Sensing method and apparatus, storage medium, and program product

Abstract

Provided in embodiments of the present disclosure are a sensing method and apparatus, a storage medium, and a program product. The method comprises: receiving first indication information sent by a second node, wherein the first indication information is used for indicating a sensing parameter of a first node, and the sensing parameter is a parameter related to sensing integrity of the first node during sensing.

Description

Perception method, apparatus, storage medium and program product

[0001] This application claims priority to Chinese Patent Application No. 202411547262.X, filed on October 31, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of communication, and in particular, to a perception method, apparatus, storage medium and program product. BACKGROUND

[0003] In the perception process, the perception node can only determine the perception result of the perception target when performing perception, and cannot determine the integrity of the perception result. This will result in that the accuracy and reliability of the perception data in the perception process cannot be guaranteed. SUMMARY

[0004] The embodiments of the present disclosure provide a perception method, apparatus, storage medium and program product, which solve the technical problem that the accuracy and reliability of the perception data in the perception process cannot be guaranteed.

[0005] In one aspect, a perception method is provided, which includes: receiving first indication information sent by a second node. The first indication information is used to indicate a perception parameter of a first node; and the perception parameter is a parameter related to perception integrity in a perception process of the first node.

[0006] In another aspect, a perception method is provided, which includes: sending first indication information to a first node. The first indication information is used to indicate a perception parameter of the first node; and the perception parameter is a parameter related to perception integrity in a perception process of the first node.

[0007] In still another aspect, a perception apparatus is provided, which includes: a communication unit. The communication unit is configured to receive first indication information sent by a second node. The first indication information is used to indicate a perception parameter of a first node; and the perception parameter is a parameter related to perception integrity in a perception process of the first node.

[0008] In still another aspect, a perception apparatus is provided, which includes: a communication unit. The communication unit is configured to send first indication information to a first node. The first indication information is used to indicate a perception parameter of the first node; and the perception parameter is a parameter related to perception integrity in a perception process of the first node.

[0009] In still another aspect, a perception apparatus is provided, which includes: a memory and a processor; the memory and the processor are coupled; the memory is configured to store a computer program; and the processor is configured to execute the computer program to implement the perception method described above.

[0010] In another aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the perception method.

[0011] In another aspect, a computer program product is provided, and the computer program product includes computer program instructions, and the computer program instructions are executed by a processor to implement the perception method.

[0012] Since the perception parameter in the embodiments of the present disclosure is a parameter related to perception integrity, the terminal can perform measurement based on the perception integrity in the perception measurement process, so that the perception measurement result is more accurate and reliable. Further, the technical problem that the perception result is inaccurate due to low accuracy and reliability of perception data in the related art is solved. The perception method provided in the embodiments of the present disclosure can guarantee the accuracy, reliability and safety of the perception system, so that the perception data measured by the perception node can be used in real-time applications to guarantee the accuracy of the application process. BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 is a system architecture diagram of a perception system according to an embodiment of the present disclosure.

[0014] FIG. 2 is a flow diagram of a perception method according to an embodiment of the present disclosure.

[0015] FIG. 3 is a flow diagram of a terminal obtaining an encryption key and a perception attribute according to an embodiment of the present disclosure.

[0016] FIG. 4 is a diagram of a malicious node interfering with a perception process according to an embodiment of the present disclosure.

[0017] FIG. 5 is a flow diagram of another perception method according to an embodiment of the present disclosure.

[0018] FIG. 6 is a diagram of timing of multipath received by a terminal in a case where the terminal measures multiple instances according to an embodiment of the present disclosure.

[0019] FIG. 7 is a diagram of timing of multipath received by a terminal in a case where the terminal measures one instance according to an embodiment of the present disclosure.

[0020] FIG. 8 is a diagram of relationships between a protection level (PL), an alarm limit (AL), and a positioning error (PE) and a positioning process according to an embodiment of the present disclosure.

[0021] FIG. 9 is a flow diagram of another perception method according to an embodiment of the present disclosure.

[0022] FIG. 10 is a flow diagram of another perception method according to an embodiment of the present disclosure.

[0023] FIG. 11 is a structural schematic diagram of a sensing device according to an embodiment of the present disclosure.

[0024] FIG. 12 is a hardware structural schematic diagram of a sensing device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0026] It should be noted that in the embodiments of the present disclosure, the words such as "exemplary" or "for example" are used to describe examples, illustrations, or descriptions. Any embodiment or design scheme described by the words such as "exemplary" or "for example" in the embodiments of the present disclosure should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concepts in a specific manner.

[0027] Hereinafter, the terms "first", "second", and the like are used only for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined by the terms "first", "second", and the like can explicitly or implicitly include one or more of the features.

[0028] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this document is only used to describe the association relationship of the associated objects, which means that there can be three relationships. For example, A and / or B can mean: only A, only B, and A and B. In addition, "at least one" means one or more, and "multiple" means two or more.

[0029] Data integrity is used to improve the consistency and reliability of data. In the security field, integrity usually refers to data integrity, that is, whether the data is complete data, whether it is tampered with, etc. In the positioning process, integrity is used to indicate the accuracy of data related to positioning and the reliability of the ability to provide positioning-related warning capabilities.

[0030] In the sensing process, the sensing node can usually only determine the sensing result of the sensing target when sensing, and cannot determine the integrity of the sensing result. This will result in that the accuracy and reliability of the sensing data in the sensing process cannot be guaranteed.

[0031] For example, in the perception processes of autonomous vehicles, smart cities, and industrial automation applications, the accuracy and reliability of perception data have a significant impact on the practical application of perception. Incorrect or tampered perception data can lead to very serious consequences. For instance, in autonomous driving, if perception data is incorrect or tampered with, the vehicle may be unable to correctly identify the current driving scenario, leading to incorrect driving decisions and endangering the driver's safety. Furthermore, the current inability to ascertain the integrity of perception data makes it difficult to quickly identify abnormal data and to recover or correct erroneous perception data before it causes harm.

[0032] Based on the above, it can be seen that in the current perception process, the lack of information related to the completeness of perception data leads to a decrease in the accuracy and reliability of perception data, which in turn may result in inaccurate perception results.

[0033] To address the aforementioned technical problems, this disclosure provides a sensing system 10. As shown in FIG1, the sensing system 10 includes a first node 101 and a second node 102. The second node 102 is used to indicate a sensing integrity parameter to the first node 101, enabling the first node 101 to perform sensing based on the sensing integrity parameter during the sensing process. This allows the data sensed by the first node 101 during the sensing process to be more complete, accurate, and reliable, thereby improving the accuracy of the sensing system during the sensing process.

[0034] The sensing method provided in this disclosure can be applied to systems with various communication standards. For example, the systems to which the sensing method provided in this disclosure is applicable include, but are not limited to: Long Term Evolution (LTE) systems, various versions based on LTE evolution, 5th Generation Mobile Communication Technology (5G) systems, future mobile communication networks (e.g., 6G mobile communication networks), or multiple converged communication systems. Furthermore, the sensing method provided in this disclosure can also be applied to future-oriented communication systems.

[0035] For example, referring to Figure 1 above, the first node 101 can be a terminal or base station, an IoT device, a mobile phone, an in-vehicle device, a communication base station, a sensing base station, etc. The second node 102 can be a core network unit, such as a location management function, a sensing function, an enhanced serving mobile location center (E-SMLC) of the core network, or a sensing center device, etc., used for sensing configuration of the first node.

[0036] In some embodiments, the terminal can be a device with wireless transceiver function, which can be deployed on land (including indoor or outdoor); can be handheld, wearable or vehicle-mounted; can also be deployed on water surface (such as ships, etc.); can also be deployed in the air (such as airplanes, balloons and satellites, etc.). The terminal can be a mobile phone, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. The embodiments of the present disclosure do not limit the application scenarios. The terminal can also be referred to as a user, a user equipment (UE), an access terminal, a UE unit, a UE station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a UE terminal, a wireless communication device, a UE agent or a UE apparatus, etc. The embodiments of the present disclosure do not limit this.

[0037] In some embodiments, the base station can be a base station or an evolved base station (eNB or eNodeB) in long term evolution (LTE) or long term evolution advanced (LTEA), a base station device in a 5G network, or a base station in a future communication system, etc. The base station can include various macro base stations, micro base stations, home base stations, wireless remote devices, reconfigurable intelligent surfaces (RISs), routers, wireless fidelity (WIFI) devices, or various network side devices such as primary cells and secondary cells, etc.

[0038] This disclosure also provides a sensing method that can be applied to the communication system shown in FIG1. ​​The sensing method provided by this disclosure will be described in detail below with reference to FIG2. This sensing method can be applied to a first node in the sensing system shown in FIG1. ​​The first node is used to receive sensing integrity parameters indicated by a second node for sensing. As shown in FIG2, the sensing method includes 201.

[0039] In step 201, the first node receives the first instruction information from the second node.

[0040] The first indication information is used to indicate the perception parameters of the first node. The perception parameters are parameters related to the perception integrity of the first node during the perception process.

[0041] In some embodiments, the first node is a terminal or a transmission reception point (TRP). This disclosure primarily uses a terminal as the first node for illustration. The second node is a network device, such as a base station, a location management function (LMF), a synchronization function (SF), an enhanced serving mobile location center (E-SMLC), or a sensing center device, used for sensing configuration of the first node.

[0042] In one implementation, before the first node needs to perform sensing measurements, the base station determines the sensing parameters related to the terminal's sensing integrity and sends these parameters to the first node. After receiving the sensing parameters, the terminal determines the sensing parameters for this sensing measurement and performs the sensing measurement based on these parameters.

[0043] In some embodiments, the first node may also report the aforementioned sensing parameters to the second node. For example, the terminal or TRP may report the aforementioned sensing parameters to the network device so that the network device can determine the sensing parameters supported by the terminal or TRP.

[0044] In one implementation, the first indication information is carried in a broadcast message, or in a unicast message, or in a multicast message.

[0045] Since the sensing parameters in this embodiment are related to sensing integrity, the terminal can perform measurements based on sensing integrity during the sensing measurement process, thereby making the sensing measurement results more accurate and reliable. This solves the technical problem of inaccurate sensing results caused by low accuracy and reliability of sensing data in related technologies. Based on the sensing method provided by this embodiment, the accuracy, reliability, and security of the sensing system can be guaranteed, enabling the sensing data measured by the sensing nodes to be used in real-time applications and ensuring the accuracy of the application process.

[0046] In some embodiments, the first indication information is further used to indicate positioning integrity parameters used for positioning of the second node. In other words, in this embodiment of the present disclosure, the second node can reuse the configuration information related to positioning integrity during the current positioning process to configure the first node with configuration related to perception integrity. The first node can reuse the reporting information related to positioning integrity during the current positioning process to report information related to perception integrity, thereby realizing the configuration or reporting of perception integrity.

