The perception results of the other objects include the perception result of a third object, and the carrier corresponding to the perception result of the third object is a second carrier.

[0241] Optionally, if the carrier corresponding to the perception result of an object is multiple carriers, the correspondence between the carrier corresponding to the perception result of the first object and the priority can be the correspondence between the carrier with the highest priority among the multiple carriers and the priority. That is, in the case that the perception results of multiple carriers all include the perception result of the object, the priority of the perception result of the object can be the highest priority corresponding to the multiple carriers.

[0242] For example, the carrier corresponding to the first object is carrier #1 and carrier #2, the carrier corresponding to the other object is carrier #3 and carrier #4, if the priority of carrier #1 is higher than the priority of carrier #2, the priority of carrier #3 is higher than the priority of carrier #4, and the priority of carrier #1 is higher than the priority of carrier #3, then the priority of the perception result of the first object is higher than the priority of the perception result of the other object.

[0243] In addition, the priorities among the perception results of the other objects can also be determined according to the correspondence. For example, the carrier corresponding to the perception result of the second object is a first carrier, and the carrier corresponding to the perception result of the third object is a second carrier, then the priorities between the perception result of the second object and the perception result of the third object can be determined according to the priority of the first carrier and the priority of the second carrier. In addition, the carrier corresponding to the perception result of the first object includes the first carrier and the second carrier.

[0244] As a possible implementation manner, the correspondence between the carrier corresponding to the perception result of an object and the priority can be preconfigured, such as being defined in the factory configuration of the first communication device or being defined in a protocol. For example, the first communication device locally stores the correspondence between the number of carriers corresponding to the perception result of the object and the priority, i.e., the first communication device can obtain the correspondence from the local.

[0245] As another possible implementation, the correspondence between the sensing result of the object and the priority of the carrier can be configured by the second communication device, the sensing function network element, or other network elements or network devices to the first communication device. For example, the second communication device can send indication information of the correspondence to the first communication device, for example, the indication information can be used to indicate the correspondence between the number of carriers corresponding to the sensing result of the object and the priority.

[0246] As an example of indicating the correspondence between the carrier and the priority, the second communication device can indicate the correspondence between the carrier and the priority for each carrier in the resource configuration information. In one possible implementation, when the second communication device indicates the sensing resource or the carrier to which the sensing resource belongs in the resource configuration information, a new field indicating the priority of the carrier (or the sensing resource) can be added. For example, when the priority includes four levels, a 2-bit new field can be carried in the configuration corresponding to each carrier, and the specific value and meaning of the new field are shown in Table 4.

[0247] Table 4

[0248] The above Table 4 is only an example of the value and meaning of the field for indicating the priority of the carrier, and is not specifically limited. In addition, when the priority includes a number of levels other than four, the length of the new field can be changed according to the above-mentioned manner to support the indication of different number of priority levels.

[0249] Optionally, two different carriers can correspond to the same or different priorities, which is not specifically limited in the present application.

[0250] The correspondence between the carrier and the priority can also be carried in other information or messages other than the resource configuration information, which is not specifically limited in the present application. For example, the second communication device can send indication information to the first communication device, which contains the carrier index and the priority. For example, the indication information can contain {carrier index #1, 00}, where 00 represents priority 1, and the indication information can be used to indicate that the priority of the carrier with index #1 is 1.

[0251] In addition, different priorities can be set for different sensing resources within each carrier, i.e., a correspondence can exist between sensing resources and priorities. For example, the values of the bits in Table 4 represent the priorities of each sensing resource. Accordingly, the first communication device can determine the priority of the sensing result of an object according to the correspondence between the sensing resource corresponding to the object and the priority after determining the sensing result of the object. Where the sensing result of an object is determined according to the echo signal received according to a certain sensing resource, the sensing resource can be referred to as the sensing resource corresponding to the object. At this time, the manner of determining the priority of the sensing result of the object can refer to the sending when the priority of the sensing result of an object is determined according to the correspondence between the carrier and the priority, and will not be described in detail.

[0252] At least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the sensing result of an object and the priority, and the correspondence between the carrier corresponding to the sensing result of an object and the priority can be indicated by the second communication device or other network elements or communication devices to the first communication device. Taking the indication by the second communication device as an example, the second communication device can send first indication information to the first communication device, which can be used to indicate at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the sensing result of an object and the priority, and the correspondence between the carrier corresponding to the sensing result of an object and the priority.

[0253] In summary, the first communication device can determine the priorities among the sensing results of a plurality of objects according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the sensing result of an object and the priority, and the correspondence between the carrier corresponding to the sensing result of an object and the priority. The plurality of objects can include one or more of the first object, the second object, and the third object, and can also include other objects in addition to the first object, the second object, and the third object, which are not specifically limited. The first communication device can also determine the sending order among the sensing results according to the priorities among the sensing results of the plurality of objects, and send the sensing results of the plurality of objects according to the sending order.

