Communication method and apparatus

Abstract

The present application relates to the technical field of communications, and provides a communication method and apparatus. The method comprises: in an integrated sensing and communication network, introducing to a sensing data processing node, from another node, sensing resource configuration information and / or a sensing resolution, cluster radius and / or minimum number of points, and echo signal information. The sensing data processing node may determine second sensing data according to the information, the second sensing data being a point cloud of a sensing target or a sensing result of the sensing target. By means of the described solution, inter-node interaction for determining point cloud indication information is introduced under different sensing data processing nodes and different network architectures, such that an integrated sensing and communication network can determine an accurate sensing result of a sensing target on the basis of sensing resource configuration information and / or a sensing resolution, cluster radius and / or minimum number of points, and echo signal information.

Description

A communication method and apparatus

[0001] This application claims priority to Chinese Patent Application No. 202411522091.5, filed with the State Intellectual Property Office of China on October 29, 2024, entitled “A Communication Method and Apparatus”, the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] In communication sensing systems, sensing network elements interact with access and mobility management function (AMF) network elements, radio access network (RAN), and user equipment (UE) through different interfaces to exchange sensing control signaling, sensing measurement data, and other information. The content reported by sensing data processing nodes and sensing data varies depending on the sensing scenario and service requirements. Due to issues of target splitting or merging when determining the point cloud information of sensing targets in different scenarios, sensing data processing nodes cannot accurately obtain the point cloud information of sensing targets in certain communication sensing network architectures and scenarios.

[0004] Therefore, how to obtain accurate point cloud information of the perceived target at the perception data processing node under different communication and perception network architectures and scenarios is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a communication method and apparatus capable of accurately determining the point cloud of a perceived target. In the embodiments of this application, the communication method and apparatus can also be considered a sensing method and apparatus, or an integrated communication and sensing method and apparatus.

[0006] Firstly, a communication method is provided, which can be applied to a first device. The first device in this application can be a network device or a terminal device, or a module (e.g., a processor, chip, or chip system) within a network device or terminal device, or a logic module or software capable of implementing all or part of the functions of a network device or terminal device. For ease of description, the first device will be used as an example below.

[0007] The method includes: receiving first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; the first configuration information including sensing resource configuration information and / or sensing resolution; the sensing resource configuration information including at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution including at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters including cluster radius and / or minimum number of points.

[0008] In one possible implementation, the first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal; the second sensing data is determined based on the first information, the second sensing data including a point cloud of the sensing target, or data of the sensing target determined based on the point cloud of the sensing target.

[0009] In another possible implementation, the first sensing data includes a first point cloud set; second sensing data is determined based on the first information, the second sensing data being a second point cloud set of the sensing target, and the second point cloud set belonging to the first point cloud set.

[0010] Optionally, the time interval for sensing the signal can be the sampling interval of the sensing signal, or the period.

[0011] Optionally, the antenna information can be the antenna array aperture or the half-power (3dB) beamwidth.

[0012] The above scheme introduces inter-node interaction to determine point cloud indication information for different sensing data processing nodes under different network architectures. This enables the sensor network to determine the accurate point cloud of the sensing target based on at least one of the following: sensing resource configuration information and / or sensing resolution, cluster radius and / or minimum number of points, and echo signal information; or, the sensing target data determined based on the point cloud of the sensing target.

[0013] In some implementations, determining the second sensing data based on the first information further includes: determining the first sensing parameters based on the first configuration information in the first information, and determining the second sensing data based on the first sensing parameters.

[0014] In some implementations, determining the second sensing data based on the first information further includes: determining the first sensing parameters based on sensing resource configuration information and / or sensing resolution, and determining the second sensing data based on the first sensing parameters.

[0015] The above scheme enables the sensing network to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target, thus solving the problem of inaccurate sensing results caused by the inability of nodes to obtain clustering-related information in the communication sensing system.

[0016] Optionally, an echo signal is received, which is used to determine the first sensing data. For example, the echo signal is a signal generated by the sensing signal being reflected by a target in the environment.

[0017] Optionally, first configuration information is sent, and sensing signals are sent or received based on the first configuration information.

[0018] Optionally, second configuration information is sent, which includes frequency domain information and / or time domain information of the sensing signal. The frequency domain information includes absolute frequency information, relative frequency information, wavelength, or bandwidth information, and the time domain information includes time interval or period. The sensing signal is sent or received on the resources corresponding to the frequency domain information and / or time domain information. Optionally, second information is sent, which indicates the point cloud of the sensing target, or the second sensing data is data of the sensing target determined based on the point cloud of the sensing target.

[0019] Secondly, a communication method is provided, which can be applied to a second device. The second device in this application can be a network device or a terminal device, or a module (e.g., a processor, chip, or chip system) within a network device or terminal device, or a logic module or software capable of implementing all or part of the functions of a network device or terminal device. For ease of description, the following description uses a second device as an example.

[0020] The method includes: sending first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; the first configuration information including sensing resource configuration information and / or sensing resolution; the sensing resource configuration information including at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution including at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters including cluster radius and / or minimum number of points.

[0021] In one possible implementation, the first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal; the first information is used to determine the second sensing data, which includes a point cloud of the sensing target, or data of the sensing target determined based on the point cloud of the sensing target.

[0022] In another possible implementation, the first sensing data includes a first point cloud set; the first information is used to determine the second sensing data, which includes a second point cloud set of the sensing target, and the second point cloud set belongs to the first point cloud set.

[0023] The above scheme introduces inter-node interaction to determine point cloud indication information for different sensing data processing nodes under different network architectures. This enables the sensor network to determine the accurate point cloud of the sensing target based on at least one of the following: sensing resource configuration information and / or sensing resolution, cluster radius and / or minimum number of points, and echo signal information; or, the sensing target data determined based on the point cloud of the sensing target.

[0024] Optionally, the time interval for sensing the signal can be the sampling interval of the sensing signal, or the period.

[0025] Optionally, the antenna information can be the antenna array aperture or the half-power (3dB) beamwidth.

[0026] Optionally, the system receives first configuration information and sends or receives sensing signals based on the first configuration information.

[0027] Optionally, the system receives second configuration information, which includes frequency domain information and / or time domain information of the sensing signal. The frequency domain information includes absolute frequency information, relative frequency information, wavelength, or bandwidth information, and the time domain information includes time interval or period. The system then transmits or receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information.

[0028] Optionally, a second piece of information is received, which indicates the point cloud of the perceived target, or the second perceived data is data of the perceived target determined based on the point cloud of the perceived target.

[0029] Thirdly, a communication method is provided that can be applied to a third device. The third device in this application is an access network, but it can also be a module within the access network (e.g., a processor, chip, or chip system), or it can be a logic module or software capable of implementing all or part of the access network functions. For ease of description, the following description uses a third device as an example.

[0030] The method includes: receiving first information, the first information including first configuration information, or, first perception parameters; the first configuration information including perception resource configuration information and / or perception resolution, and the first perception parameters including cluster radius and / or minimum number of points.