[0047] Based on this, in the perception system, by reusing the positioning integrity parameters in the second node's positioning process, the first node can configure the positioning integrity of the second node while simultaneously configuring the perception integrity of the first node; and the first node can report the perception integrity information while reporting the positioning integrity information, thereby reducing the signaling interaction between the first node and the second node, saving transmission resources, and reducing transmission pressure.

[0048] In some embodiments, the first indication information is carried in a system message; or, the first indication information is carried in a radio resource control (RRC) system message; or, the first indication information is carried in a non-access stratum (NAS) message; or, the first indication information is carried in a location system information block message.

[0049] In other words, in this embodiment of the disclosure, the second node can indicate sensing parameters to the first node via system messages; alternatively, the second node can indicate sensing parameters to the first node via RRC messages; or alternatively, the second node can indicate sensing parameters to the first node via Non-Access Stratum (NAS) messages; or alternatively, the second node can indicate sensing parameters to the first node via location system information block messages. It should be noted that the second node can also indicate sensing parameters to the first node via other messages, and this disclosure does not limit this.

[0050] Based on this embodiment, the second node can indicate sensing parameters to the first node through corresponding messages, so that the first node can determine information related to sensing integrity according to the instructions of the second node, and then perform sensing measurement based on sensing integrity.

[0051] In the embodiments of this disclosure, perception integrity is used to make the perception measurement results of the sensing nodes more accurate and reliable. Perception parameters related to perception integrity can be parameters indicating the reliability of the perception results, parameters used to assist perception to make the perception results more accurate, parameters used to indicate the applicable scenarios for perception integrity, etc., and this disclosure does not limit them. The perception parameters involved in the embodiments of this disclosure will be described in detail below.

[0052] In some embodiments, the perception parameters include at least one of the following: 1. perception assistance information, 2. perception risk parameters, and 3. perception service parameters. The perception assistance information assists the first node in perception; the perception risk parameters indicate the risks during the first node's perception process; and the perception service parameters indicate the applicability of the perception assistance information or the perception risk parameters. The perception assistance information in the embodiments of this disclosure will be described in detail below.

[0053] 1. Perceiving auxiliary information

[0054] In this embodiment of the disclosure, the sensing assistance information is information sent by the network device to the terminal or base station to assist the node in sensing.

[0055] As an example, the sensing assistance information may be sensing assistance information sent by the LMF or SF to the terminal or the base station; or sensing assistance information sent by the base station to the terminal, and this disclosure does not limit it.

[0056] Taking the sensing assistance information sent by the LMF or SF to the terminal as an example, the sensing assistance information can be carried in the NAS signaling sent by the LMF or SF to the terminal, or sent by the LMF or SF to the base station, which then broadcasts it to the terminal. In some embodiments, the information sent by the LMF or SF or the core network to the terminal may include one or more sets / groups of sensing assistance information. In some embodiments, when the base station broadcasts to the terminal, the sensing assistance information broadcast by the base station may be a subset of the sensing assistance information sent by the LMF or SF to the receiving node of the sensing reference signal.

[0057] As one implementation method, the sensing auxiliary information includes at least one of the following: 1.1, auxiliary information of the sensing reference signal; 1.2, sensing beam information; 1.3, sensing synchronization information; 1.4, sensing beam antenna information; 1.5, location information of the first sensing node transmitting the sensing reference signal; 1.6, time error group (TEG) information of the first sensing node; 1.7, applicability information of the sensing auxiliary information. The above sensing auxiliary information will be described in detail below.

[0058] 1.1 Auxiliary information for sensing reference signals

[0059] In some embodiments, the auxiliary information of the sensing reference signal includes at least one of the following: the frequency domain resources occupied by the sensing reference signal, the period of the sensing reference signal, the offset, the comb configuration, the mute mode, and the carrier aggregation configuration.

[0060] Based on the auxiliary information of the sensing reference signal, the first node can better perform sensing and measurement of the sensing reference signal, thereby improving the accuracy of the sensing and measurement results.

[0061] 1.2 Sensing Beam Information

[0062] In some embodiments, the sensing beam information includes at least one of the following: spatial orientation information of the sensing reference signal, boundary model of the sensing reference signal, average and standard deviation of azimuth error of the superboundary model, and average and standard deviation of elevation error of the superboundary model.

[0063] In some embodiments, the second node may reuse the downlink positioning reference signal (DL PRS) beam information in the positioning assistance information to indicate the sensing beam information to the first node. In some embodiments, the sensing beam information may be the beam information of the sensing reference signal.

[0064] As an example, a network device (e.g., LMF) instructs a terminal on the spatial orientation and integrity information of DL PRS resources based on sensing beam information (e.g., a signaling message (also known as an Information Element, IE) "IE NR-DL-PRS-BeamInfo"). The integrity information of the DL PRS resources includes the boundary model of the spatial orientation information of the DL PRS resources, the average and standard deviation of the azimuth error of the superboundary model, and the average and standard deviation of the elevation error of the superboundary model. For the terminal's sensing process, the LMF reuses this signaling message, adding the aforementioned sensing beam information to it; that is, adding a sensing reference signal (e.g., an uplink sounding reference signal, UL) to the sensing beam information (e.g., the signaling message "IE NR-DL-PRS-BeamInfo"). The spatial orientation information of the SRS, the boundary model of the sensing reference signal, the average and standard deviation of the azimuth error of the superboundary model, and the average and standard deviation of the elevation error of the superboundary model are all considered. Parameters related to the average and standard deviation of the azimuth / elevation angles in the aforementioned sensing beam information can be directly reused from relevant parameters in the positioning assistance information. In this case, the average and standard deviation of the azimuth / elevation angles in IE NR-DL-PRS-BeamInfo can indicate the beam of the DL PRS or the beam of the sensing reference signal. Furthermore, parameters related to the average and standard deviation of the azimuth / elevation angles related to sensing can be added to IE NR-DL-PRS-BeamInfo; this disclosure does not limit this.

[0065] It should be noted that the sensing beam information (e.g., the signaling message "IE NR-DL-PRS-BeamInfo") may also include applicability information for the sensing beam information. That is, the sensing targets to which the sensing beam information is applicable, the applicable sensing range, the applicable sensing service type, the applicable sensing scenario, the applicable radar cross section (RCS) or RCS range of the sensing targets, and the applicable Doppler range.

[0066] 1.3 Sensing Synchronization Information

[0067] In some embodiments, the sensing synchronization information includes at least one of the following: time synchronization information between the first sensing node and the second sensing node, the average value of the error limits of the time synchronization information, the standard deviation of the error limits of the time synchronization information, and the resolution of the error limits of the time synchronization information.

[0068] In some other embodiments, the sensing synchronization information is used to indicate the time synchronization information between the reference sensing reference signal transmitting node and the adjacent sensing reference signal transmitting node.

[0069] In some embodiments, the second node may reuse the synchronization information in the positioning assistance information to indicate the sensing synchronization information to the first node.

[0070] As an example, a network device (e.g., LMF) instructs a first node, based on sensing synchronization information (e.g., the signaling message "IE NR-RTD-Info"), to provide time synchronization information (e.g., relative time difference (RTD)) and integrity information between a reference TRP and adjacent TRPs. The integrity information includes the average value, standard deviation, and resolution of the RTD error limits. For the terminal's sensing process, the LMF reuses this signaling message, adding the aforementioned sensing synchronization information to it. That is, at least one of the following is added to the sensing synchronization information (e.g., the signaling message "IE NR-RTD-Info"): time synchronization information between the first and second sensing nodes, the average value of the time synchronization error limits, the standard deviation of the time synchronization error limits, and the resolution of the time synchronization error limits. Parameters related to the average value, standard deviation, and corresponding resolution of the RTD error limits in the aforementioned sensing synchronization information can directly reuse relevant parameters from the positioning assistance information. In this case, these parameters can indicate synchronization information between TRPs during positioning, or synchronization information between different sensing nodes (e.g., sensing nodes that transmit and receive sensing signals, or the terminal and the synchronization source) during sensing. Furthermore, the sensing synchronization information (e.g., IE NR-RTD-Info) can include the average value, standard deviation, and corresponding resolution-related parameters of the RTD error limits associated with the sensing synchronization information; this disclosure does not limit this.

[0071] It should be noted that the sensing synchronization information (e.g., the signaling message "IE NR-RTD-Info") may also include applicability information for the sensing synchronization information. That is, the sensing target to which the sensing synchronization information is applicable, the applicable sensing range, the applicable sensing service type, the applicable sensing scenario, the applicable sensing target RCS or RCS range, and the applicable Doppler range.

[0072] 1.4 Sensing Beam Antenna Information

[0073] In some embodiments, the sensing beam antenna information includes at least one of the following: the azimuth angle, elevation angle, and beam power of the antenna transmitting the sensing beam by the first sensing node, and the average value and standard deviation of the sensing beam power error limit.

[0074] In other embodiments, the sensing beam antenna information includes the transmitting azimuth, elevation, and beam power of the sensing reference signal transmitting node. For example, it may also include the antenna angle or power values ​​and more granular indication information.

[0075] In some embodiments, the second node may reuse the beam antenna information in the positioning assistance information to indicate the sensing beam antenna information to the first node.

[0076] As an example, a network device (e.g., LMF) indicates the beam antenna information and integrity information of the TRP to the terminal based on perceived beam antenna information (e.g., the signaling message "IE NR-TRP-BeamAntennaInfo"). The integrity information includes the average and standard deviation of the beam power error limits. For the terminal's sensing process, the LMF multiplexes this signaling message. It adds the aforementioned perceived beam antenna information to this signaling message; that is, it adds the azimuth, elevation, and beam power of the antenna transmitting the perceived beam from the first sensing node, as well as the average and standard deviation of the perceived beam power error limits, to the perceived beam antenna information (signaling message "IE NR-TRP-BeamAntennaInfo").

[0077] It should be noted that the sensing beam antenna information (e.g., the signaling message "IE NR-TRP-BeamAntennaInfo") may also include applicability information for the sensing beam antenna information. That is, the sensing target to which the sensing beam antenna information is applicable, the applicable sensing range, the applicable sensing service type, the applicable sensing scenario, the applicable sensing target RCS or RCS range, and the applicable Doppler range.

[0078] 1.5. Location information of the first sensing node that transmits the sensing reference signal

[0079] In some embodiments, the location information of the first sensing node includes at least one of the following: the coordinates of the first sensing node, the coordinates of the antenna reference point of the first sensing node, the attachment request location provided for the identification of the sensing reference signal resource set, the location error limit of the first sensing node, the location error limit of the auxiliary reference point of the sensing reference signal resource set, and the average value and standard deviation of the location error limits of the auxiliary reference point of the sensing reference signal resource set.