[0254] For example, in a case where the perception results of the plurality of objects include the perception result (e.g., the point perception result) of the first object and the perception results of the other objects, the first communication apparatus can determine the priority and / or the transmission order between the perception result of the first object and the perception results of the other objects in accordance with at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception results of the objects and the priority, and the correspondence between the carriers corresponding to the perception results of the objects and the priority. It can also be said that the priority of the perception result of the first object and / or the second object is determined in accordance with the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception results of the objects and the priority, and the correspondence between the carriers corresponding to the perception results of the objects and the priority.

[0255] For example, in a case where the perception results of the plurality of objects include the perception result (e.g., the point perception result) of the first object and the perception results of the other objects, the first communication apparatus can determine the priority and / or the transmission order between the perception result of the first object and the perception results of the other objects in accordance with at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception results of the objects and the priority, and the correspondence between the carriers corresponding to the perception results of the objects and the priority. It can also be said that the priority of the perception result of the first object and / or the second object is determined in accordance with the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception results of the objects and the priority, and the correspondence between the carriers corresponding to the perception results of the objects and the priority.

[0256] If the transmission order of the perception result of the second object and the transmission order of the perception result of the third object are determined in accordance with the correspondence between the number of carriers corresponding to the perception results of the objects and the priority, and the resource configuration information includes the perception resources within N carriers, the perception results of L carriers among the N carriers include the perception result of the second object, the perception results of M carriers among the N carriers include the perception result of the third object, L > M, and the number of carriers corresponding to the perception results of the objects and the priority are positively correlated, the priority of the perception result of the second object is higher than the priority of the perception result of the third object, or the transmission order of the perception result of the second object is earlier than the transmission order of the perception result of the third object.

[0257] The following takes Fig. 10 as an example to illustrate one way of determining the priority between the sensing results of multiple objects in a multi-carrier sensing scenario. The numbers ① to ⑦ in Fig. 10 represent different objects, and each circular area represents the coverage area of a carrier. The coverage areas of different carriers overlap, and some objects are located in the overlapping areas, i.e., the sensing results of some objects correspond to multiple carriers. For example, object ④ is located in the overlapping area of carrier #1 and carrier #2, i.e., the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #1 and the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #2 can both contain the sensing result of object ④. Similarly, the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #1 and the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #3 can both contain the sensing result of object ⑤; the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #2 and the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #3 can both contain the sensing result of object ⑥; in addition, the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #1, the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #2, and the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #3 can all contain the sensing result of object ⑦. In addition, the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #1 includes the sensing result of object ①, the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #2 includes the sensing result of object ②, and the sensing result obtained by the first communication device according to the echo signal received by the sensing resource in carrier #3 includes the sensing result of object ③.

[0258] It can be understood that any one of carrier #1 to carrier #3 in Fig. 10 can be the carrier in which the sensing resource configured by the resource configuration information in S101 is located. As an example, the resource configuration information in S101 can be used to configure the sensing resource in carrier #1, the sensing resource in carrier #2, and the sensing resource in carrier #3. In addition, any one of objects ④ to ⑦ can be an example of the first object in the flow shown in Fig. 9. For example, if object ④ is the first object, carrier #1 and carrier #2 can be regarded as the first carrier and the second carrier in the flow of Fig. 9, respectively.

[0259] Based on the scenario shown in FIG. 10, if the priority of the sensing result of each of the objects ① to ⑦ is determined according to the correspondence between the number and the priority of the carrier corresponding to the sensing result of the object, it can be obtained that the priority of the sensing result of the object ⑦ is higher than the priority of the sensing result of the object ④, the priority of the sensing result of the object ⑤ and the priority of the sensing result of the object ⑥, and in addition, the priority of the sensing result of the object ④, the priority of the sensing result of the object ⑤ and the priority of the sensing result of the object ⑥ are higher than the priority of the sensing result of the object ①, the priority of the sensing result of the object ② and the priority of the sensing result of the object ③.

[0260] It can also be said that if the sending order of the sensing result of each of the objects ① to ⑦ is determined according to the correspondence between the number and the priority of the carrier corresponding to the sensing result of the object, it can be obtained that the sending order of the sensing result of the object ⑦ is prior to the sending order of the sensing result of the object ④, the sending order of the sensing result of the object ⑤ and the sending order of the sensing result of the object ⑥, and in addition, the sending order of the sensing result of the object ④, the sending order of the sensing result of the object ⑤ and the sending order of the sensing result of the object ⑥ are prior to the sending order of the sensing result of the object ①, the sending order of the sensing result of the object ② and the sending order of the sensing result of the object ③.