[0031] In one possible implementation, second sensing data is determined based on first information. The second sensing data includes a point cloud of the sensing target, or data of the sensing target determined based on the point cloud of the sensing target.

[0032] In another possible implementation, second sensing data is determined based on first information, and the second sensing data includes a second set of point clouds of the sensing target.

[0033] In some implementations, the first information is received via the N2 interface or signaling related to the sensing session.

[0034] In some implementations, the N3 interface is used to receive the first information from the user plane data packet or the data packet header, or from the control data packet.

[0035] Optionally, first sensing data is received, which includes information about the echo signal, the received sensing signal, or raw channel information.

[0036] Optionally, first sensing data is received, which includes a first point cloud set and a second point cloud set belonging to the first point cloud set.

[0037] The above scheme introduces inter-node interaction to the third device to determine indication information for the point cloud, enabling the third device to determine the second perception data based on the first configuration information and the first perception data; or, it can determine the second perception data based on the first perception parameters in the first information and the first perception data. This solves the problem of inaccurate perception results caused by the access network's inability to obtain clustering-related information in the communication sensing system.

[0038] Optionally, the time interval for sensing the signal can be the sampling interval of the sensing signal, or the period.

[0039] Optionally, the antenna information can be the antenna array aperture or the half-power (3dB) beamwidth.

[0040] Optionally, first configuration information is sent, and a sensing signal is sent based on the first configuration information.

[0041] Optionally, a second configuration information is sent, which includes frequency domain information and / or time domain information of the sensing signal. The frequency domain information includes absolute frequency information, relative frequency information, wavelength, or bandwidth information, and the time domain information includes time interval or period. The sensing signal is then sent on the resources corresponding to the frequency domain information and / or time domain information.

[0042] Optionally, a second message is sent, which indicates the second sensed data.

[0043] In some implementations, the second information is sent via the N2 interface or signaling related to the awareness session.

[0044] In some implementations, the N3 interface is used to send second information via user plane data packets or data packet headers, or control data packets.

[0045] Fourthly, a communication method is provided that can be applied to a fourth device. The fourth device in this application is a sensing-functional SF network element, or it can be a module within an SF network element (e.g., a processor, chip, or chip system), or it can be a logic module or software capable of implementing all or part of the functions of the SF network element. For ease of description, the following description uses a fourth device as an example.

[0046] The method includes: sending first information, the first information including first configuration information, or, first perception parameters; the first configuration information including perception resource configuration information and / or perception resolution, and the first perception parameters including cluster radius and / or minimum number of points.

[0047] In one possible implementation, the first information is used to determine the second sensing data, which is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0048] In another possible implementation, the first information is used to determine the second sensing data, which includes a second point cloud set of the sensing target.

[0049] Through the above scheme, the fourth device sends sensing resource configuration information and / or sensing resolution, or clustering radius and / or minimum number of points to the node that determines the second sensing data, so that the sensory network can determine the accurate point cloud of the sensing target with the above information, thus solving the problem that the sensing results are inaccurate because the node cannot obtain clustering-related information in the communication sensing system.

[0050] Optionally, the time interval for sensing the signal can be the sampling interval of the sensing signal, or the period.

[0051] Optionally, the antenna information can be the antenna array aperture or the half-power (3dB) beamwidth.

[0052] In some implementations, the first information is sent via the N2 interface or signaling related to the awareness session.

[0053] In some implementations, the N3 interface is used to send the first information via user plane data packets or data packet headers, or control data packets.

[0054] Optionally, a second message is received, which indicates the second sensed data.

[0055] In some implementations, the second information is received via the N2 interface or signaling related to the awareness session.

[0056] In some implementations, the N3 interface is used to receive second information from user plane data packets or data packet headers, or control data packets.

[0057] Fifthly, a communication method is provided, which can be applied to a fifth device. The fifth device in this application is a terminal device, but it can also be a module within a terminal device (e.g., a processor, chip, or chip system), or it can be a logic module or software capable of implementing all or part of the functions of the terminal device. For ease of description, the following description uses a fifth device as an example.

[0058] The method includes: sending first sensing data, which is used to determine second sensing data.

[0059] In one possible implementation, the first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal; the second sensing data includes a point cloud of the sensing target, or data of the sensing target determined based on the point cloud of the sensing target.

[0060] In another possible implementation, the first sensing data includes a first point cloud set; the second sensing data includes a second point cloud set of the sensing target, the second point cloud set belonging to the first point cloud set.

[0061] Through the above scheme, the fifth device sends the first sensing data to the node that determines the second sensing data, so that the sensor network can determine the point cloud of the accurate sensing target based on the first sensing data, thus solving the problem that the sensing results are inaccurate because the node cannot obtain clustering-related information in the communication sensing system.

[0062] Optionally, the time interval for sensing the signal can be the sampling interval of the sensing signal, or the period.

[0063] Optionally, the antenna information can be the antenna array aperture or the half-power (3dB) beamwidth.

[0064] Optionally, receive first configuration information and receive sensing signals based on the first configuration information.

[0065] Optionally, the system receives second configuration information, which includes frequency domain information and / or time domain information of the sensing signal. The frequency domain information includes absolute frequency information, relative frequency information, wavelength, or bandwidth information, and the time domain information includes time interval or period. The system receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information.

[0066] Optionally, the sensing signal is used to determine the first sensing data.

[0067] A sixth aspect provides a communication device. The communication device includes: a processor configured to perform the first aspect and any possible method thereof, the processor configured to perform the second aspect and any possible method thereof, the processor configured to perform the third aspect and any possible method thereof, the processor configured to perform the fourth aspect and any possible method thereof, or the processor configured to perform the fifth aspect and any possible method thereof.

[0068] In some implementations, the communication device described in the sixth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the sixth aspect and other communication devices.

[0069] In one possible implementation, the communication device described in the sixth aspect may further include a memory. The memory may be integrated with the processor or may be disposed separately. The memory may be used to store computer programs and / or data related to the methods of the first aspect or any embodiment thereof, the second aspect or any embodiment thereof, the third aspect or any embodiment thereof, the fourth aspect or any embodiment thereof, or the fifth aspect or any embodiment thereof.

[0070] Furthermore, the technical effects of the communication device described in the sixth aspect can be referred to the technical effects of the first aspect or any embodiment of the first aspect, the second aspect or any embodiment of the second aspect, the third aspect or any embodiment of the third aspect, the fourth aspect or any embodiment of the fourth aspect, or the fifth aspect or any embodiment of the fifth aspect, which will not be repeated here.

[0071] A seventh aspect provides a communication device. The communication device includes: a processor coupled to a memory, the processor being configured to execute a computer program or instructions stored in the memory to cause the communication device to perform the method of the first aspect or any embodiment of the first aspect, to perform the method of the second aspect or any embodiment of the second aspect, to perform the method of the third aspect or any embodiment of the third aspect, to perform the method of the fourth aspect or any embodiment of the fourth aspect, or to perform the method of the fifth aspect or any embodiment of the fifth aspect.