[0080] In some other embodiments, the location information of the first sensing node includes the coordinates of a set of sensing reference signal transmitting nodes, the coordinates of an antenna reference point, and integrity information. For each transmitting node, an ARP location can be provided for each associated identity (ID) of each sensing reference signal / sensing reference signal resource set.

[0081] In some embodiments, the second node may reuse the location information of the TRP in the positioning assistance information to indicate the location information of the first sensing node to the first node.

[0082] As an example, a network device (e.g., LMF) indicates the coordinates of the TRP, the antenna reference point coordinates of the TRP, and integrity information to the terminal based on location information (e.g., the signaling message "IE NR-TRP-LocationInfo"). The integrity information includes the average and standard deviation of the TRP location error limits, the average and standard deviation of the DL PRS resource set ARP location error limits, and the average and standard deviation of the DL PRS resource APR location error limits. For the terminal's sensing process, the LMF reuses this signaling message, adding the aforementioned location information of the first sensing node to it. Specifically, it adds the coordinates of the first sensing node, the antenna reference point coordinates of the first sensing node, the attachment request location provided for the identification of the sensing reference signal resource set, the location error limits of the first sensing node, the auxiliary reference point location error limits of the sensing reference signal resource set, and the average and standard deviation of the auxiliary reference point location error limits of the sensing reference signal resource set to the location information (e.g., the signaling message "IE NR-TRP-LocationInfo").

[0083] It should be noted that location information (e.g., the signaling message "IE NR-TRP-LocationInfo") can also include applicability information. That is, the applicable sensing targets, applicable sensing ranges, applicable sensing service types, applicable sensing scenarios, applicable sensing target RCS or RCS range, and applicable Doppler range. Different location errors can correspond to different applicability information.

[0084] 1.6 Time Error Group (TEG) Information of the First Sensing Node

[0085] In some embodiments, the TEG information of the first sensing node is used to indicate the identifier of the TEG associated with the transmission resources of the sensing reference signal.

[0086] 1.7 Applicability information of sensory auxiliary information

[0087] In some embodiments, the applicability information of the sensing auxiliary information is used to indicate the applicability parameter of at least one of the sensing beam information, sensing synchronization information, sensing beam antenna information, and the location information of the first sensing node.

[0088] The applicability parameters include at least one of the following: applicable sensing target, applicable sensing range, applicable sensing service type, applicable sensing scenario, applicable sensing target RCS or RCS range, and applicable Doppler range.

[0089] As an example, the applicable sensing target can be the type of sensing target, such as a vehicle, person, animal, or unmanned aerial vehicle (UAV). The applicable sensing range can be one or more cell lists or TRP lists. Applicable sensing scenarios can be indoor scenarios, outdoor scenarios, urban macrocells (UMA), urban microcells (UMI), etc. Applicable sensing service types can be target recognition and environment reconstruction.

[0090] In some embodiments, the sensing assistance information further includes at least one of the following: 1.8, value tag, 1.9, expiration time, 1.10, segmentation information. The above sensing assistance information will be described in detail below.

[0091] 1.8 Value Label

[0092] The value tag is used to indicate whether the perception assistance information has been updated. For example, the value tag is incremented by one each time the perception assistance information is updated. After parsing the value tag, the terminal compares the current value tag value with the previous value tag value. If the value tag value is greater than the previous value tag value, the terminal determines that the perception assistance information has been updated and then obtains subsequent perception assistance information. If the value tag value is not greater than the previous value tag value, the terminal does not need to obtain the perception assistance information.

[0093] As an example, the value tag can reuse the valueTag field in the RRC message sent by the network device to the terminal.

[0094] 1.9 Expiry Date

[0095] The expiration time is used to indicate the effective duration of the sensing assistance information. For example, the expiration time can be UTC (Coordinated Universal Time), indicating that the sensing assistance information expires after this time. After this time, the terminal will no longer use the assistance information for assisted sensing.

[0096] As an example, the expiration time can be reused from the expirationTime field in the RRC message sent by the network device to the terminal.

[0097] 1.10 Segmentation Information

[0098] Segmentation information is used to indicate whether the sensing assistance information is segmented. For example, if the sensing assistance message includes this information, it means that the assistance information is segmented, and the currently received assistance information is one segment of multiple assistance information segments. In this case, the terminal can continue to receive other segments of assistance information. If the sensing assistance message does not include this information, it means that the assistance information is not segmented, and the sensing assistance information currently received by the terminal is the complete assistance information.

[0099] As an example, segmentation information can reuse the segmentationInfo field in the RRC message sent by the network device to the terminal.

[0100] In some embodiments, for sections 1.8 (value tag), 1.9 (expiration time), and 1.10 (segmentation information) mentioned above, the network device configures positioning assistance information to the terminal to assist the terminal in positioning. The positioning assistance message may include the configuration of the positioning reference signal, the location information of the TRP, and the beam information of the TRP. The network device can broadcast positioning assistance information via system messages. This broadcast system message can be an RRC system message (also known as an RRC message) or a positioning system information block (posSIB). Taking the example of a network device broadcasting positioning assistance information via an RRC message, the RRC message includes the following IE:

[0101] The `valueTag` field indicates whether the broadcast location assistance information has been updated; `expirationTime` indicates the validity period of the location assistance information; `segmentationInfo` indicates whether the location assistance information is segmented; the `cipheringKeyData` field indicates that the RRC message is encrypted; and the `assistanceDataElement` field includes the location assistance information data. In this embodiment, the `assistanceDataElement` field can be reused, and the aforementioned perception parameters (or perception assistance information) can be added to the `assistanceDataElement` field.

[0102] In this embodiment of the disclosure, the above-mentioned valueTag field can be reused to indicate whether the perception assistance information has been updated; the above-mentioned expirationTime field can be reused to indicate the effective duration of the perception assistance information; and the above-mentioned segmentationInfo field can be reused to indicate whether the perception assistance information is segmented perception assistance information.

[0103] Furthermore, it should be noted that the aforementioned broadcast system message can be an encrypted message. The cipheringKeyData field is used to indicate that the message is encrypted. In related technologies, the cipheringKeyData field includes two values: cipherSetID and d0. cipherSetID includes the encryption key value and the first element C0 of the initial counter value C1, and d0 is the second element D0 of the initial counter value C1. When the terminal decrypts the message, it first obtains the cipherSetID through NAS signaling, that is, it obtains the encryption key value and the first element C0. If C0 < 128 bits, the terminal fills the high-order bits of C0 with 0; if D0 < 128 bits, it fills the low-order bits with 0. The terminal calculates the value of C1 based on D0 and C0: C1 = (C0 + D0) mod 2. 128 And the terminal calculates subsequent C based on the value of C1. i The value of C i =(C i -1+1)mod 2 128 , where i is an integer greater than or equal to 2. The terminal is based on... <C1,C2,C3,…C i > and key-value decryption of RRC messages.

[0104] In this embodiment of the disclosure, the encryption and decryption process described above can be improved based on content related to perception. In some embodiments, when the network device broadcasts perception parameters to the terminal, the broadcast message carrying the perception parameters is encrypted based on at least one of the first element, the second element, and the third element. The first element is the encryption key received by the first node from the access and mobility association network element, the second element is the encryption element in the encryption algorithm set identifier in the radio resource control broadcast message, and the third element is used to characterize the perception target parameters.

[0105] In some embodiments, in conjunction with the encryption and decryption process in the above-described positioning process, the first element can be C1, the second element can be D0, and the third element is a new element generated based on the perception parameters. In other words, in this embodiment of the disclosure, the initial counter value C1 includes three elements, namely: the first element C... 00 The first element, D0, can be the ciphering key sent by AMF to the terminal based on the NAS message; the second element, D0, can be D0 in the cipherSetID of the broadcast message; the third element, C... 01This can be an index value of the sensing target parameters sent by the access and mobility management function (AMF), location management function (LMF), or sensing client. The sensing target parameters include at least one of the following: the region to which the sensing target belongs, the type of the sensing target, the Doppler parameters of the sensing target, the Doppler range of the sensing target, the sensing service type of the sensing measurement, the sensing range, the sensing scenario, and the RCS or RCS range of the sensing target. As an example, with the third element C... 01 Taking the index of the target type as an example, the index value is 1 when the target type is a vehicle, and 2 when the target type is a drone.

[0106] During the decryption process, the terminal obtains the cipherSetID via NAS signaling, which is equivalent to obtaining the encryption key value and the first element C. 00 ; and obtain the third element C through measurement requests sent via AMF, LMF, or sensing clients. 01 And retrieve the second element D0 from the RRC message. If C 00 <128 bits, fill the high bits with 0; if C 01 If D0 is less than 128 bits, fill the high or low bits with 0; if D0 is less than 128 bits, fill the low bits with 0. The terminal is based on C. 00 C 01 Calculate the value of C1 using D0 and C1 = (C0, D0, D0) 00 +C 01 +D0)mod 2 128 And the terminal calculates subsequent C based on the value of C1. i The value of C i =(C i-1 +1)mod 2 128 The terminal is based on <C1,C2,C3,C i > and key-value decryption of RRC messages.

[0107] During the sensing process, multiple sensing tasks may be executed concurrently. For example, multiple sensing tasks may be executed simultaneously for the same (or the same group of) terminals. For instance, sensing task 1 is to perform sensing measurement on target 1 in area A, and sensing task 2 is to perform sensing measurement on target 2 in area B. In this case, the sensing configurations (such as sensing parameters) of sensing task 1 and sensing task 2 are different, but the same node performs the sensing configuration on the terminal. In this situation, the third element C generated by the index value in the sensing parameters in this embodiment of the present disclosure... 01It can distinguish messages from different perceptual tasks, only in the third element C. 01 Only when all encryption keys match can the terminal successfully parse the message corresponding to the sensing task. This avoids the terminal failing to correctly configure the sensing parameters of each sensing task, thereby improving the terminal's sensing performance and security.

[0108] It should be noted that in NAS signaling, the aforementioned cipheringKeyData field may include at least one of the following: ciphering key value, ciphering key identifier, validity period, and set of applicable types of broadcast assistance data. This set of applicable broadcast assistance data includes, but is not limited to, at least one of the following: the applicable sensing target's area range, the sensing target's type, the sensing target's Doppler amplitude, the sensing target's Doppler range, the sensing service type, the sensing range, the sensing scenario, and the sensing target's RCS or RCS range.

[0109] In some implementations, the terminal receives second indication information from the access and mobility management network element. This second indication information indicates the encryption information of the broadcast message and / or the sensing attributes of the first node, including sensing target parameters. Based on this, the terminal obtains the encryption information of the broadcast message based on the second indication information, and decrypts the broadcast message based on the encryption information to obtain the sensing parameters, thereby performing sensing based on the sensing parameters to ensure the integrity of the sensing.