[0261] If the priority of the object is determined according to the correspondence between the number and the priority of the carrier corresponding to the sensing result of the object, and according to the correspondence between the carrier and the priority, and the priority of the carrier #1 is higher than the priority of the carrier #2, and the priority of the carrier #2 is higher than the priority of the carrier #1, it can be obtained that the priority of the sensing result of the object ⑦ is higher than the priority of the sensing result of the object ④; the priority of the sensing result of the object ④ is higher than the priority of the sensing result of the object ⑤; the priority of the sensing result of the object ⑤ is higher than the priority of the sensing result of the object ①; the priority of the sensing result of the object ① is higher than the priority of the sensing result of the object ⑥; the priority of the sensing result of the object ⑥ is higher than the priority of the sensing result of the object ②; the priority of the sensing result of the object ② is higher than the priority of the sensing result of the object ③.

[0262] Also, if the sending order of the perception result of each of the objects ① to ⑦ is determined according to the correspondence between the number of carriers corresponding to the perception result of the object and the priority and the correspondence between the carrier and the priority, it can be obtained that the sending order of the perception result of the object ⑦ is prior to the sending order of the perception result of the object ④; the sending order of the perception result of the object ④ is prior to the sending order of the perception result of the object ⑤; the sending order of the perception result of the object ⑤ is prior to the sending order of the perception result of the object ①; the sending order of the perception result of the object ① is prior to the sending order of the perception result of the object ⑥; the sending order of the perception result of the object ⑥ is prior to the sending order of the perception result of the object ②; and the sending order of the perception result of the object ② is prior to the sending order of the perception result of the object ③.

[0263] It can be understood that the above-mentioned determination manner of the priority of the perception result of the object is an exemplary determination manner, and should not be understood as a limitation of the determination manner of the priority.

[0264] As shown in FIG. 11, the present application provides another communication method for sending the perception result of the object according to the priority of the perception result of the object. The priority of the perception result of the object can represent the reliability of the perception result of the object, that is, the higher the priority of the perception result of the object, the higher the reliability of the perception result of the object. Accordingly, the second communication device can determine the reliability of the perception result according to the priority of the received perception result. In the flow of FIG. 11, the first communication device and the second communication device are still taken as examples for introduction. The first communication device and / or the second communication device can refer to the related description of FIG. 9, which will not be repeated.

[0265] As shown in FIG. 11, the communication method can include the following steps:

[0266] S201: The second communication device sends resource configuration information.

[0267] Correspondingly, the first communication device receives the resource configuration information.

[0268] As explained in S101, the resource configuration information can be used to configure a plurality of perception resources. For example, the resource configuration information can be used to configure a first perception resource and a second perception resource. The first perception resource is a perception resource in a first carrier, and the second perception resource is a perception resource in a second carrier. It can also be considered that the resource configuration information can be used to configure perception resources in N carriers, and N is a positive integer greater than 1.

[0269] S202: The first communication device receives a first perception signal according to the first perception resource, and obtains a first perception result according to the first perception signal.

[0270] S202 can refer to the description of S102. The difference between S202 and S102 is that the first perception result includes the perception result of the second object, and optionally, the first perception result can also include the perception result of the first object. That is, the carrier corresponding to the perception result of the second object includes the first carrier.

[0271] The first perception resource, the perception result of the first object, and the perception result of the second object can refer to the description in S102.

[0272] S203: The first communication device receives a second perception signal according to a second perception resource, and obtains a second perception result according to the second perception signal.

[0273] S203 can refer to the description of S103. The difference between S203 and S103 is that the second perception result includes the perception result of the third object, and optionally, the second perception result can also include the perception result of the first object. That is, the carrier corresponding to the perception result of the third object includes the first carrier.

[0274] S204: The first communication device sends the perception result of the second object and the perception result of the third object to the second communication device.

[0275] The sending order of the perception result of the second object and the perception result of the third object is determined according to the priority of the perception result of the second object and the priority of the perception result of the third object. For example, the higher the priority of the perception result, the more priority the sending order of the perception result has.

[0276] The determination manner of the priority of the perception result of the second object and the priority of the perception result of the third object can refer to the description of the priority of the perception result in the flow of FIG. 9. For example, the priority of the perception result of the second object and the priority of the perception result of the third object can be determined according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority. The correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority can refer to the description in the flow of FIG. 9, which will not be repeated here. It can also be said that the sending order of the perception result of the second object and the sending order of the perception result of the third object can be determined according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority.

[0277] Optionally, in the flow shown in FIG. 11, if the first perception result and the second perception result both contain the perception result of the first object, the first communication device can further send a third perception result to the second communication device according to the description in S104. The third perception result can be the perception result of the first object obtained according to the first perception result and the second perception result.