[0072] In one possible implementation, the communication device may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device and other communication devices.

[0073] In one possible implementation, the communication device further includes the memory for storing the aforementioned computer program or instructions. Optionally, the memory and processor are integrated together.

[0074] Furthermore, the technical effects of the communication device described in the seventh aspect can be referred to the technical effects of the first aspect or any embodiment of the first aspect, the second aspect or any embodiment of the second aspect, the third aspect or any embodiment of the third aspect, the fourth aspect or any embodiment of the fourth aspect, or the fifth aspect or any embodiment of the fifth aspect, which will not be repeated here.

[0075] Eighthly, a communication device is provided. The communication device includes: a processing unit configured to perform the first aspect and any possible method of the first aspect, the processing unit configured to perform the second aspect and any possible method of the second aspect, the processing unit configured to perform the third aspect and any possible method of the third aspect, the processing unit configured to perform the fourth aspect and any possible method of the fourth aspect, or, the processing unit configured to perform the fifth aspect and any possible method of the fifth aspect.

[0076] In some implementations, the communication device described in the eighth aspect may further include a transceiver unit. This transceiver unit may include a transmitting unit and a receiving unit. The transceiver unit can be used for communication between the communication device described in the eighth aspect and other communication devices.

[0077] In one possible implementation, the communication device described in the eighth aspect may further include a storage unit. This storage unit may be integrated with the processing unit or may be disposed separately. The storage unit may be used to store computer programs and / or data related to the methods of the first aspect or any embodiment thereof, the second aspect or any embodiment thereof, the third aspect or any embodiment thereof, the fourth aspect or any embodiment thereof, or the fifth aspect or any embodiment thereof.

[0078] Furthermore, the technical effects of the communication device described in the eighth aspect can be referred to the technical effects of the first aspect or any embodiment of the first aspect, the second aspect or any embodiment of the second aspect, the third aspect or any embodiment of the third aspect, the fourth aspect or any embodiment of the fourth aspect, or the fifth aspect or any embodiment of the fifth aspect, which will not be repeated here.

[0079] A ninth aspect provides a chip including a processor for calling a computer program or computer instructions in a memory to cause the processor to execute any of the implementations of the first aspect, any of the implementations of the second aspect, any of the implementations of the third aspect, any of the implementations of the fourth aspect, or any of the implementations of the fifth aspect.

[0080] In some implementations, the processor is coupled to the memory via an interface.

[0081] A tenth aspect provides a communication system. The communication system includes: a first means for performing the method described in the first aspect or any embodiment thereof; a second means for performing the method described in the second aspect or any embodiment thereof; a third means for performing the method described in the third aspect or any embodiment thereof; a fourth means for performing the method described in the fourth aspect or any embodiment thereof; or a fifth means for performing the method described in the fifth aspect or any embodiment thereof.

[0082] Eleventhly, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed, causing the method as described in the first aspect or any embodiment of the first aspect to be implemented, causing the method as described in the second aspect or any embodiment of the second aspect to be implemented, causing the method as described in the third aspect or any embodiment of the third aspect to be implemented, causing the method as described in the fourth aspect or any embodiment of the fourth aspect to be implemented, or causing the method as described in the fifth aspect or any embodiment of the fifth aspect to be implemented.

[0083] In a twelfth aspect, a computer program product is provided, comprising a computer program or instructions that, when executed, cause the method as described in the first aspect or any embodiment thereof to be implemented, cause the method as described in the second aspect or any embodiment thereof to be implemented, cause the method as described in the third aspect or any embodiment thereof to be implemented, cause the method as described in the fourth aspect or any embodiment thereof to be implemented, or cause the method as described in the fifth aspect or any embodiment thereof to be implemented. Attached Figure Description

[0084] Figure 1 is a schematic diagram of a communication system.

[0085] Figure 2 is an example diagram of an O-RAN system.

[0086] Figure 3 is a diagram showing the network element function division and protocol layer structure of an O-RAN device.

[0087] Figure 4 is an example diagram of a sensory network architecture.

[0088] Figure 5 is an example diagram of a synesthetic RAN architecture.

[0089] Figure 6 is a schematic diagram of an algorithm for processing sensory data.

[0090] Figure 7 is a schematic flowchart of a communication method provided in an embodiment of this application.

[0091] Figure 8 is a schematic flowchart of a communication method in which the second device is a gNB, according to an embodiment of this application.

[0092] Figure 9 is a schematic flowchart of a communication method provided by the second device SU in an embodiment of this application.

[0093] Figure 10 is a schematic flowchart of a communication method provided in an embodiment of this application, where the second device is SF.

[0094] Figure 11 is a schematic flowchart of a communication method provided in an embodiment of this application, where the second device is a DU.

[0095] Figure 12 is a schematic flowchart of a communication method provided in an embodiment of this application, where the second device is a UE.

[0096] Figure 13 is a schematic block diagram of a communication device according to an embodiment of this application.

[0097] Figure 14 is a schematic block diagram of another communication device according to an embodiment of this application. Detailed Implementation

[0098] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0099] To facilitate understanding of the embodiments of this application, the following points will be explained before introducing this application.

[0100] 1. In this application, the term "system" may be used interchangeably with "network". This application will present various aspects, embodiments, or features in relation to a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches may also be used.

[0101] In this application, the words "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the word "example" is intended to present the concept in a specific manner.

[0102] 2. In the embodiments of this application, "instruction" can include direct instruction and indirect instruction, as well as explicit instruction and implicit instruction. The information indicated by a certain piece of information is called the information to be instructed. In the specific implementation process, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement order of various pieces of information, thereby reducing instruction overhead to some extent. At the same time, the common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0103] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As can be seen from the above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0104] 3. The “protocol” involved in the embodiments of this application may refer to standard protocols in the field of communication, such as the Long Term Evolution (LTE) protocol, the New Radio (NR) protocol, and related protocols applied to future communication systems. The embodiments of this application do not limit this.

[0105] 4. In the embodiments of this application, the descriptions such as "when," "under the circumstances," "if," and "if" all refer to the fact that the device (e.g., the terminal device) will make corresponding processing under certain objective circumstances. They are not time limits, nor do they require the device (e.g., the terminal device) to have a judgment action when implementing it, nor do they mean that there are other limitations.

[0106] 5. In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. The "and / or" in the embodiments of this application is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. A and B can be singular or plural. Furthermore, in the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0107] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0108] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0109] The technical solutions of this application can be applied to various communication systems, including but not limited to: LTE systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, NR systems and other fifth-generation (5G) mobile communication systems, narrowband Internet of Things (NB-IoT) systems, enhanced machine-type communication (eMTC) systems, enhanced mobile broadband (eMBB) systems, ultra-reliable low latency communications (URLLC) systems, non-terrestrial network (NTN) communication systems, open RAN (O-RAN or ORAN), cloud radio access network (CRAN), LTE-machine-to-machine (LTE-M) systems, or future communication networks, etc.