[0110] In some embodiments, the access and mobility management network element stores encrypted information of broadcast messages and / or, the perception attributes of the first node.

[0111] In some embodiments, the perception attributes of the first node in the access and mobility management network element are determined based on the perception messages received by the access and mobility management network element from the fourth node. As an example, the fourth node is any of the following: Local Management Function (LMF), Synchronization Function (SF), or Enhanced Serving Mobility Location Center (E-SMLC).

[0112] In some embodiments, the fourth node includes sensing attributes of the first node, which are sent from the sensing initiating device to the fourth node. As an example, the sensing initiating device is any one of the following: the first node, a location management function (LMF), a sensing function (SF), or a sensing target device.

[0113] As an example, the sensing initiator can send the encryption key and sensing attributes (the sensing attributes are the index values ​​of the sensing target parameters, i.e., the third element mentioned above) to the LMF (or SF, E-SMLC, i.e., the fourth node mentioned above). The LMF (or SF, E-SMLC) broadcasts the encryption key and / or the sensing attributes. As shown in Figure 3, the process of the terminal obtaining the encryption key and / or the sensing attributes includes steps 301 to 308.

[0114] In 301, the sensing initiator sends the index value of the sensing target parameter to the LMF.

[0115] The LMF mentioned above can also be replaced with SF or E-SMLC, and this disclosure does not limit this.

[0116] In 302, the LMF sends the encryption key and / or the index value of the sensing target parameter to the AMF.

[0117] In some embodiments, the LMF may broadcast the encryption key and / or the index value of the sensing target parameter. Furthermore, in non-broadcast cases, the LMF may also send the encryption key and / or the index value of the sensing target parameter to the AMF, which is not limited in this disclosure.

[0118] In 303, the AMF stores the encryption key and / or the index value of the perceived target parameter.

[0119] In 304, the terminal sends a registration request to the base station.

[0120] In 305, the base station selects AMF based on the terminal's registration request.

[0121] In some embodiments, if the terminal is in a connection management (CM) idle state, the base station node selects an AMF or determines an AMF for the CM connection state.

[0122] In step 306, the base station sends a registration request to the selected AMF.

[0123] In 307, the AMF sends a registration permission message to the base station.

[0124] The registration permission message includes the aforementioned encryption key and / or the index value of the perceived target parameter.

[0125] In step 308, the base station sends a registration permission message to the terminal.

[0126] The above explains the process by which the terminal obtains the encryption key and perceived attributes.

[0127] In this embodiment of the disclosure, the sensing assistance information can reuse the positioning assistance information from the positioning process. The positioning assistance information may include the mean and standard deviation of the error boundary models of the error sources, used to indicate models for different errors. For a given error, it can be calculated using the following formula:

[0128] Bound = mean + K * stdDev

[0129] K = normInv(IRallocation / 2)

[0130] irMinimum<=IRallocation<=irMaximum

[0131] Bound represents the error limit of a certain error, mean represents the average value of a certain error, stdDev represents the standard deviation of a certain error, K is a variable parameter, and IRallocation represents a parameter selected from irMinimum to irMaximum. It should be noted that network devices can configure one or more sets of sensing auxiliary information for terminals, and different sensing auxiliary information can be associated with different applicability. For example, for the sensing beam information mentioned above, sensing beam information 1 corresponds to applicability condition 1, and sensing beam information 2 corresponds to applicability condition 2. The average value and standard deviation of the azimuth angle in sensing beam information 1 are A1 and B1, and the average value and standard deviation of the elevation angle are C1 and D1. Applicability condition 1 can be sensing target 1, such as a vehicle. The average value and standard deviation of the azimuth angle in sensing beam information 2 are A2 and B2, and the average value and standard deviation of the elevation angle are C2 and D2. Applicability condition 2 can be sensing target 2, such as a UAV.

[0132] 2. Perceived risk parameters

[0133] In some embodiments, the perceived risk parameter is used to indicate the probability of a perceived measurement error occurring at the first node within a preset time period.

[0134] In some embodiments, the perceived risk parameter may also be referred to as the integrity risk parameter.

[0135] 3. Sensing service parameters

[0136] In some embodiments, the sensing service parameters include: sensing assistance information availability parameters, and / or, sensing risk range.

[0137] The available parameters for sensing assistance information are used to indicate the services available for sensing assistance information. The sensing risk range is used to indicate the measurement error range corresponding to the sensing measurement error.

[0138] In some embodiments, the available parameters for sensing auxiliary information can also be referred to as integrity service parameters, and the scope of sensing risks can also be referred to as integrity service alerts.

[0139] In this embodiment of the disclosure, the aforementioned perceived risk parameters and perceived service parameters can also reuse relevant parameters from the positioning process. For example, during the positioning process, the network device may also configure at least one of the following to the terminal: integrity risk parameters, integrity service parameters, and integrity service alarms.

[0140] Integrity risk parameters are used to indicate residual risk to the terminal. Residual risk includes the probability of a TRP error occurring per unit time and the average duration of TRP errors. The probability of a TRP error occurring per unit time is the probability that the TRP error exceeds the threshold for a duration longer than the Time to Alert (TTA).

[0141] Integrity service alerts are used to indicate to the terminal whether location assistance information can be used for integrity-related applications. If a certain error limit is unavailable, a DNU (Do Not Use) flag will be displayed to the terminal.

[0142] Integrity service parameters are used to provide the terminal with auxiliary information on the range of integrity risks, such as the minimum and maximum integrity risks.

[0143] During the perception process, the aforementioned integrity risk parameters, integrity service parameters, and integrity service alerts can be reused to indicate relevant situations during the perception process.

[0144] For example, in this embodiment of the disclosure, an integrity risk parameter (i.e., a perceived risk parameter) is reused to indicate the residual risk of the terminal, that is, the probability that the terminal will experience a perceived measurement error per unit time. For example, the integrity risk parameter can indicate the probability that the duration for which the terminal error exceeds a threshold value is longer than the Time to Alert (TTA). In addition, the integrity risk parameter can also indicate the average duration for which the terminal error occurs.

[0145] Reuse Integrity Service Alerts (i.e., Sensing Assistance Information Availability Parameters): These indicate whether sensing assistance information can be used for integrity-related applications (such as integrity sensing in sensing tasks). If a certain error limit is unavailable, a DNU (Do Not Use) flag is suggested to the network.

[0146] Reuse integrity service parameters (i.e. integrity service alerts): used to indicate the scope of integrity risk for awareness assistance information, including the recommended minimum and maximum integrity risk.

[0147] It should be noted that the aforementioned perceived risk parameters, integrity service alarms, and perceived service parameters can be configured by the network device to the terminal, or reported by the terminal to the network device after detecting relevant situations. For example, after the terminal sends a reference signal, if a reference signal sent by a malicious node is detected, or if the terminal determines that its own sent reference signal falls under the reporting conditions of the aforementioned perceived risk parameters and perceived service parameters, then the terminal can report the aforementioned perceived risk parameters and perceived service parameters to the network device. In some embodiments, the network device can configure (and the base station / terminal can report to the network device) one or more sets of perceived risk parameters, integrity service alarms, and perceived service parameters for the terminal / base station, and different perceived risk parameters, integrity service alarms, and perceived service parameters can be associated with different applicability.

[0148] The above provides a detailed description of the perception parameters involved in the embodiments of this disclosure, in conjunction with perception assistance information, perception risk parameters, and perception service parameters.

[0149] In some implementations, if the first indication information is carried in a non-access stratum (NAS) message, then in addition to indicating the aforementioned sensing parameters, the first indication information may also indicate at least one of the following: the resource / resource set of the sensing reference signal; the cause of the sensing error; the scope of application of the sensing auxiliary information; the desired time measurement information; the desired angle measurement information; the desired power measurement information; and the desired phase measurement information.

[0150] The resources / resource sets of the sensing reference signal are used to characterize the sensing signal resources or resource sets suitable for sensing. The resource set of the sensing reference signal may include resource or resource set IDs, and the configuration of the corresponding resource or resource set IDs.

[0151] The cause of a perception error may include at least one of the following: server error, perception reference signal receiving node error, or perception reference signal transmitting node error.

[0152] Server errors, such as LMF or SF errors. Error causes include, but are not limited to, at least one of the following: undefined, sensing assistance information not supported, sensing assistance information supported but unavailable, sensing assistance information not provided, on-demand sensing reference signal not supported, on-demand sensing signal supported but unavailable.

[0153] The sensing reference signal receiving node is faulty. The reasons for the fault include, but are not limited to, at least one of the following: undefined, missing sensing auxiliary information, inability to measure all sensing reference signal transmitting nodes, inability to measure some sensing reference signal transmitting nodes, insufficient signal received, and missing sensing calculation auxiliary information.

[0154] The reference signal transmitting node is in error, and the error may be caused by at least one of the following: undefined, or a transmitting signal error.

[0155] The scope of application of sensing auxiliary information includes at least one of the following: the applicable area, application scope, sensing target type, sensing range, sensing RCS range, sensing service, sensing scenario, etc.

[0156] Expected time measurement information includes: the range of expected time measurements, and / or the mean and standard deviation of the measurements, etc.

[0157] The desired angle measurement information includes: the range of desired angle measurement values, and / or the mean and standard deviation of the measurement values. As an example, desired angle measurements may include the desired angle of arrival (AOA) and angle of departure (AOD). The desired AOA and AOD may include: the desired azimuth AOA and azimuth AOD, and the corresponding uncertainties. The angle range can be 0-359 degrees with a resolution of 1°; the uncertainty range can be 0-60° or 0-30° with a resolution of 1°. Similarly, the desired elevation angle (AOA) and azimuth angle (AOD), and their corresponding uncertainties, may have an angle range of 0-180 degrees with a resolution of 1°; the uncertainty range can be 0-60° or 0-30° with a resolution of 1°.

[0158] The expected power measurement information includes: the range of expected power measurements, and / or the mean and standard deviation of the measurements, etc.

[0159] The desired phase measurement information includes: the range of desired power measurements, and / or the mean and standard deviation of the measurements, etc.

[0160] In some implementations, in this disclosure, more detailed sensing parameters are carried in NAS messages and sent to the terminal by LMF or SF, while general sensing parameters (such as broadband information) are carried in system information block (SIB) messages, broadcast information, and / or system messages, thereby effectively protecting the parameters in the system and improving system security.

[0161] In some scenarios, terminals may be interfered with by malicious nodes when sending or receiving sensing reference signals. For example, a malicious node might copy its received reference signal and send an interfering signal. To avoid interference from malicious nodes, after receiving the interfering signal, the terminal can analyze it to determine the error correction parameters, such as one or more of the following: reference signal received power (RSRP), delay information, received timing offset arrival (RTOA), and Doppler information. Furthermore, in some cases, the terminal can calculate the location of the malicious node based on the received interfering signal. Based on this information, the reference signal receiving node can exclude the interfering signal sent by the malicious node when receiving the reference signal, thus eliminating the interference from malicious nodes on sensing.