[0278] According to the description of the flow in FIG. 9, the first communication device can determine the sending order between the third perception result and other perception results according to the priority of the perception result of the first object and the priority of other perception results. That is, the sending order of the third perception result can be determined according to the priority of the perception result of the first object (which can also be referred to as the priority of the third perception result). The priority of the perception result of the first object can be determined according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority. In other words, the sending order of the third perception result is determined according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority. The above-mentioned correspondence can be referred to the corresponding description in the flow in FIG. 9, which will not be repeated.

[0279] Specifically, the first communication device can determine the priority of the third perception result, the perception result of the second object and the perception result of the third object according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority, and determine the sending order of the perception results according to the priority of the third perception result, the perception result of the second object and the perception result of the third object, so as to send the third perception result, the perception result of the second object and the perception result of the third object according to the sending order. In other words, the first communication device can determine the sending order of the third perception result, the perception result of the second object and the perception result of the third object according to at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier and the priority, without the need to determine the priority of the third perception result, the priority of the perception result of the second object and the priority of the perception result of the third object in advance.

[0280] In addition, S204 can also be replaced by: the first communication device sends at least two of the third perception result, the perception result of the second object and the perception result of the third object to the second communication device.

[0281] If the first communication device sends the third perception result and the perception result of the second object, the sending order of the third perception result and the perception result of the second object is determined according to the priority of the perception result of the first object and the priority of the perception result of the second object. If the first communication device sends the third perception result and the perception result of the third object, the sending order of the third perception result and the perception result of the third object is determined according to the priority of the perception result of the first object and the priority of the perception result of the third object. If the first communication device sends the third perception result, the perception result of the second object and the perception result of the third object, the sending order of the third perception result, the perception result of the second object and the perception result of the third object is determined according to the priority of the perception result of the first object, the priority of the perception result of the second object and the priority of the perception result of the third object. The priority of the perception result of the first object, the priority of the perception result of the second object and the priority of the perception result of the third object can refer to the description in the present application and will not be repeated here.

[0282] The present application can also skip determining the priority of the perception result of each object, but determine the sending order of the perception result according to the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the perception result of the object and the priority, and the correspondence between the carrier corresponding to the perception result of the object and the priority. That is, the priority of the perception result does not have to be determined.

[0283] It can be understood that, in order to implement the functions in the above embodiments, the terminal device or the network device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0284] FIG. 12 and FIG. 13 are structural diagrams of possible communication apparatuses provided by embodiments of the present application. The communication apparatuses can be used to implement the functions of the first communication apparatus or the second communication apparatus in the above-mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiments. In embodiments of the present application, the communication apparatus can be a terminal device, an access network device or a core network device, and can also be a module or component (such as a chip) applied to a terminal device, an access network device or a core network device. For example, the communication apparatus can be used to implement the functions of the first communication apparatus or the second communication apparatus in the flowcharts shown in FIG. 9 or FIG. 11.

[0285] The communication apparatus 1200 shown in FIG. 12 includes a processing unit 1210 and a transceiver unit 1220. The communication apparatus 1200 is used to implement the functions of the first communication apparatus or the second communication apparatus in the above-mentioned method embodiments. The processing unit 1210 can be used to perform processing actions of the first communication apparatus or the second communication apparatus, such as receiving and sending, in addition to other actions. The transceiver unit 1220 may, for example, include a sending unit for performing sending of an address and / or a receiving unit for performing receiving actions.

[0286] Taking the flowchart shown in FIG. 9 as an example, when the communication apparatus 1200 is used to implement the functions of the first communication apparatus in the method embodiment shown in FIG. 9, the transceiver unit 1220 can be used to receive resource configuration information. The transceiver unit 1220 can also be used to receive a first sensing signal according to a first sensing resource, and receive a second sensing signal according to a second sensing resource. The processing unit 1210 can be used to obtain a first sensing result according to the first sensing signal, and obtain a second sensing result according to the second sensing signal. The transceiver unit 1220 can also be used to send a third sensing result. Optionally, the processing unit 1210 can also be used to obtain the third sensing result according to the first sensing result and the second sensing result.

[0287] In a possible implementation method, the transceiver unit 1220 can also be used to receive first indication information, which can be used to indicate at least one of a correspondence between the position information and the priority, a correspondence between the speed information and the priority, a correspondence between the number of carriers corresponding to the sensing results of the objects and the priority, and a correspondence between the carriers and the priority. The transceiver unit 1220 can also be used to determine one or more of the priority of the sensing result of the first object, the priority of the sensing result of the second object, or the priority of the sensing result of the third object according to the at least one correspondence.

[0288] When the communication apparatus 1200 is used to implement the functions of the second communication apparatus in the method embodiment shown in FIG. 9, the transceiver unit 1220 can be used to send resource configuration information, and receive a third sensing result. The processing unit 1210 can be used to generate the resource configuration information.