[0110] In the embodiments of this application, the term "communication" can also be described as "data transmission," "signal transmission," "information transmission," or simply "transmission." In the embodiments of this application, transmission can include sending and / or receiving. Exemplarily, transmission can be uplink transmission, such as a terminal device sending a signal to a network device; transmission can also be downlink transmission, such as a network device sending a signal to a terminal device; transmission can also be sidelink transmission, such as a terminal device sending a signal to another terminal device. Exemplarily, "transmission" can be air interface-level transmission, or it can refer to signal transmission at a chip input (I) / output (O) interface, rather than air interface-level transmission.

[0111] Figure 1 is a schematic diagram of a communication system 100. As shown in Figure 1, the communication system 100 includes a radio access network (RAN) 110 and a core network (CN) 120. Optionally, the communication system 100 may also include an Internet 130. The network equipment may include RAN 110, or the network equipment may include RAN 110 and CN 120.

[0112] RAN 110 may include at least one access network device (as shown in Figure 1, 111a and 111b) and at least one terminal device (as shown in Figure 1, 112a-112j). The terminal device is wirelessly connected to the access network device. The access network device is wirelessly or wiredly connected to the core network 120. The core network 120 may include one or more core network devices. The core network device and the access network device may be independent physical devices, or the functions of the core network device and the logical functions of the access network device may be integrated on the same physical device, or a single physical device may integrate some of the functions of the core network device and some of the functions of the access network device. Terminal devices and access network devices may be interconnected via wired or wireless means. Terminal devices and terminal devices, access network devices and access network devices, and terminal devices and access network devices may communicate wirelessly via air interface resources. For example, air interface resources may include at least one of time-domain resources, frequency-domain resources, code resources, and spatial resources. It should be noted that Figure 1 is only a schematic diagram. The communication system 100 may also include other devices with wireless transceiver functions, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1.

[0113] RAN 110 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as a 4G, 5G mobile communication system, or a future communication network. RAN 110 can also be an O-RAN, CRAN, or Wireless Fidelity (WiFi) system, or a communication system integrating two or more of the above systems. In this invention, RAN 110 can be an NTN system, and RAN 110 can be in transparent transmission mode or regenerative mode.

[0114] Access network equipment can be any device with wireless transceiver capabilities. For example, access network equipment can be a base station used to connect terminal devices to the RAN. Access network equipment is sometimes also referred to as an access network node. It is understood that the names of devices with access capabilities may differ in systems employing different wireless access technologies. For ease of description, the devices providing wireless communication access capabilities to terminal devices in this application embodiment are collectively referred to as base stations. In this application embodiment, access network equipment includes, but is not limited to: various forms of macro base stations (as shown in Figure 1, 111a), micro base stations or indoor stations (as shown in Figure 1, 111b), pico base stations, small stations, balloon stations, relay stations, access points, etc. Access network equipment can include evolved node Bs (eNBs or eNodeBs) in LTE, access points (APs), wireless relay nodes, wireless backhaul nodes, transmission points (TPs), or transmission reception points (TRPs) in wireless fidelity (WiFi) systems. It can also include next-generation NodeBs (gNBs) or transmission points (TRPs or TPs) in 5G systems, one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, and network nodes constituting a gNB or transmission point, such as baseband units (BBUs) or distributed units (DUs). Furthermore, it can include access network equipment, servers, or vehicle-mounted equipment in future communication networks. Access network equipment can also be modules or units that perform some of the functions of a base station; for example, it can be a central unit (CU) or a DU.

[0115] For example, in a universal mobile telecommunications system (UMTS) or LTE wireless communication system, the access network equipment can be a macro base station eNB; in a heterogeneous network (HetNet) scenario, the access network equipment can be a micro base station eNB; in a distributed base station scenario, the access network equipment can include a BBU and a remote radio unit (RRU); in a cloud radio access network (CRAN) scenario, the access network equipment can be a BBU pool and an RRU; and in future wireless communication systems, the access network equipment can be a gNB.

[0116] In this embodiment, the means for implementing the function of the network device can be the network device itself, or it can be a means that enables the network device to implement the function, such as a chip system, which can be installed in the network device. The chip system can be composed of chips, or it can include chips and other discrete components.

[0117] Communication between access network devices and terminal devices follows a specific protocol layer structure. This protocol layer may include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer may include at least one of the following: radio resource control (RRC) layer, packet data convergence protocol (PDCP) layer, radio link control (RLC) layer, media access control (MAC) layer, or physical (PHY) layer, etc. The user plane protocol layer may include at least one of the following: service data adaptation protocol (SDAP) layer, PDCP layer, RLC layer, MAC layer, or physical layer, etc.

[0118] In another possible scenario, multiple access network devices collaborate to assist the terminal in achieving wireless access, with each device implementing a portion of the base station's functions. For example, the access network devices could be a CU, DU, CU (control plane, CP), CU (user plane, UP), or radio unit (RU), etc. The CU and DU nodes separate the gNB's protocol layers. Some protocol layer functions are centrally controlled by the CU, while the remaining partial or complete protocol layer functions are distributed in the DU, which is centrally controlled by the CU. As one implementation, the CU deploys the RRC, PDCP, and SDAP layers from the protocol stack; the DU deploys the RLC, MAC, and physical layers from the protocol stack. Thus, the CU has RRC, PDCP, and SDAP processing capabilities, while the DU has RLC, MAC, and PHY processing capabilities. It is understood that the above functional division is merely an example and does not constitute a limitation on the CU and DU. The CU and DU can be configured separately or included in the same network element, such as the BBU. RU can be included in radio frequency equipment or radio frequency units, such as RRU, active antenna unit (AAU), or remote radio head (RRH).

[0119] Core network equipment refers to the equipment in the core network that provides service support to terminals. Examples of core network equipment include: Access and Mobility Management Function (AMF) entities, Session Management Function (SMF) entities, User Plane Function (UPF) entities, Policy Control Function (PCF) entities, Unified Data Management (UDM) entities, Application Function (AF) entities, Network Exposure Function (NEF) entities, Network Data Analytics Function (NWDAF) entities, Location Management Function (LMF) entities, Sensing Function (SF) entities, and so on, not listed here. Among these, the AMF entity is responsible for terminal access management and mobility management, such as user location updates, user network registration, and user handover; the SMF entity is responsible for session management, such as session establishment, modification, and release. Specific functions include allocating IP addresses to users and selecting UPFs that provide packet forwarding capabilities; UPF entities can be user plane functional entities, mainly responsible for connecting to external networks; PCF is responsible for providing policies to AMF and SMF, such as quality of service (QoS) policies and slice selection policies; UDM is used to store user data, such as subscription information and authentication / authorization information; AF is responsible for providing services to the 3GPP network, such as influencing service routing and interacting with PCF for policy control; NEF exposes the capabilities of various network functions and is responsible for converting internal and external information; LMF is mainly responsible for location management, such as initiating location procedures and locating specific terminals; NWDAF is used to collect, process, and analyze various data from the network, thereby helping operators better understand network performance, optimize network configuration, and improve user experience; SF is used for selecting sensing devices, controlling sensing services, processing sensing measurement data independently or jointly with other network elements, and outputting sensing results to the sensing requester. It should be noted that in this application, an entity can also be referred to as a network element or a functional entity. For example, an AMF entity can also be referred to as an AMF network element or an AMF functional entity, and an SF entity can also be referred to as an SF network element or an SF functional entity, etc.