[0162] As an example, Figure 4 illustrates a schematic diagram of a malicious node interfering with the sensing process according to an embodiment of this disclosure. As shown in Figure 4, taking the TRP node sending a sensing reference signal and the terminal receiving the sensing reference signal as an example, the TRP sends a downlink reference signal (RS). After receiving the downlink RS sent by the TRP, a malicious node within the TRP's coverage area copies the downlink RS and sends the copied RS to the terminal. The terminal may be unable to distinguish whether the received downlink RS signal was sent by the TRP node or the malicious node, causing the terminal to be unable to perform sensing based on the sensing reference signal.

[0163] To address this issue, in conjunction with Figure 2 and as shown in Figure 5, the sensing method provided in this disclosure further includes: 501 to 505.

[0164] In 501, the first node sends the sensing error correction parameters to the second node.

[0165] The sensing error correction parameters include at least one of the following: the received reference signal power (RSRP) of the reference signal received by the first node; the reception delay of the reference signal received by the first node; the Doppler power of the reference signal received by the first node; the position of the third node; the moving speed of the third node; the moving direction of the third node; and the beam direction of the third node. In some embodiments, the third node is a node that interferes with the sensing of the first node, such as the aforementioned malicious node.

[0166] In some embodiments, the first node may also send the applicability of the sensing error correction parameters to the second node. The understanding of the applicability of the sensing error correction parameters can be referred to the aforementioned applicability of sensing auxiliary information, and will not be repeated here.

[0167] It should be noted that, in the embodiments of this disclosure, after the second node detects the perception error correction parameters, it may also send the perception error correction parameters to the first node, and this disclosure does not limit this.

[0168] In some embodiments, the first node can identify interference signals sent by malicious nodes based on the multipath information of the received reference signal, and generate sensing error correction parameters based on the interference signals.

[0169] As an example, referring to Figure 4 above, if the terminal measures multiple instances, the timing of each instance is the average of the multiple instances. In this case, the reception time sequence of paths 1 to 3 received by the terminal is shown in Figure 6. Path 1 is the path of the interference signal sent by the malicious node, path 2 is the direct path of the reference signal between the TRP and the terminal, and path 3 is the reflection path of the reference signal between the TRP and the terminal after passing through the sensing target.

[0170] If the terminal measures only one instance, because a malicious node needs to listen to the downlink signals sent by TRP for a period of time before it can copy the interference signal, the reception time of path 1 may be later than that of path 3. In this case, the reception time sequence of path 1 to path 3 received by the terminal is shown in Figure 7.

[0171] The terminal can identify the interference signal based on the timing shown in Figure 6 or Figure 7, and send the relevant information of the interference signal (perception error correction parameters) to the network device (or the calculation unit of the perception result) so that the network device can correct the perception result based on the perception error correction parameters when calculating the perception result.

[0172] In some embodiments, after the second node detects the perception error correction parameter, it can also send the perception error correction parameter to the first node so that the first node can filter the interference signal sent by the malicious node based on the perception error correction parameter.

[0173] As one implementation method, in Global Navigation Satellite System (GNSS) positioning, GNSS error events affect positioning accuracy. These error events include at least one of the following: satellite-related error events, atmospheric error time, or environmental error time. Network devices can send correction parameters for relevant error events, such as IE GNSS-SSR-STEC-Correction and GNSS-SSR-GriddedCorrection, to the terminal to correct atmospheric errors. When a second node sends perceived error correction parameters to a first node, the second node can reuse the aforementioned IE GNSS-SSR-STEC-Correction and GNSS-SSR-GriddedCorrection fields to send the perceived error correction parameters to the first node.

[0174] In some implementations, before the second node sends the first instruction information to the first node, the first node may report the perception assistance information supported by the first node to the second node in advance, so that the second node can determine the perception assistance information corresponding to the first node based on the perception assistance information supported by the first node, and then generate the first instruction information.

[0175] In some embodiments, as shown in Figure 5, the process by which the first node reports its integrity information support parameters to the second node includes:

[0176] In a 502 error, the first node sends integrity information support parameters to the second node.

[0177] The integrity information support parameter is used to indicate the perception assistance information supported by the first node.

[0178] As an example, the integrity information support parameter is used to indicate whether the first node supports at least one of the following: auxiliary information for sensing reference signals, sensing beam information, sensing synchronization information, sensing beam antenna information, location information of the first sensing node that transmits sensing reference signals, time error group (TEG) information of the first sensing node, and applicability information for sensing auxiliary information.

[0179] In one implementation, the first node may also send phase error integrity parameters of the first node to the second node. For example, the first node may send the average value and standard deviation of the initial phase error limits of the sensing reference signal. The sensing auxiliary parameters sent by the second node to the first node may include the average value and standard deviation of the initial phase error limits. The aforementioned average value and standard deviation of the initial phase error limits may be from a DL PRS or UL SRS or a sensing reference signal resource set, or from a DL PRS or UL SRS or a sensing reference signal resource, or from a DL PRS or UL SRS or a sensing reference signal beam.

[0180] In some embodiments, when the integrity information support parameter takes a first value, it indicates that the first node supports perception assistance information; when the integrity information support parameter takes a second value, it indicates that the first node does not support perception assistance information. As an example, the first value is 1 and the second value is 0.

[0181] As an example, the first node can reuse the signaling message containing terminal-supported location integrity assistance information sent to the second node. The signaling message for terminal-supported location integrity assistance information is shown below:

[0182] During the sensing process, the sensing results, in addition to the location of the sensed target, also need to include Doppler or velocity information, RCS information, etc. Therefore, during the sensing process, it is necessary to define the horizontal Doppler or velocity protection level (DPL), vertical Doppler or velocity protection level, and RCS protection level (RPL) for integrity information. The first node can report the corresponding sensing result protection level information to the second node to improve the integrity of the sensing process. As shown in Figure 5, the process by which the first node can report the sensing result protection level information to the second node includes:

[0183] In 503, the first node sends the protection level information of the first node's perception results to the second node.

[0184] The protection level information of the sensing result includes at least one of the following: the vertical protection level (VPL) of the sensed target; the horizontal protection level (HPL) of the sensed target; the Doppler or velocity protection level (DPL) of the sensed target; and the RCS protection level (RPL) of the sensed target. The Doppler or velocity protection level (DPL) may include the horizontal Doppler or velocity protection level and the vertical Doppler or velocity protection level.

[0185] In some embodiments, the protection level of the sensing result is reported simultaneously with the sensing result itself. In other words, the first node can report the protection level information of the sensing result at the same time as reporting the sensing result to the second node.

[0186] It should be noted that the above Doppler / velocity protection level (DPL) is the statistical upper limit of the Doppler / velocity error (DE). It ensures that, over a longer period than TTA, the probability per unit time that the true error is greater than the Doppler / velocity AL and the Doppler / velocity PL (Protection Level) is less than or equal to the Doppler / velocity AL (DAL) is less than the required TIR. That is, the Doppler / velocity PL satisfies the following inequality:

[0187] The probability per unit time [(DE>DAL)&(DPL<=DAL)) is longer than TTA] < the required TIR.

[0188] The RCS protection level (RPL) above is the statistical upper limit of the RCS error (RE). It ensures that, over a longer period than TTA, the probability per unit time that the true error is greater than RCS AL and RPL is less than or equal to RCS AL (RAL) is less than the required TIR. That is, the Doppler / velocity PL satisfies the following inequality:

[0189] The probability per unit time [(RE>RAL)&(RPL<=RAL)) is longer than TTA] < the required TIR.

[0190] DE stands for Doppler error; RE stands for RCS error; DAL stands for Doppler Alert Limit (AL), which is the maximum permissible Doppler / velocity error that the sensing system can be used for its intended application; RAL stands for RCS Alert Limit (AL), which is the maximum permissible RCS error that the sensing system can be used for its intended application; and TIR stands for Target Integrity Risk (TIR).

[0191] In some embodiments, the first node sends its perception result protection level information to the second node, which can reuse the positioning result protection level information sent by the first node to the second node. The positioning result protection level information includes the following:

[0192] HPL / VPL: Represents the horizontal / vertical protection level for location estimation. VPL represents the vertical protection level, and HPL represents the horizontal protection level.

[0193] Achievable Target Integrity Risk (TIR): Represents the achievable TIR for providing HPL and VPL. In the relevant positioning system, the relationship between the Protection Level (PL), Alert limit (AL), and Positioning error (PE) and the positioning process is shown in Figure 8.

[0194] PL is the statistical upper limit of the positioning error (PE), which ensures that the probability per unit time that the true error is greater than AL and PL is less than or equal to AL for a time longer than TTA is less than the required TIR, that is, PL satisfies the following inequality:

[0195] Probability per unit time [(PE > AL) & (PL <= AL)) longer than TTA] < required TIR.

[0196] Alert limit (AL): Used to represent the maximum allowable positioning error that the positioning system can be used for the intended application.

[0197] The relationship between the magnitudes of the above parameters and the positioning process satisfies: when the system is available (PL < AL), standard operation (PE < PL): the solution is available and operates safely without integrity events; misleading information (PE > PL & PE < AL): the solution is available, but contains a MI integrity event due to PE > PL. It still operates safely as long as PE does not exceed AL; hazardous misleading information (PE > PL & PE > AL): the solution is available, but contains a HMI integrity event due to PE > AL. When it should not be safe, it is still considered safe (PL < AL), when the system is unavailable (PL > AL), the system is unavailable, false alarm (PE < PL & PE < AL): the solution is unavailable, but in the case of PE < AL, this is a false alarm integrity event; system unavailable (PE < PL & PE > AL): the solution is unavailable and operates as expected without correctly detecting the integrity event of PE > AL; system unavailable and misleading (PE > PL & PE > AL): the solution is unavailable and contains a MI (PE > PL) integrity event.

[0198] MI represents Misleading Information, and HMI represents Hazardous Misleading Information.

[0199] Based on the various parameters transmitted between the above first node and second node, specific integrity parameters can be provided for the sensing process, and different integrity parameters can be set for different sensing scenarios, thereby effectively improving the sensing performance.

[0200] Current sensing systems typically include sensing function devices, a telemetry reference device (TRP), and a terminal. The sensing function sends relevant sensing configuration information to the TRP and the terminal, and the TRP and the terminal send or receive sensing reference signals to sense the target. In the embodiments of this disclosure, the sensing process can be monitored and analyzed to better control the sensing process and adjust relevant parameters in a timely manner to improve the integrity of the sensing results.