[0289] In a possible implementation, the transceiver 1220 can further be configured to send the first indication information.

[0290] For example, when the communication apparatus 1200 is configured to implement the functions of the first communication apparatus in the method embodiment shown in FIG. 11, the transceiver 1220 can be configured to receive the resource configuration information. The transceiver 1220 can further be configured to receive the first sensing signal according to the first sensing resource, and receive the second sensing signal according to the second sensing resource. The processing unit 1210 can be configured to obtain the first sensing result according to the first sensing signal, and obtain the second sensing result according to the second sensing signal. The transceiver 1220 can further be configured to send the sensing result of the second object and the sensing result of the third object. The sending order of the sensing result of the second object and the sensing result of the third object can be determined according to the priority of the sensing result of the second object and the priority of the sensing result of the third object. The processing unit 1210 can be configured to determine the sending order of the sensing result of the second object and the sensing result of the third object according to the priority of the sensing result of the second object and the priority of the sensing result of the third object.

[0291] In a possible implementation, the transceiver 1220 can further be configured to send the third sensing result. Optionally, the processing unit 1210 can further be configured to obtain the third sensing result according to the first sensing result and the second sensing result.

[0292] In a possible implementation, the transceiver 1220 can further be configured to receive the first indication information, which can be used to indicate at least one of the correspondence between the position information and the priority, the correspondence between the speed information and the priority, the correspondence between the number of carriers corresponding to the sensing result of the object and the priority, and the correspondence between the carrier and the priority. The transceiver 1220 can further be configured to determine one or more of the priority of the sensing result of the first object, the priority of the sensing result of the second object, or the priority of the sensing result of the third object according to the at least one correspondence.

[0293] When the communication apparatus 1200 is configured to implement the functions of the second communication apparatus in the method embodiment shown in FIG. 11, the transceiver 1220 can be configured to send the resource configuration information, and receive the sensing result of the second object and the sensing result of the third object. The sending order of the sensing result of the second object and the sensing result of the third object can be determined according to the priority of the sensing result of the second object and the priority of the sensing result of the third object. Optionally, the processing unit 1210 can determine the reliability of the sensing result of the second object and the reliability of the sensing result of the third object according to the sending order of the sensing result of the second object and the sensing result of the third object. The processing unit 1210 can be configured to generate the resource configuration information.

[0294] In a possible implementation, the transceiver 1220 is further configured to receive the third perception result.

[0295] In a possible implementation, the transceiver 1220 is further configured to send the first indication information.

[0296] For more details of the processing unit 1210 and the transceiver 1220, refer to the descriptions of the related features in the above method embodiments, which are not repeated here.

[0297] The communication apparatus 1300 shown in FIG. 13 includes a processor 1310 and an interface circuit 1320. The processor 1310 and the interface circuit 1320 are coupled to each other. It can be understood that the interface circuit 1320 can be a transceiver or an input / output interface. Optionally, the communication apparatus 1300 can further include a memory 1330, configured to store instructions executed by the processor 1310 or store input data required by the processor 1310 to execute instructions or store data generated by the processor 1310 after executing instructions.

[0298] When the communication apparatus 1300 is used to implement the above method embodiments, the processor 1310 is configured to implement the functions of the above processing unit 1210, and the interface circuit 1320 is configured to implement the functions of the above transceiver 1220.

[0299] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), microprocessors without interlocked piped stages architecture (MIPS), advanced reduced instruction set computer (RISC) machines (ARM), network processors (NP), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0300] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a compact disc read-only memory (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in the first communication device or the second communication device.

[0301] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. A computer program refers to a set of instructions for instructing an electronic computer or other device with message processing capability to perform each step, usually written in a certain programming language, and running on a certain target architecture. When the computer program or instructions are loaded and executed on the computer, all or part of the processes or functions described in the embodiments of the present application are performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program or instructions can be stored in a computer readable storage medium, or transferred from one computer readable storage medium to another, for example, the computer program or instructions can be transferred from one website, computer, server or data center to another by wired or wireless means. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; an optical medium, such as a digital video disc; and a semiconductor medium, such as a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0302] Based on the same technical concept, the embodiments of the present application also provide a computer readable storage medium, including a program or instructions, when the program or instructions are executed on a computer, so that the method in the above method embodiments is executed.

[0303] Based on the same technical concept, the embodiments of the present application further provide a computer program product comprising instructions which, when executed on a computer, cause the method in the above method embodiments to be performed.

[0304] Based on the same technical concept, the embodiments of the present application further provide a communication system for implementing the method shown in FIG. 9 or FIG. 11. The communication system can comprise a first communication device and a second communication device.

[0305] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0306] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0307] In the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the literal description of the present application, the character " / ", generally represents that the front and rear associated objects are in an "or" relationship; in the formula of the present application, the character " / ", represents that the front and rear associated objects are in a "division" relationship.