[0120] Terminal equipment can be a device that provides voice and / or data connectivity to users; it can also be a device with wireless connectivity. Terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on water (such as on ships); and it can also be deployed in the air (such as on airplanes, balloons, and satellites). Terminal equipment can also be referred to as user equipment (UE), access terminal, terminal, subscriber unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, wireless network equipment, user agent, or user device. In this application embodiment, terminal devices include, but are not limited to: cellular phones, mobile phones, wireless data cards, wireless modems, tablets, laptop computers, notebook computers, handheld computers, mobile internet devices (MIDs), computers with wireless transceiver capabilities, cordless phones, session initiation protocol (SIP) phones, smartphones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handsets with wireless communication capabilities, computing devices or other devices connected to wireless modems, in-vehicle devices (e.g., cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), wearable devices (e.g., smartwatches, smart bracelets, pedometers, smart glasses, etc.), satellite terminals, terminal devices in the Internet of Things or the Internet of Vehicles, as well as any form of terminal in future networks, relay user equipment, or terminals in future evolved public land mobile networks (PLMNs), etc.Terminal devices can also be virtual reality (VR) devices, augmented reality (AR) devices, smart point-of-sale (POS) machines, customer-premises equipment (CPE), light UE, reduced capability UE (REDCAP UE), machine type communication (MTC) terminals, terminal devices in industrial control, terminal devices in self-driving, terminal devices in remote medical care, terminal devices in smart grids, wireless terminals in transportation safety, terminal devices in smart cities, terminal devices in smart homes, tactile terminal devices, smart home devices (e.g., refrigerators, televisions, air conditioners, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in self-driving, or flying devices (e.g., smart robots, hot air balloons, drones, airplanes), etc. The terminal device can also be a vehicle device, such as a complete vehicle device, an in-vehicle module, an in-vehicle communication module, an in-vehicle chip, an on-board unit (OBU), or a telematics box (T-BOX). The terminal device can also be other devices with terminal functions; for example, it can be a device that functions as a terminal in device-to-device (D2D) communication. The terminal device can also be other embedded communication modules. This application does not limit the scope of the embodiments described herein.

[0121] In this application embodiment, the device for implementing the functions of the terminal device can be the terminal device itself, or it can be any device capable of supporting the terminal device in implementing the functions, such as a chip or chip system. This device can be installed in the terminal device. The chip system can consist of chips or include chips and other discrete components. In the technical solution of this application embodiment, the device for implementing the functions of the terminal device is referred to as the terminal device, which can also be called a terminal. The following description may use a UE (User Equipment) as an example to illustrate the technical solution provided in this application embodiment.

[0122] The roles of base stations and terminals can be relative. For example, the helicopter or drone 112i in Figure 1 can be configured as a mobile base station. For terminals 112j that access the wireless access network 110 via 112i, terminal 112i is a base station; however, for base station 111a, 112i is a terminal, meaning that 111a and 112i communicate via a wireless air interface protocol. Of course, 111a and 112i can also communicate via a base station-to-base station interface protocol. In this case, relative to 111a, 112i is also a base station. Therefore, both base stations and terminals can be collectively referred to as communication devices. 111a and 111b in Figure 1 can be called communication devices with base station functions, and 112a-112j in Figure 1 can be called communication devices with terminal functions.

[0123] Base station equipment and terminal equipment can communicate via a wireless link. The transmission link from the base station to the terminal equipment can be called the downlink (DL) or downlink channel, and is used to transmit downlink signals. The transmission link from the terminal equipment to the base station can be called the uplink (UL) or uplink channel, and is used to transmit uplink signals.

[0124] For example, considering the transmission from the UMTS terrestrial radio access network (UTRAN) to the UE (UTRAN to UE, Uu) interface, the two parties in the wireless communication may include a base station and a terminal device.

[0125] Figure 2 is an example diagram of an O-RAN system. An O-RAN system may include components other than those shown in Figure 2. As shown, the RAN communicates with the core network via a backhaul link and with user equipment (UE) or terminal equipment via an air interface. Specifically, the baseband unit (BBU) in the access network equipment communicates with the core network via the backhaul link, and the root unit (RU) in the access network equipment communicates with at least one UE via an air interface. The BBU communicates with at least one RU via a fronthaul link. The BBU and RU may or may not be co-located. The BBU includes at least one core unit (CU) and at least one dual unit (DU), which can communicate via at least one midhaul link.

[0126] Figure 3 illustrates the network element functional division and protocol layer structure of an O-RAN device. In some examples, the CU is a logical node carrying the RRC layer, SDAP layer, PDCP layer, and other control functions of the access network device. The CU connects to network nodes such as the core network through interfaces, which can be interfaces such as E2 interfaces. Optionally, the CU may have some core network functions. The CU (e.g., PDCP layer and higher layers) connects to the DU (e.g., RLC layer and lower layers) through interfaces, which can be interfaces such as F1 interfaces. In some examples, these interfaces (e.g., F1 interfaces) can provide control plane (CP) and user plane (UP) functions (e.g., interface management, system information management, UE context management, RRC message transmission, etc.). F1 AP is the application protocol of the F1 interface, and in some examples, it defines the signaling procedures of F1. The F1 interface supports control plane F1-C and user plane F1-U.

[0127] In some examples, the CU can be split into CU-CP (Control Unit-Control Plane) and CU-UP (Control Unit-User Plane). CU-CP is a logical node carrying the RRC and PDCP-C (Control plane part of PDCP) layers, used to implement the CU's control plane functions. CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements can be access and mobility function network elements, such as the AMF in a 5G system. CU-UP is a logical node carrying the SDAP and PDCP-U (User plane part of PDCP) layers, used to implement the CU's user plane functions. CU-UP can interact with network elements in the core network used to implement user plane functions, such as the UPF in a 5G system. The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For example, the CU or DU can be configured to have more protocol layer functions, or it can be configured to have only partial protocol layer processing functions. For example, some functions of the RLC layer and the functions of the protocol layer above the RLC layer can be placed in the CU, while the remaining functions of the RLC layer and the functions of the protocol layer below the RLC layer can be placed in the DU. Another example is that the functions of the CU or DU can be divided according to service type or other system requirements. For instance, based on latency, functions that need to meet low latency requirements can be placed in the DU, while functions that do not need to meet such latency requirements can be placed in the CU.