[0201] Monitoring of the sensing process includes, but is not limited to, model monitoring, integrity analysis, and error analysis on the terminal side, base station side, and / or network side. Model monitoring can refer to monitoring the sensing model, or the artificial intelligence (AI) or machine learning (ML) model used for localization or sensing; model monitoring is used to evaluate the usability or performance of the model. Integrity analysis is used to assess the availability of data related to sensing integrity, or to evaluate the reliability of that data. Error analysis is used to assess the usability of the sensing system.

[0202] In some implementations, as shown in Figure 5, during the monitoring of the first node, the first node can send the following information to the fifth node so that the fifth node can monitor the first node.

[0203] In 504, the first node sends a third instruction message to the fifth node.

[0204] The third indication information is used to indicate at least one of the following: sensing integrity parameters, the position of the sensing target, the velocity of the sensing target, the RCS of the sensing target, the type of the sensing target, the reception time of the sensing reference signal, the power information of the sensing reference signal, the phase information of the sensing reference signal resource, and the angle information of the sensing reference signal resource.

[0205] In some embodiments, the received time information of the sensed reference signal can be RTOA, reference signal time difference (RSTD), or round trip time (RTT). Power information can be RSRP of different sensed reference signal resources or reference signal received power plus (RSRPP). Angle information can be the received beam information of the sensed reference signal, or AOA or AOD.

[0206] Based on the aforementioned third indication information, the fifth node can analyze the parameters in the third indication information to determine whether the sensing process of the first node is abnormal, thereby achieving monitoring of the first node. It should be noted that the aforementioned fifth node can be a separately configured network element, module, or unit; or it can be a related network element, module, or unit within the core network; or it can be a related network element, module, or unit on the base station side; or it can be a related network element, module, or unit on the terminal side. This disclosure does not limit its scope in this regard.

[0207] In some embodiments, when the fifth node determines that an anomaly exists during the perception process of the first node, it can instruct the first node to make corresponding adjustments to improve the perception performance of the first node. As shown in Figure 5, this process includes: 505.

[0208] In 505, the first node receives the fourth instruction information from the fifth node.

[0209] The fourth indication information is used to indicate at least one of the following: perception performance parameters, perception model adjustment parameters, perception integrity availability information, and perception system availability information.

[0210] In some embodiments, the sensing performance parameters include at least one of the following: accuracy of sensing position, speed, RCS, and / or type; error range of sensing position, which may be in meters; and error range of sensing speed, which may be in meters per second.

[0211] Model recommendations include at least one of the following: recommend model improvement, model fine-tuning, or model deactivation.

[0212] Integrity availability is used to indicate whether integrity information is available or not.

[0213] System availability is used to indicate whether a system is available or unavailable.

[0214] It should be noted that the fifth node can monitor not only the first node, but also the sensing process of the second node, the base station side, the terminal side, or the network side. The implementation process can be referred to 504 and 505 above, and this disclosure will not elaborate on it.

[0215] It should be noted that when implementing the sensing method of this disclosure embodiment, only some steps in FIG5 above may be performed, that is, one or more of steps 501 to 505 above may be performed. For example, only step 502 above may be performed, or only step 504 above may be performed. Alternatively, all steps in FIG5 above may be performed.

[0216] Furthermore, this disclosure does not limit the order of the steps in Figure 5 above. For example, when both 502 and 504 are executed, 502 can be executed first, followed by 504; or 504 can be executed first, followed by 502; or 502 and 504 can be executed simultaneously. The order of other steps can be understood by referring to the description of 502 and 504 above, and this disclosure will not elaborate further on this.

[0217] This disclosure also provides a sensing method that can be applied to the communication system shown in FIG1. ​​The sensing method provided by this disclosure will be described in detail below with reference to FIG9. This sensing method can be applied to a second node in the sensing system shown in FIG1. ​​The second node sends sensing integrity parameters for sensing to the first node. As shown in FIG9, the sensing method includes: 901.

[0218] In 901, the second node sends the first instruction information to the first node.

[0219] Regarding 901 and the aforementioned first instruction information, please refer to the previously recorded 201 and the first instruction information for understanding, which will not be repeated here.

[0220] Referring to Figure 9 and as shown in Figure 10, the sensing method provided in this disclosure also includes: 1001 to 1005.

[0221] In 1001, the second node receives the perception error correction parameters from the first node.

[0222] The meaning of 1001 can be understood by referring to 501 mentioned earlier, and will not be repeated here.

[0223] In 1002, the second node receives integrity information support parameters from the first node.

[0224] The meaning of 1002 can be understood by referring to 502 mentioned earlier, and will not be repeated here.

[0225] In 1003, the second node receives the protection level information of the perception result from the first node.

[0226] The meaning of 1003 can be understood by referring to 503 mentioned earlier, and will not be repeated here.

[0227] In step 1004, the second node sends a third instruction message to the fifth node.

[0228] In 1005, the second node receives the fourth instruction information from the fifth node.

[0229] The implementation methods for 1004 and 1005 can be referred to the implementation methods for 504 and 505 mentioned above, and will not be repeated here.

[0230] It should be noted that when implementing the sensing method of this embodiment, only some steps in FIG10 above may be performed, that is, one or more of steps 1001 to 1005 above may be performed. For example, only step 1002 above may be performed, or only step 1004 above may be performed. Alternatively, all of the steps in FIG10 above may be performed.

[0231] Furthermore, this disclosure does not limit the order of the steps in Figure 10 above. For example, when both 1002 and 1004 are executed, 1002 can be executed first, followed by 1004; or 1004 can be executed first, followed by 1002; or 1002 and 1004 can be executed simultaneously. Other orders can be understood by referring to the description of 1002 and 1004 above, and this disclosure will not elaborate further.

[0232] It should also be noted that the target parameters of perception can be included in the perception measurement request, and "target parameters of perception", "perception parameters" and "perception attributes" can be interchanged.

[0233] The above scenarios and methods can be combined, and this disclosure does not limit them.

[0234] It is understood that, in order to achieve the above-mentioned functions, the sensing device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the algorithmic steps of the examples described in conjunction with the embodiments of this disclosure, the embodiments of this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in a hardware-driven or software-driven manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure.

[0235] This disclosure embodiment can divide the sensing device into functional modules according to the above method embodiment. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or software. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the example of dividing each functional module according to each function.

[0236] Figure 11 is a schematic diagram of a sensing device 110 according to an embodiment of the present disclosure. The sensing device 110 can execute the communication method performed by the first node provided in the above method embodiment. As shown in Figure 11, the sensing device 110 includes a processing unit 1101 and a communication unit 1102.

[0237] The communication unit 1102 is used to receive first indication information sent by the second node. The first indication information is used to indicate the sensing parameters of the first node. The sensing parameters are parameters related to the sensing integrity of the first node during the sensing process.

[0238] In one implementation, the perception parameters include at least one of the following: perception assistance information, perception risk parameters, and perception service parameters. The perception assistance information assists the first node in perception. The perception risk parameters indicate the risks during the first node's perception process; the perception service parameters indicate the applicability of the perception assistance information or the perception risk parameters.

[0239] In one implementation, the first indication information is further used to indicate the positioning integrity parameters used for locating the first node.

[0240] In one implementation, the first indication information is carried in a system message; or, the first indication information is carried in a Radio Resource Control (RRC) system message; or, the first indication information is carried in a Non-Access Stratum (NAS) message; or, the first indication information is carried in a location system information block message.

[0241] In one implementation, the sensing auxiliary information includes at least one of the following: auxiliary information of the sensing reference signal, sensing beam information, sensing synchronization information, sensing beam antenna information, location information of the first sensing node transmitting the sensing reference signal, time error group (TEG) information of the first sensing node, and applicability information of the sensing auxiliary information; the applicability information of the sensing auxiliary information is used to indicate the applicability parameters of at least one of the sensing beam information, sensing synchronization information, sensing beam antenna information, and location information of the first sensing node; the applicability parameters include at least one of the following: applicable sensing target, applicable sensing range, applicable sensing service type, applicable sensing scenario, applicable sensing target RCS or RCS range, and applicable Doppler range.

[0242] In one implementation, the auxiliary information of the sensing reference signal includes at least one of the following: the frequency domain resources occupied by the sensing reference signal, the period of the sensing reference signal, the offset, the comb configuration, the silence mode, and the carrier aggregation configuration.

[0243] In one implementation, the sensing beam information includes at least one of the following: spatial direction information of the sensing reference signal, boundary model of the sensing reference signal, average and standard deviation of azimuth error of the superboundary model, and average and standard deviation of elevation error of the superboundary model.

[0244] In one implementation, the sensing synchronization information includes at least one of the following: time synchronization information between the first sensing node and the second sensing node, the average value of the error limit of the time synchronization information, the standard deviation of the error limit of the time synchronization information, and the resolution of the error limit of the time synchronization information.

[0245] In one implementation, the sensing beam antenna information includes at least one of the following: the azimuth angle, elevation angle, and beam power of the antenna transmitting the sensing beam from the first sensing node, and the average value and standard deviation of the sensing beam power error limit.

[0246] In one implementation, the location information of the first sensing node includes at least one of the following: the coordinates of the first sensing node, the coordinates of the antenna reference point of the first sensing node, the attachment request location provided for the identification of the sensing reference signal resource set, the location error limit of the first sensing node, the location error limit of the auxiliary reference point of the sensing reference signal resource set, and the average value and standard deviation of the location error limits of the auxiliary reference point of the sensing reference signal resource set.

[0247] In one implementation, the TEG information of the first sensing node is used to indicate the identifier of the TEG associated with the transmission resources of the sensing reference signal.

[0248] In one implementation, the sensing assistance information further includes at least one of the following: a value tag, an expiration time, and segmentation information. The value tag indicates whether the sensing assistance information has been updated; the expiration time indicates the effective duration of the sensing assistance information; and the segmentation information indicates whether the sensing assistance information is segmented.

[0249] In one implementation, the perceived risk parameter indicates the probability of a perceived measurement error occurring at the first node within a preset time period; the perceived service parameter includes: a parameter indicating the availability of perceived auxiliary information, and / or, a perceived risk range. The parameter indicating the availability of perceived auxiliary information indicates the service of available perceived auxiliary information; the perceived risk range indicates the measurement error interval corresponding to the perceived measurement error.

[0250] In one implementation, when the first indication information is carried in a non-access stratum (NAS) message, the first indication information is further used to indicate at least one of the following: the resource set of the sensing reference signal; the cause of the sensing error; the scope of application of the sensing auxiliary information; the desired time measurement information; the desired angle measurement information; the desired power measurement information; and the desired phase measurement information.

[0251] In one implementation, the communication unit 1102 is further configured to send sensing error correction parameters to the second node. The sensing error correction parameters include at least one of the following: the reference signal received power (RSRP) of the reference signal received by the first node; the reception delay of the reference signal received by the first node; the Doppler of the reference signal received by the first node; the position of the third node; the moving speed of the third node; the moving direction of the third node; and the beam direction of the third node.