[0308] It can be understood that the various numbers involved in the embodiments of the present application are only distinguished for the convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic.

Claims

1. A communication method characterized by comprising: The method comprises: receiving resource configuration information, the resource configuration information being used for configuring a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource in a first carrier, and the second sensing resource being a sensing resource in a second carrier; receiving a first sensing signal according to the first sensing resource, and obtaining a first sensing result according to the first sensing signal, the first sensing result comprising a sensing result of a first object; receiving a second sensing signal according to the second sensing resource, and obtaining a second sensing result according to the second sensing signal, the second sensing result comprising a sensing result of the first object; sending a third sensing result, the third sensing result being a sensing result of the first object obtained according to the first sensing result and the second sensing result.

2. The method of claim 1, wherein, The first sensing result further comprises a sensing result of a second object. The method further comprises: sending the sensing result of the second object, and the sending order of the third sensing result and the sensing result of the second object being determined according to a priority of the sensing result of the first object and a priority of the sensing result of the second object.

3. The method of claim 2, wherein, The priority of the sensing result of the first object and / or the priority of the sensing result of the second object is determined according to at least one of the following information: a correspondence between a position of an object and a priority; a correspondence between a speed of an object and a priority; a correspondence between a characteristic of an object and a priority; a correspondence between a number of carriers corresponding to a sensing result of an object and a priority; a priority of the first carrier.

4. The method of claim 3, wherein, The priority of the sensing result of the first object and the priority of the sensing result of the second object are determined according to a correspondence between a number of carriers corresponding to a sensing result of an object and a priority, comprising: if the second sensing result does not comprise the sensing result of the second object, and the number of carriers corresponding to the sensing result of the object and the priority are positively correlated in the correspondence between the number of carriers corresponding to the sensing result of the object and the priority, the priority of the sensing result of the first object is higher than the priority of the sensing result of the second object.

5. The method of any one of claims 1-4, wherein, The resource configuration information is used for configuring sensing resources in N carriers, the N carriers comprising the first carrier and the second carrier; K carriers in the N carriers correspond to the sensing result of the first object, K being a positive integer greater than or equal to 1, the K carriers comprising the first carrier and the second carrier, and the third sensing result being obtained according to the sensing result corresponding to the K carriers; L carriers in the N carriers correspond to the sensing result of a second object, L being a positive integer greater than or equal to 1, the L carriers comprising the first carrier; in a case where K is greater than L, the priority of the sensing result corresponding to the first object is higher than the priority of the sensing result corresponding to the second object.

6. The method of any one of claims 2-5, wherein, The second sensing result further comprises a sensing result of a third object. The method further comprises: sending the sensing result of the third object; The sending order of the third perception result, the perception result of the second object, and the perception result of the third object is determined according to the priority of the perception result of the first object, the priority of the perception result of the second object, and the priority of the perception result of the third object; or, The sending order of the third perception result and the perception result of the third object is determined according to the priority of the perception result of the first object and the priority of the perception result of the third object; or, The sending order of the perception result of the second object and the perception result of the third object is determined according to the priority of the perception result of the second object and the priority of the perception result of the third object.

7. The method of claim 6, wherein, The priority of the perception result of the third object is determined according to at least one of the following information: The correspondence between the position information of the object and the priority; The correspondence between the speed information of the object and the priority; The correspondence between the characteristics of the object and the priority; The correspondence between the number of carriers corresponding to the perception result of the object and the priority; The priority of the second carrier.

8. The method of claim 3 or 7, wherein, The method further comprises: Receiving first indication information, the first indication information being used to determine the priority of the perception result of the first object and the priority of the perception result of the second object, the first indication information being used to indicate at least one of the following: The correspondence between the position information of the object and the priority; The correspondence between the speed information of the object and the priority; The correspondence between the characteristics of the object and the priority; The priority of the first carrier; The priority of the second carrier.

9. The method of any one of claims 1-8, wherein, The perception result of the first object and / or the perception result of the second object comprises at least one of the following information: The position information of the object; The speed information of the object; The characteristics of the object.

10. The method of any one of claims 3, 7-9, wherein, The characteristics of the object comprise at least one of the following: received power, radar cross section, size, time delay information, or reliability information.

11. A communication method, comprising: Comprise: Sending resource configuration information, the resource configuration information being used to configure a first perception resource and a second perception resource, the first perception resource being a perception resource in a first carrier, and the second perception resource being a perception resource in a second carrier; Receiving a third perception result from a first communication device, the third perception result being a perception result of a first object obtained according to a first perception result and a second perception result, the first perception result comprising a perception result of the first object, the second perception result comprising the perception result of the first object, the first perception result being obtained according to a first perception signal, the first perception signal being received by the first communication device according to the first perception resource, and the second perception result being obtained according to a second perception signal, the second perception signal being received by the first communication device according to the second perception resource.