[0128] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an O-RAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules. The embodiments of this application do not limit the specific technology or specific device form used in the network device.

[0129] In some examples, a DU is a logical node that carries the RLC layer, MAC layer, Higher PHY layer, and other functionalities. In some examples, a DU can control at least one RU. The DU connects to the RU through interfaces, which can be fronthaul interfaces.

[0130] In some examples, the CU may not have a PDCP layer, i.e., it only includes the RRC layer. CU-CP does not have PDCP-C. CU-UP may not have PDCP-U, or may not have CU-UP at all. In some examples, the DU may not have an RLC layer, only a MAC and a higher PHY layer. Furthermore, in some examples, it may not have a CU and may only include the DU.

[0131] In some examples, the Higher PHY layer includes the PHY layer processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation. In some examples, the RU is a logical node carrying both Lower Physical Layer (Lower PHY) and Radio Frequency (RF) processing. In some examples, the RU can be a 3GPP Transmission Reception Point (TRP), Remote Radio Head (RRH), or other similar entity. In some examples, the Low-PHY includes the PHY processing, such as fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more UEs via a radio link.

[0132] The DU and RU can be co-located or separate. The DU and RU exchange control plane and user plane information via a fronthaul link through a Lower-Layer Split CUS-Plane (LLS-CUS) interface. LLS-CUS may include LLS-C and LLS-U interfaces providing the control plane (C-Plane) and user plane (U-Plane), respectively. In some examples, the control plane (C-Plane) refers to real-time control between the DU and RU. The DU and RU exchange management information via an LLS-M interface on the fronthaul link; the management plane (M-Plane) refers to non-real-time management operations between the DU and RU. The DU and RU can cooperate to implement PHY layer functions. A DU can be connected to one or more RUs. The functions of the DU and RU can be configured in various ways depending on the design. For example, the DU may be configured to implement baseband functions, and the RU may be configured to implement mid-RF functions. For example, DU is configured to implement higher-level functions in the PHY layer, and RU is configured to implement lower-level functions in the PHY layer, or to implement both lower-level functions and RF functions. Higher-level functions in the physical layer may include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer may include another portion of the physical layer's functions that are closer to the mid-RF side.

[0133] The O-RAN system may also include the following functions / nodes:

[0134] Non-real-time RAN intelligent controller (non-RT RIC or NRT RIC): Used to implement non-real-time intelligent management of RAN functions, enabling AI / ML workflows including model training and model updates, and guiding applications / functions in the NRT RIC based on policies;

[0135] Near-real-time RAN intelligent controller (near-RT RIC or nRT RIC): Used to realize near-real-time intelligent management of RAN. Through data collection and related operations on the E2 interface, it realizes near-real-time control and optimization of O-RAN modules and resources.

[0136] The embodiments of this application can optimize communication sensing scenarios. To facilitate understanding of the solution, the relevant basic concepts will be briefly introduced below. The architecture and method design will gradually evolve with the development of technology. Therefore, the following definitions do not constitute a limitation on this application.

[0137] 1. Integrated sensing and communication (ISAC)

[0138] Integrated communication and sensing technology aims to merge wireless communication and sensing functions into a single system. Utilizing the various propagation characteristics of wireless signals, it achieves sensing functions such as target localization, detection, imaging, and identification to acquire information about the surrounding physical environment, improve communication performance, and enhance user experience. In integrated communication and sensing technology, network devices transmit sensing signals and receive echo signals to obtain information such as the position and velocity of targets in the environment. The echo signal is the signal generated by the reflection of the sensing signal from a target in the environment; the echo signal can also be understood as the sensing signal itself. The time delay of the echo signal relative to the transmitted sensing signal reflects the distance to the target; the Doppler shift of the echo signal relative to the transmitted sensing signal reflects the velocity of the target.

[0139] The sensing modes can be divided into the following six modes: Network device self-transmission and self-reception: The sensing signal is sent by the network device, reflected by a target in the environment, and then received by the same network device; Network device A transmits and network device B receives: The sensing signal is sent by network device A, reflected by a target in the environment, and then received by network device B; Network device transmits and terminal receives: The sensing signal is sent by the network device, reflected by a target in the environment, and then received by the terminal; Terminal transmits and network device receives: The sensing signal is sent by the terminal, reflected by a target in the environment, and then received by the network device; Terminal self-transmission and self-reception: The sensing signal is sent by the terminal, reflected by a target in the environment, and then received by the same terminal; Terminal A transmits and terminal B receives: The sensing signal is sent by terminal A, reflected by a target in the environment, and then received by terminal B.

[0140] 2. Sensory network architecture

[0141] To meet the technical requirements for end-to-end sensing capabilities in wireless networks, Figure 4 illustrates a sensing network architecture. A sensing element or sensing function (SF) is added to the core network, along with interfaces for interaction between the SF and network elements such as the AMF, UPF, and RAN. Sensing control signaling between the SF and the RAN / UE can be transmitted via the AMF or directly. Sensing measurement data acquired by the RAN / UE can be forwarded via the UPF or directly transmitted to the SF. It is understood that the sensing network architecture in Figure 4 is merely an example, and this invention does not limit the scope of the sensing network architecture.

[0142] Sensing signaling interaction can be divided into four modes based on the different network elements involved in sensing: SF and gNB signaling interaction, SF and UE signaling interaction, gNB and UE signaling interaction, and UE and UE signaling interaction. The demand relationships between different sensing modes and the interaction between the three network elements (SF, gNB, UE) are summarized in Table 1.

[0143] Table 1. Relationship between different sensing modes and the interaction requirements between network elements

[0144] In the two sensing modes, gNB self-transmitting and gNB A-transmitting and gNB B-receiving are both performed by the network side, requiring only interaction between the SF and gNB. The gNB-transmitting and UE-transmitting modes require collaboration between the network and terminal sides, involving interaction between the SF and gNB, the SF and UE, and the gNB and UE. For the UE self-transmitting and UE A-transmitting and B-receiving modes, although the sensing process does not require base station participation, considering that all sensing resources belong to air interface resources and should be managed and allocated by the base station, and that the UE needs to report its sensing capabilities, all four interaction methods exist in these two sensing modes. It should be noted that in sensing modes involving the UE, it is assumed that the SF and UE interact through non-access stratum signaling, and the interaction process is transparent to the base station, thus avoiding the complexity brought about by the interaction of three levels of nodes: SF, gNB, and UE.

[0145] 3. Inductive RAN Architecture

[0146] As shown in Figure 5, when the CU and DU are not separated, the gNB or the RAN as a whole is responsible for providing the sensing function; when the CU and DU are separated, the gNB-CU is responsible for transmitting sensing control signaling, and the gNB-DU, as a sensing unit, is responsible for specific sensing functions. The terminal device or UE connects to the RAN through the Uu port to provide sensing functions, transmit and receive sensing signals, process preliminary sensing results, and report sensing results, reporting the sensing results to the SF through the air interface.