[0252] In one implementation, the communication unit 1102 is further configured to send integrity information support parameters to the second node. The integrity information support parameters are used to indicate the sensing assistance information supported by the first node.

[0253] In one implementation, when the integrity information support parameter takes a first value, it indicates that the first node supports perception assistance information; when the integrity information support parameter takes a second value, it indicates that the first node does not support perception assistance information.

[0254] In one implementation, the communication unit 1102 is further configured to send the sensing result protection level information of the first node to the second node. The sensing result protection level information includes at least one of the following: the vertical protection level (VPL) of the sensed target; the horizontal protection level (HPL) of the sensed target; the Doppler protection level (DPL) of the sensed target; and the RCS protection level (RPL) of the sensed target.

[0255] In one implementation, the protection level of the sensing result and the sensing result are reported simultaneously.

[0256] In one implementation, the first indication information is carried in a broadcast message, or in a unicast message, or in a multicast message.

[0257] In one implementation, when the first indication information is carried in a broadcast message, the broadcast message is encrypted based on at least one of a first element, a second element, and a third element. The first element is an encryption key received by the first node from the access and mobility association network element, the second element is an encryption element in the encryption algorithm set identifier in the Radio Resource Control (RRC) broadcast message, and the third element is used to characterize the sensing target parameters.

[0258] In one implementation, the sensing target parameters include at least one of the following: the region to which the sensing target belongs, the type of the sensing target, the Doppler parameters of the sensing target, the Doppler range of the sensing target, the sensing service type of the sensing measurement, the sensing range, and the sensing target RCS or RCS range of the sensing scene.

[0259] In one implementation, the communication unit 1102 is further configured to receive second indication information from the access and mobility management network element. The second indication information is used to indicate encrypted information of the broadcast message and / or, the sensing attributes of the first node. The sensing attributes include sensing target parameters.

[0260] In one implementation, the access and mobility management network element stores encrypted information of broadcast messages and / or the perception attributes of the first node.

[0261] In one implementation, the perception attributes of the first node in the access and mobility management network element are determined based on the perception message received by the access and mobility management network element from the fourth node.

[0262] In one implementation, the fourth node is any of the following: Local Management Function (LMF), Synchronization Function (SF), or Enhanced Serving Mobility Center (E-SMLC).

[0263] In one implementation, the fourth node includes the sensing attributes of the first node, and the sensing attributes of the first node included in the fourth node are sent from the sensing initiating device to the fourth node.

[0264] In one implementation, the sensing initiating device is any one of the following: a first node, a location management function (LMF), a sensing function (SF-), or a sensing target device.

[0265] In one implementation, the communication unit 1102 is further configured to send third indication information to the fifth node. The third indication information is used to indicate at least one of the following: sensing integrity parameters, the position of the sensing target, the velocity of the sensing target, the RCS of the sensing target, the type of the sensing target, the reception time of the sensing reference signal, the power information of the sensing reference signal, the phase information of the sensing reference signal resource, and the angle information of the sensing reference signal resource.

[0266] In one implementation, the communication unit 1102 is further configured to receive fourth indication information from the fifth node. The fourth indication information is used to indicate at least one of the following: sensing performance parameters, sensing model adjustment parameters, sensing integrity availability information, and sensing system availability information.

[0267] The processing unit 1101 is used to instruct the communication unit to perform corresponding transmission and reception actions, and / or to perform the processing functions of the sensing device 110.

[0268] Figure 11 is a schematic diagram of another sensing device 110 provided in an embodiment of this disclosure. The sensing device 110 can execute the communication method executed by the second node provided in the above method embodiment. As shown in Figure 11, the sensing device includes: a processing unit 1101 and a communication unit 1102.

[0269] The communication unit 1102 is used to send first indication information to the first node. The first indication information is used to indicate the sensing parameters of the first node. The sensing parameters are parameters related to the sensing integrity of the first node during the sensing process.

[0270] In one implementation, the perception parameters include at least one of the following: perception assistance information, perception risk parameters, and perception service parameters. The perception assistance information assists the first node in perception; the perception risk parameters indicate the risks during the first node's perception process; and the perception service parameters indicate the applicability of the perception assistance information or the perception risk parameters.

[0271] In one implementation, the first indication information is further used to indicate the positioning integrity parameters used for locating the first node.

[0272] In one implementation, the first indication information is carried in a system message; or, the first indication information is carried in a Radio Resource Control (RRC) system message; or, the first indication information is carried in a Non-Access Stratum (NAS) message; or, the first indication information is carried in a location system information block message.

[0273] In one implementation, the sensing auxiliary information includes at least one of the following: auxiliary information of the sensing reference signal, sensing beam information, sensing synchronization information, sensing beam antenna information, location information of the first sensing node transmitting the sensing reference signal, time error group (TEG) information of the first sensing node, and applicability information of the sensing auxiliary information; the applicability information of the sensing auxiliary information is used to indicate the applicability parameters of at least one of the sensing beam information, sensing synchronization information, sensing beam antenna information, and location information of the first sensing node; the applicability parameters include at least one of the following: applicable sensing target, applicable sensing range, applicable sensing service type, applicable sensing scenario, applicable sensing target RCS or RCS range, and applicable Doppler range.

[0274] In one implementation, the auxiliary information of the sensing reference signal includes at least one of the following: the frequency domain resources occupied by the sensing reference signal, the period of the sensing reference signal, the offset, the comb configuration, the silence mode, and the carrier aggregation configuration.

[0275] In one implementation, the sensing beam information includes at least one of the following: spatial direction information of the sensing reference signal, boundary model of the sensing reference signal, average and standard deviation of azimuth error of the superboundary model, and average and standard deviation of elevation error of the superboundary model.

[0276] In one implementation, the sensing synchronization information includes at least one of the following: time synchronization information between the first sensing node and the second sensing node, the average value of the error limit of the time synchronization information, the standard deviation of the error limit of the time synchronization information, and the resolution of the error limit of the time synchronization information.

[0277] In one implementation, the sensing beam antenna information includes at least one of the following: the azimuth angle, elevation angle, and beam power of the antenna transmitting the sensing beam from the first sensing node, and the average value and standard deviation of the sensing beam power error limit.

[0278] In one implementation, the location information of the first sensing node includes at least one of the following: the coordinates of the first sensing node, the coordinates of the antenna reference point of the first sensing node, the attachment request location provided for the identification of the sensing reference signal resource set, the location error limit of the first sensing node, the location error limit of the auxiliary reference point of the sensing reference signal resource set, and the average value and standard deviation of the location error limits of the auxiliary reference point of the sensing reference signal resource set.

[0279] In one implementation, the TEG information of the first sensing node is used to indicate the identifier of the TEG associated with the transmission resources of the sensing reference signal.

[0280] In one implementation, the sensing assistance information further includes at least one of the following: a value tag, an expiration time, and segmentation information. The value tag indicates whether the sensing assistance information has been updated; the expiration time indicates the effective duration of the sensing assistance information; and the segmentation information indicates whether the sensing assistance information is segmented.

[0281] In one implementation, the perceived risk parameter is used to indicate the probability of a perceived measurement error occurring at the first node within a preset time period; the perceived service parameter includes: a parameter for available perceived auxiliary information, and / or, a perceived risk range; the parameter for available perceived auxiliary information is used to indicate the service of available perceived auxiliary information; the perceived risk range is used to indicate the measurement error interval corresponding to the perceived measurement error.

[0282] In one implementation, when the first indication information is carried in a non-access stratum (NAS) message, the first indication information is further used to indicate at least one of the following: the resource set of the sensing reference signal; the cause of the sensing error; the scope of application of the sensing auxiliary information; the desired time measurement information; the desired angle measurement information; the desired power measurement information; and the desired phase measurement information.

[0283] In one implementation, the communication unit 1102 is further configured to receive sensing error correction parameters from the first node. The sensing error correction parameters include at least one of the following: the reference signal received power (RSRP) of the reference signal received by the first node; the reception delay of the reference signal received by the first node; the Doppler power of the reference signal received by the first node; the position of the third node; the moving speed of the third node; the moving direction of the third node; and the beam direction of the third node.

[0284] In one implementation, the communication unit 1102 is further configured to receive integrity information support parameters from the first node. The integrity information support parameters are used to indicate the sensing assistance information supported by the first node.

[0285] In one implementation, when the integrity information support parameter takes a first value, it indicates that the first node supports perception assistance information; when the integrity information support parameter takes a second value, it indicates that the first node does not support perception assistance information.

[0286] In one implementation, the communication unit 1102 is further configured to receive sensing result protection level information from the first node. The sensing result protection level information includes at least one of the following: the vertical protection level (VPL) of the sensed target; the horizontal protection level (HPL) of the sensed target; the Doppler protection level (DPL) of the sensed target; and the RCS protection level (RPL) of the sensed target.

[0287] In one implementation, the protection level of the sensing result and the sensing result are reported simultaneously.

[0288] In one implementation, the first indication information is carried in a broadcast message, or in a unicast message, or in a multicast message.

[0289] In one implementation, when the first indication information is carried in a broadcast message, the broadcast message is encrypted based on at least one of a first element, a second element, and a third element. The first element is an encryption key received by the first node from the access and mobility association network element, the second element is an encryption element in the encryption algorithm set identifier in the Radio Resource Control (RRC) broadcast message, and the third element is used to characterize the sensing target parameters.

[0290] In one implementation, the sensing target parameters include at least one of the following: the region to which the sensing target belongs, the type of the sensing target, the Doppler parameters of the sensing target, the Doppler range of the sensing target, the sensing service type of the sensing measurement, the sensing range, the sensing scenario, and the sensing target RCS or RCS range.

[0291] In one implementation, the communication unit 1102 is further configured to receive second indication information from the access and mobility management network element. The second indication information is used to indicate encrypted information of the broadcast message and / or, the sensing attributes of the first node. The sensing attributes include sensing target parameters.

[0292] In one implementation, the access and mobility management network element stores encrypted information of broadcast messages and / or the perception attributes of the first node.

[0293] In one implementation, the perception attributes of the first node in the access and mobility management network element are determined based on the perception message received by the access and mobility management network element from the fourth node.

[0294] In one implementation, the fourth node is any of the following: Local Management Function (LMF), Synchronization Function (SF), or Enhanced Serving Mobility Center (E-SMLC).

[0295] In one implementation, the fourth node includes the sensing attributes of the first node, and the sensing attributes of the first node included in the fourth node are sent from the sensing initiating device to the fourth node.

[0296] In one implementation, the sensing initiating device is any one of the following: a first node, a location management function (LMF), a sensing function (SF), or a sensing target device.