12. The method of claim 11, wherein, The first perception result further comprises a perception result of a second object; The method further comprises: receive the sensing result of the second object, and a sending order of the third sensing result and the sensing result of the second object is determined according to the priority of the sensing result of the first object and the priority of the sensing result of the second object.

13. The method of claim 12, wherein, The priority of the sensing result of the first object and / or the priority of the sensing result of the second object is determined according to at least one of the following information: a correspondence between position information of an object and priority; a correspondence between speed information of an object and priority; a correspondence between a feature of an object and priority; a correspondence between a number of carriers corresponding to a sensing result of an object and priority.

14. The method of claim 13, wherein, The priority of the sensing result of the first object and the priority of the sensing result of the second object are determined according to a correspondence between a number of carriers corresponding to a sensing result of an object and priority, including: if the second sensing result does not include the sensing result of the second object, and the number and the priority are positively correlated in the correspondence between the number of carriers corresponding to the sensing result of the object and the priority, the priority of the sensing result of the first object is higher than the priority of the sensing result of the second object.

15. The method of any one of claims 11-14, wherein, The resource configuration information is used to configure sensing resources in N carriers, the N carriers including the first carrier and the second carrier; K carriers in the N carriers correspond to the sensing result of the first object, K being a positive integer greater than or equal to 1, the K carriers including the first carrier and the second carrier, and the third sensing result being obtained according to the sensing result corresponding to the K carriers; L carriers in the N carriers correspond to the sensing result of the second object, L being a positive integer greater than or equal to 1, the L carriers including the first carrier; in the case that K is greater than L, the priority of the sensing result corresponding to the first object is higher than the priority of the sensing result corresponding to the second object.

16. The method of any one of claims 12-15, wherein, The second sensing result further includes a sensing result of a third object; The method further includes: receiving the sensing result of the third object; a sending order of the third sensing result, the sensing result of the second object and the sensing result of the third object is determined according to the priority of the sensing result of the first object, the priority of the sensing result of the second object and the priority of the sensing result of the third object; or, a sending order of the third sensing result and the sensing result of the third object is determined according to the priority of the sensing result of the first object and the priority of the sensing result of the third object; or, a sending order of the sensing result of the second object and the sensing result of the third object is determined according to the priority of the sensing result of the second object and the priority of the sensing result of the third object.

17. The method of claim 16, wherein, The priority of the sensing result of the third object is determined according to at least one of the following information: a correspondence between position information of an object and priority; a correspondence between speed information of an object and priority; a correspondence between a feature of an object and priority; a correspondence between a number of carriers corresponding to the perception result of the object and a priority; a priority of the second carrier.

18. The method of claim 13 or 17, wherein, The method further comprises: sending first indication information, the first indication information being used to determine a priority of the perception result of the first object and a priority of the perception result of the second object, the first indication information being used to indicate at least one of: a correspondence between a position information of the object and a priority; a correspondence between a speed information of the object and a priority; a correspondence between a feature of the object and a priority; a priority of the first carrier; a priority of the second carrier.

19. The method of any one of claims 11-18, wherein, The first perception result and / or the second perception result comprises at least one of: a position information of the object; a speed information of the object; a feature of the object.

20. The method of any one of claims 13, 17-19, wherein, The feature of the object comprises at least one of a received power, a radar cross section, a size, a time delay information or a reliability information.

21. A method of communication, comprising: comprises: receiving resource configuration information, the resource configuration information being used to configure a first sensing resource and a second sensing resource, the first sensing resource being a sensing resource within a first carrier, the second sensing resource being a sensing resource within a second carrier; receiving a first sensing signal according to the first sensing resource, obtaining a first perception result according to the first sensing signal, the first perception result comprising a perception result of a second object; receiving a second sensing signal according to the second sensing resource, obtaining a second perception result according to the second sensing signal, the second perception result comprising a perception result of a third object; sending the perception result of the second object and the perception result of the third object, wherein a sending order of the perception result of the second object and the perception result of the third object is determined according to a priority corresponding to the perception result of the second object and a priority corresponding to the perception result of the third object.

22. The method of claim 21, wherein, The priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined according to at least one of: a correspondence between a position information of the object and a priority; a correspondence between a feature of the object and a priority; a priority of the first carrier; a priority of the second carrier; a correspondence between a number of carriers corresponding to the perception result of the object and a priority.

23. The method of claim 21 or 22, wherein, The resource configuration information comprises sensing resources within N carriers, the N carriers comprising the first carrier and the second carrier, N being a positive integer greater than 1; sensing results corresponding to L carriers in the N carriers comprise the perception result of the second object, L being a positive integer greater than or equal to 1, the L carriers comprising the first carrier; sensing results corresponding to M carriers in the N carriers comprise the perception result of the second object, M being a positive integer greater than or equal to 1, the M carriers comprising the second carrier: in a case where L is greater than M, the sending order of the perception result of the second object is earlier than the sending order of the perception result of the third object.