[0147] For converged sensing service scenarios, a new module is considered to be introduced on the RAN side, such as a sensing unit (SU). The name is not limited in this application and can be any other name. The SU can be a function or entity within the gNB, connected to the CU via an interface similar to F1, together forming a RAN node. Alternatively, the SU can be a function or entity outside the gNB, responsible for performing sensing-related functions, connected to the gNB via an interface similar to Xn. The gNB can contain CU and DU. The SU can be directly or indirectly connected to the core network element SF for interacting with sensing requirements. The SU can also be connected to core network elements such as AMF / UPF or CU / DU / RU for transmitting sensing-related information or data.

[0148] 4. Reporting of relevant sensing data

[0149] Depending on the specific sensing scenarios and business requirements, the sensing signals received by the sensing device may need to be processed by one or more processing nodes, such as the UE (User Equipment), base station, NWDAF (Non-WDAF), SF (Signal Server), or sensing server, to obtain the final sensing measurement data or sensing results. Sensing data includes:

[0150] Received sensing signals, raw channel information, or raw sensing data: complex results of the received sensing signals or their channel responses, such as amplitude / phase, I-channel / Q-channel and their related calculation results;

[0151] Sensing measurement data: Measurement data obtained based on the processing of received signals or raw channel information, such as the time delay, Doppler, angle, and intensity of sampling points, and their multi-dimensional combined representations, such as time delay spread spectrum, Doppler spectrum, micro-Doppler spectrum, angle spectrum, signal intensity spectrum, etc. (which can be called preliminary sensing data); or the position, velocity, and intensity of sampling points, and their multi-dimensional combined representations, such as coordinate point sets and point clouds (which can be called intermediate sensing data);

[0152] Perception Results: Based on further calculations and analysis of the perception measurement data, the data obtained are related to business functions and performance, such as the presence of a target, the target's distance, speed, orientation, acceleration, position, trajectory, action, expression, breathing rate / heart rate, imaging results, weather, air quality, material and composition, etc.

[0153] The required sensing measurement data may differ under different sensing modes, but in general, sensing measurement data may include multiple levels. The above is just one example of the sensing measurement data level division, and other level divisions are not excluded.

[0154] The sensing target can be a moving target, including moving targets such as drones and vehicles; the sensing data can be any form of data related to the sensing target, determined based on the sensing target, including raw sensing data, sensing measurement data, and sensing results; the sensing results can be the results obtained by processing the sensing measurement data, such as the distance, speed, orientation, acceleration, position, and size of the drone or vehicle.

[0155] The purpose of the perception measurement reporting process is to perform corresponding measurements and report the perception measurement data after the gNB completes the perception method configuration. Perception measurement reporting can be divided into gNB proactive perception measurement reporting and SF-requested perception measurement reporting. In the gNB proactive reporting mode, the gNB reports data only when the configured thresholds are met.

[0156] 5. Sensing data processing

[0157] Figure 6 shows a schematic diagram of an algorithm for processing sensing data. This is for reference only, and the specific steps for processing sensing data are not limited in this application. The range-Doppler spectrum (RD spectrum, also known as RD map) or range-velocity spectrum (RV spectrum) generation module mainly generates the RD spectrum data corresponding to a frame based on the range spectrum data of that frame. The constant false alarm rate (CFAR) detection module detects all valid point targets within a given frame. The RVA estimation module outputs the range (R), velocity (V), and azimuth (V) of all point targets. The clustering module clusters the input point targets to obtain the real targets and returns their centroid information. The trajectory initialization module initializes the trajectory and trajectory state vector using the clustering information of the first frame. The trajectory prediction module predicts the trajectory state of the next frame based on the trajectory state of the current frame. The prediction method is to use the system motion model (i.e., uniformly accelerated linear motion) for state transition. The trajectory tracking module associates the clustered targets and existing trajectories in the current frame and updates the trajectory state of the associated trajectories using Kalman filtering.

[0158] For example, based on the preceding description of sensing-related data, in the process of processing sensing data, signal processing is performed on the raw sensing data to obtain the signal range spectrum; the signal range spectrum, RD spectrum, and RV spectrum, as well as the data processed by CFAR detection, RVA estimation, and clustering, are all sensing measurement data. Among them, the preliminary sensing data may include the signal range spectrum, RD spectrum, and RV spectrum, as well as the data processed by CFAR detection and RVA estimation, and the intermediate sensing data may include the data after clustering; after further data processing of the sensing measurement data, sensing results at different stages are obtained.

[0159] 6. Determination of the point cloud of the perceived target

[0160] A point cloud is a collection of points in three-dimensional space, typically represented by three-dimensional coordinates (x, y, z), used to represent the geometry and location of objects in space. A point cloud can also be a collection of signal sampling points, including the sampling point's time delay, Doppler effect, angle, intensity, and their multidimensional combinations. To achieve target perception, clustering operations are performed on the aforementioned point cloud data to obtain a point cloud of the perceived target, determining at least one of the following: the number, location, distance, angle, velocity, and acceleration of the perceived target in space.

[0161] Clustering is the process of dividing a dataset into different classes or clusters according to a specific criterion (such as distance), maximizing the similarity of data objects within the same cluster and maximizing the differences between data objects in different clusters. This aims to group data of the same class together and separate data of different classes as much as possible. By clustering point clouds, features can be extracted from the centroids of the clusters, leading to further perceptual results.

[0162] Density-based spatial clustering of applications with noise (DBSCAN) is a density-based clustering algorithm. DBSCAN defines a cluster as the largest set of density-connected points, dividing regions with sufficiently high density into clusters. DBSCAN assumes that the class can be determined by the density of the sample distribution; samples of the same class are closely connected. DBSCAN includes two parameters: the cluster radius R and the minimum number of points MinPoints. A cluster is considered dense when the number of points in R is greater than MinPoints. DBSCAN includes three types of points: core points, boundary points, and noise points. Core points have at least MinPoints points in R; boundary points have core points in R but are not themselves core points; noise points are points that are neither core points nor boundary points. If point p is within the R neighborhood of point q, and q is a core point, then p is directly density-reachable from q. If there are n points p1, ..., p2... n , where each point p i+1 All by p i If the direct density is attainable, then p1 and p n Density is achievable. The DBSCAN algorithm flow is as follows:

[0163] Determine R, MinPoints, and point cloud data Ω;

[0164] Find core points to form temporary clusters: Scan all sample points in the point cloud. If the number of points in the R neighborhood of a sample point is greater than or equal to MinPoints, then include it in the core point list; form temporary clusters of points in the R neighborhood of the core points.

[0165] Merging temporary clusters to obtain a cluster: Traverse the core point of all temporary clusters and find the set of samples that can be reached by density from the core point, which is a cluster; continue to perform the same merging operation on the remaining temporary clusters until all temporary clusters have been processed.

[0166] Output the clusters.