[0297] In one implementation, the communication unit 1102 is further configured to send third indication information to the fifth node. The third indication information is used to indicate at least one of the following: sensing integrity parameters, the position of the sensing target, the velocity of the sensing target, the RCS of the sensing target, the type of the sensing target, the reception time of the sensing reference signal, the power information of the sensing reference signal, the phase information of the sensing reference signal resource, and the angle information of the sensing reference signal resource.

[0298] In one implementation, the communication unit 1102 is further configured to receive fourth indication information from the fifth node. The fourth indication information is used to indicate at least one of the following: sensing performance parameters, sensing model adjustment parameters, sensing integrity availability information, and sensing system availability information.

[0299] In implementing the functions of the integrated modules described above in hardware, this disclosure provides another structure for the sensing device involved in the above embodiments. As shown in FIG12, the sensing device 120 includes: a processor 1202 and a bus 1204. In some embodiments, the sensing device may further include a memory 1201. In some embodiments, the sensing device may further include a communication interface 1203.

[0300] Processor 1202 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this disclosure. Processor 1202 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this disclosure. Processor 1202 may also be a combination of functions implementing computation, such as a combination of one or more microprocessors, a DSP (digital signal processor), and a microprocessor, etc.

[0301] The communication interface 1203 is used to connect with other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0302] The memory 1201 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0303] In one implementation, the memory 1201 can exist independently of the processor 1202. The memory 1201 can be connected to the processor 1202 via a bus 1204 and is used to store instructions or program code. When the processor 1202 calls and executes the instructions or program code stored in the memory 1201, it can implement the encoding or decoding method provided in the embodiments of this disclosure.

[0304] In another implementation, the memory 1201 can also be integrated with the processor 1202.

[0305] Bus 1204 can be an extended industry standard architecture (EISA) bus, etc. Bus 1204 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in Figure 12, but this does not mean that there is only one bus or one type of bus.

[0306] Some embodiments of this disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) storing computer program instructions that, when executed on a computer, cause the computer to perform the sensing method as described in any of the above embodiments.

[0307] Exemplary examples show that the aforementioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROM), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure can represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0308] This disclosure provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the sensing method described in any of the above embodiments.

[0309] The above description is merely a specific implementation of the embodiments of this disclosure, but the protection scope of the embodiments of this disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this disclosure should be covered within the protection scope of the embodiments of this disclosure. Therefore, the protection scope of the embodiments of this disclosure should be determined by the protection scope of the claims.

Claims

1. A sensing method applied to a first node, the method comprising: The system receives first indication information sent by a second node; wherein the first indication information is used to indicate the perception parameters of the first node; the perception parameters are parameters related to the perception integrity of the first node during the perception process.

2. The method according to claim 1, wherein, The perception parameters include at least one of the following: perception assistance information, perception risk parameters, and perception service parameters; The perception assistance information is used to assist the first node in perception. The perceived risk parameter is used to indicate the risk during the perception process of the first node; The perception service parameters are used to indicate the applicability of the perception assistance information or the perception risk parameters.

3. The method according to claim 1, wherein, The first indication information is also used to indicate the positioning integrity parameters used for the positioning of the first node.

4. The method according to claim 1, wherein, The first indication information is carried in a system message; Alternatively, the first indication information may be carried in a Radio Resource Control (RRC) system message; Alternatively, the first indication information may be carried in a non-access stratum (NAS) message; Alternatively, the first indication information carries a positioning system information block message.

5. The method according to claim 2, wherein, The sensing assistance information includes at least one of the following: assisting information of the sensing reference signal, sensing beam information, sensing synchronization information, sensing beam antenna information, location information of the first sensing node that transmits the sensing reference signal, time error group (TEG) information of the first sensing node, and applicability information of the sensing assistance information. The applicability information of the sensing assistance information is used to indicate at least one of the applicability parameters of the sensing beam information, the sensing synchronization information, the sensing beam antenna information, and the location information of the first sensing node. The applicability parameters include at least one of the following: applicable sensing target, applicable sensing range, applicable sensing service type, applicable sensing scenario, applicable sensing target radar cross-section (RCS) or RCS range, and applicable Doppler range.

6. The method according to claim 5, wherein, The auxiliary information of the sensing reference signal includes at least one of the following: the frequency domain resources occupied by the sensing reference signal, the period of the sensing reference signal, the offset, the comb configuration, the mute mode, and the carrier aggregation configuration.

7. The method according to claim 5, wherein, The sensing beam information includes at least one of the following: spatial direction information of the sensing reference signal, boundary model of the sensing reference signal, average and standard deviation of azimuth error of the superboundary model, and average and standard deviation of elevation error of the superboundary model.

8. The method according to claim 5, wherein, The sensing synchronization information includes at least one of the following: time synchronization information between the first sensing node and the second sensing node, the average value of the error limit of the time synchronization information, the standard deviation of the error limit of the time synchronization information, and the resolution of the error limit of the time synchronization information.

9. The method according to claim 5, wherein, The sensing beam antenna information includes at least one of the following: the azimuth angle, elevation angle, and beam power of the antenna transmitting the sensing beam from the first sensing node, and the average value and standard deviation of the sensing beam power error limit.

10. The method according to claim 5, wherein, The location information of the first sensing node includes at least one of the following: the coordinates of the first sensing node, the coordinates of the antenna reference point of the first sensing node, the attachment request location provided for the identification of the sensing reference signal resource set, the location error limit of the first sensing node, the location error limit of the auxiliary reference point of the sensing reference signal resource set, and the average value and standard deviation of the location error limits of the auxiliary reference point of the sensing reference signal resource set.

11. The method according to claim 5, wherein, The TEG information of the first sensing node is used to indicate the identifier of the TEG associated with the transmission resources of the sensing reference signal.

12. The method according to claim 5, wherein, The perception assistance information also includes at least one of the following: value tag, expiration time, segmentation information; The value tag is used to indicate whether the perception assistance information has been updated; The expiration time is used to indicate the effective duration of the perception assistance information; The segmentation information is used to indicate whether the perception assistance information is segmented perception assistance information.

13. The method according to claim 2, wherein, The perceived risk parameter is used to indicate the probability that the first node will experience a perception measurement error within a preset time. The perception service parameters include: parameters for available perception assistance information, and / or, the scope of perception risk; The sensing assistance information is available as a parameter to indicate the services that can utilize the sensing assistance information; the sensing risk range is used to indicate the measurement error range corresponding to the sensing measurement error.

14. The method according to claim 4, wherein, When the first indication information is carried in a non-access stratum NAS message, the first indication information is also used to indicate at least one of the following: A resource set for sensing reference signals; Perceive the cause of the error; The scope of application of the perception assistance information; Expected time measurement information; Desired angle measurement information; Expected power measurement information; Desired phase measurement information.

15. The method according to claim 1, wherein, The method further includes: Send perception error correction parameters to the second node; wherein the perception error correction parameters include at least one of the following: The reference signal received power (RSRP) of the reference signal received by the first node; The reception delay of the reference signal received by the first node; Doppler of the reference signal received by the first node; The location of the third node; The movement speed of the third node; The direction of movement of the third node; The beam direction of the third node.

16. The method according to claim 1, wherein, The method further includes: The integrity information support parameter is sent to the second node; the integrity information support parameter is used to indicate the perception assistance information supported by the first node.

17. The method according to claim 16, wherein, When the integrity information support parameter takes a first value, it indicates that the first node supports the perception assistance information; when the integrity information support parameter takes a second value, it indicates that the first node does not support the perception assistance information.

18. The method according to claim 1, wherein, The method further includes: Send the perception result protection level information of the first node to the second node; wherein, the perception result protection level information includes at least one of the following: Vertical protection level (VPL) for the sensed target; Horizontal Protection Level (HPL) for the perceived target; Doppler protection level (DPL) of the target being sensed; RCS protection level (RPL) for the sensed target.

19. The method according to claim 18, wherein, The protection level of the sensing results is reported simultaneously with the sensing results.

20. The method according to claim 1, wherein, The first indication information is carried in a broadcast message, or in a unicast message, or in a multicast message.

21. The method according to claim 20, wherein, When the first indication information is carried in a broadcast message, the broadcast message is encrypted based on at least one of a first element, a second element, and a third element; wherein, the first element is an encryption key received by the first node from the access and mobility association network element, the second element is an encryption element in the encryption algorithm set identifier in the Radio Resource Control (RRC) broadcast message, and the third element is used to characterize the sensing target parameters.

22. The method according to claim 21, wherein, The sensing target parameters include at least one of the following: the region to which the sensing target belongs, the type of the sensing target, the Doppler parameter of the sensing target, the Doppler range of the sensing target, the sensing service type of the sensing measurement, the sensing range, the sensing scenario, and the RCS or RCS range of the sensing target.

23. The method according to claim 1, wherein, The method further includes: The first node receives a second indication information from an access and mobility management network element; the second indication information is used to indicate the encryption information of the broadcast message, and / or the perception attributes of the first node, the perception attributes including perception target parameters.

24. The method according to claim 1, wherein, The access and mobility management network element stores encrypted information of the broadcast message and / or the perception attributes of the first node.

25. The method according to claim 1, wherein, The perception attributes of the first node in the access and mobility management network element are determined based on the perception message received by the access and mobility management network element from the fourth node.

26. The method according to claim 25, wherein, The fourth node is any one of the following: Local Management Function (LMF), Synchronization Function (SF), or Enhanced Service Mobile Location Center (E-SMLC).

27. The method according to claim 1, wherein, The fourth node includes the sensing attributes of the first node, and the sensing attributes of the first node included in the fourth node are sent to the fourth node by the sensing initiating device.

28. The method according to claim 27, wherein, The sensing initiating device is any one of the following: the first node, the location management function (LMF), the sensing function (SF), or the sensing target device.

29. The method according to claim 1, wherein, The method further includes: Send a third indication message to the fifth node; the third indication message is used to indicate at least one of the following: sensing integrity parameters, the position of the sensing target, the velocity of the sensing target, the RCS of the sensing target, the type of the sensing target, the reception time of the sensing reference signal, the power information of the sensing reference signal, the phase information of the sensing reference signal resource, and the angle information of the sensing reference signal resource.

30. The method according to claim 29, wherein, The method further includes: Receive fourth indication information from the fifth node; the fourth indication information is used to indicate at least one of the following: perception performance parameters, perception model adjustment parameters, perception integrity availability information, and perception system availability information.

31. A sensing device, wherein, include: Memory and processor; The memory is coupled to the processor; The memory is used to store instructions that can be executed by the processor; When the processor executes the instructions, it performs the method according to any one of claims 1-30.

32. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the method according to any one of claims 1-30.

33. A computer program product, wherein, The computer program product includes computer program instructions that, when executed by a processor, implement the method according to any one of claims 1-30.

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