24. The method of any one of claims 21-23, wherein, The first perception result further comprises a perception result of a first object, the second perception result further comprises the perception result of the first object, and the method further comprises: sending a third perception result of the first object, the third perception result being obtained according to the first perception result and the second perception result.

25. The method of claim 24, wherein, The method further comprises: determining a sending order of the third perception result, the perception result of the second object and the perception result of the third object according to a priority of the perception result of the first object, a priority of the perception result of the second object and a priority of the perception result of the third object.

26. The method of claim 25, wherein, The priority of the perception result of the first object is determined according to at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between speed information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a correspondence relationship between a number of carriers corresponding to a perception result of an object and a priority; a priority of the first carrier.

27. The method of claim 22 or 25, wherein, The method further comprises: receiving first indication information, the first indication information being used for indicating at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a priority of the first carrier; a priority of the second carrier.

28. The method of any one of claims 22, 26-27, wherein, The perception result of the second object and / or the perception result of the third object comprises at least one of the following information: position information of an object; speed information of an object; a feature of an object.

29. A method of communication, comprising: comprises: sending resource configuration information, the resource configuration information being used for configuring a first perception resource and a second perception resource, the first perception resource being a perception resource within a first carrier, the second perception resource being a perception resource within a second carrier; receiving a perception result of a second object and a perception result of a third object, wherein the perception result of the second object is included in a first perception result, the first perception result comprising a perception result of a first object, the first perception result being obtained according to a first sensing signal, the first sensing signal corresponding to the first perception resource, the perception result of the third object is included in a second perception result, the second perception result being obtained according to a second sensing signal, the second sensing signal corresponding to the second perception resource, a sending order of the perception result of the second object and the perception result of the third object being determined according to a priority corresponding to the perception result of the second object and a priority corresponding to the perception result of the third object.

30. The method of claim 29, wherein, The priority corresponding to the perception result of the second object and / or the priority corresponding to the perception result of the third object is determined according to at least one of the following information: a correspondence relationship between position information of an object and a priority; a correspondence relationship between a feature of an object and a priority; a priority of the first carrier; a priority of the second carrier; a correspondence relationship between a number of carriers corresponding to a perception result of an object and a priority.

31. The method of claim 29 or 30, wherein, The resource configuration information comprises perception resources within N carriers, the N carriers comprising the first carrier and the second carrier, N being a positive integer greater than 1; The perception result corresponding to the L carriers of the N carriers includes the perception result of the second object, L being a positive integer greater than or equal to 1, and the L carriers including the first carrier; The perception result corresponding to the M carriers of the N carriers includes the perception result of the second object, M being a positive integer greater than or equal to 1, and the M carriers including the second carrier: In a case where L is greater than M, the sending order of the perception result of the second object is earlier than the sending order of the perception result of the third object.

32. The method of any one of claims 29-31, wherein, The first perception result further includes a perception result of a first object, and the second perception result further includes the perception result of the first object, and the method further includes: receiving a third perception result, the third perception result being a perception result of the first object obtained according to the first perception result and the second perception result.

33. The method of claim 32, wherein, The sending order of the third perception result, the perception result of the second object, and the perception result of the third object is determined according to a priority of the perception result of the first object, a priority of the perception result of the second object, and a priority of the perception result of the third object.

34. The method of claim 33, wherein, The priority of the perception result of the first object is determined according to at least one of the following information: a correspondence between position information of an object and a priority; a correspondence between speed information of an object and a priority; a correspondence between a feature of an object and a priority; a correspondence between a number of carriers corresponding to a perception result of an object and a priority; a priority of the first carrier.

35. The method of claim 30 or 34, wherein, The method further includes: sending first indication information, the first indication information being used to indicate at least one of the following information: a correspondence between position information of an object and a priority; a correspondence between a feature of an object and a priority; a priority of the first carrier; a priority of the second carrier.

36. The method of any one of claims 30, 34-35, wherein, The perception result of the second object and / or the perception result of the third object includes at least one of the following information: position information of an object; speed information of an object; a feature of an object.

37. A communications device, characterized by comprising means or modules for performing the method of any one of claims 1-36.

38. A communications device, characterized by comprising a processor configured to execute computer programs or instructions to implement the method of any one of claims 1-36.

39. A computer-readable storage medium, characterized in that, The storage medium has stored therein computer programs or instructions, which, when executed by a communication device, implement the method of any one of claims 1-36.

40. A computer program product, characterised in that, The computer program product, when executed by a computer, causes the computer to perform the method of any one of claims 1-36.

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