[0167] Based on the above algorithm, the point cloud Ω can be clustered into a new point set or centroid Θ. Ω can be a set containing spatial coordinate points and / or sampling point features; Θ is the clustered point set or centroid, used for feature extraction or further processing to obtain perceptual results, and Θ can also be called a point cloud. DBSCAN is only an example, and other methods can be used to cluster point clouds, which are not limited in this application.

[0168] Under different sensor network architectures and RAN architectures, the connection relationships between sensing network elements and other network elements vary. Furthermore, under different sensing scenarios and service requirements, the content reported by sensing data processing nodes and sensing data also differs. In some architectures, if a node determining the point cloud of a sensing target lacks parameters or sensing data for clustering, the node cannot obtain an accurate point cloud of the sensing target and thus cannot obtain the corresponding sensing results. To address this technical problem, in this embodiment, by introducing inter-node interaction indication information for different sensing data processing nodes under different network architectures to determine the point cloud, the sensor network can determine the point cloud of the sensing target based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data.

[0169] Figure 7 is a flowchart illustrating the communication method provided in an embodiment of this application. This communication method is applicable to the aforementioned communication system, including interactions between core network elements, SUs, RAN / gNBs, or terminal devices in a sensor network. The RAN / gNB may further include CUs, DUs, or SUs. The communication method also includes interactions between core network elements, SUs, CUs, DUs, or terminal devices. An embodiment of this application includes an information transmission method, where the information sender is a first device and the information receiver is a second device. The first device and the second device are respectively one of a core network element, SU, RAN / gNB, CU, DU, or terminal device. Unless otherwise specified, the device in this application can refer to the device itself, a module within the device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the first device. For ease of description, the following description uses the second device as the subject determining the second sensing data and the first device as the node interacting with the first information.

[0170] S601, the first device sends the first information, and correspondingly, the second device receives the first information.

[0171] The first information includes at least one of the following: first configuration information, first sensing parameters, or first sensing data. The first configuration information includes sensing resource configuration information and / or sensing resolution. The sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution. The first sensing parameters include cluster radius and / or minimum number of points. The first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal.

[0172] In this application, the sensing resource configuration information can be understood as the parameters corresponding to the transmitted sensing signal; the sensing resolution can be understood as the closest proximity between two distinguishable neighboring targets. The bandwidth of the sensing signal can be understood as the bandwidth used by the transmitted sensing signal; the time interval of the sensing signal can be understood as the time interval between two adjacent sensing signals, the sampling interval, or the repetition period; the antenna information can be understood as the array aperture of the antenna receiving the sensing signal, or the half-power (3dB) beamwidth. The ability of wireless sensing to distinguish neighboring targets is mainly evaluated from three aspects: distance, velocity, and angle. The distance resolution depends on the bandwidth of the sensing signal, the velocity resolution depends on the time interval of the sensing signal, and the angular resolution depends on the antenna beamwidth. The clustering radius and the minimum number of points are the parameters used in the aforementioned clustering algorithm. The information of the echo signal can be understood as the data corresponding to the signal generated by the reflection of the sensing signal from targets in the environment, the original sensing data, the received signal, or the original channel information; the sensing measurement data determined based on the echo signal can be understood as the preliminary sensing data obtained by processing the information of the echo signal. As can be understood, based on the definition of point cloud above, a collection of points with different dimensional attributes, such as spatial coordinate points and signal sampling points, can be called a point cloud. Therefore, first-sensory data can also be understood as a point cloud, or a set of point clouds, and first-sensory data can also include a first set of point clouds.

[0173] For example, the bandwidth of the sensing signal can be indicated by the locationAndBandwidth parameter in RRC signaling, which specifies the frequency domain location and bandwidth of the Bandwidth Part (BWP), or by the startingRB and nrofRBs parameters, which specify the starting location and number of PRBs; sensing resource configuration information, sensing resolution, cluster radius, minimum number of points, or the first sensing data can be configured or indicated by RRC signaling, MAC signaling, or physical layer signaling, or by control plane signaling, user plane signaling, or by inter-network element interface transmission; sensing resolution can be expressed by the following formulas: ΔR=c / (2B) (1) Δv=λ / (2MT) (2) θ 3dB ≈0.886λ / D (3)

[0174] Where ΔR is the distance resolution, c is the speed of light, B is the bandwidth of the sensing signal; Δv is the velocity resolution, λ is the wavelength of the sensing signal, M is the number of sensing signals, and T is the period of the sensing signal; θ 3dBThe angular resolution can be approximated as a 3dB beamwidth, where D is the antenna array aperture. It can be understood that, according to formulas (1), (2), and (3), there is a correspondence between the sensing resource configuration information and the sensing resolution. That is, the bandwidth of the sensing signal corresponds to the distance resolution, the time interval of the sensing signal corresponds to the velocity resolution, and the antenna information corresponds to the angular resolution. Therefore, when the second device only obtains the sensing resource configuration information, or the sensing resolution, it can also obtain another type of information based on the formula relationship.

[0175] S602, the second device determines second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0176] Here, the second sensing data, specifically the point cloud of the sensing target, can be understood as data obtained by clustering the first sensing data. The second sensing data, specifically the data of the sensing target determined based on the point cloud of the sensing target, can be understood as the sensing result obtained by further processing the data after clustering the first sensing data. Determining the second sensing data based on the first information can be understood as determining the second sensing data based on the first configuration information, the first sensing parameters, or one or more of the first sensing data using a clustering algorithm.

[0177] For example, the second sensing data can be intermediate sensing data, which is the result of clustering the initial sensing data to obtain sensing target or centroid information; the second sensing data can also be the sensing result obtained by further processing the intermediate sensing data, including data related to business functions and performance such as the target's distance, velocity, acceleration, position, trajectory, and material. The descriptions of initial sensing data, intermediate sensing data, and sensing results are as described above and will not be repeated here. For instance, the first sensing data may be a set of multiple points, where each point has attributes such as distance, velocity, and direction; the second sensing data may also consist of multiple points, but these points can correspond to the same target, meaning there is a correspondence between points and targets.

[0178] Optionally, the second device determines second sensing data based on the first information. The second sensing data is a second point cloud set of the sensing target, and this second point cloud set belongs to the first point cloud set. According to the description of the first point cloud set in S601, the second sensing data is the result of clustering the first point cloud set. By clustering the first point cloud set, clusters can be obtained, resulting in a new set of points or centroids, which is the second point cloud set. It can be understood that clustering divides a dataset into different clusters; therefore, the clustered second point cloud set belongs to the first point cloud set, meaning the second point cloud set is a subset of the first point cloud set. It can also be understood that the second point cloud set includes the point cloud of the sensing target.

[0179] In one possible implementation, the second device determining the second sensing data based on the first information further includes: the second device determining first sensing parameters based on first configuration information in the first information, and determining the second sensing data based on the first sensing parameters. The second device determining the first sensing parameters based on the first configuration information in the first information can be understood as the second device determining the cluster radius and / or the minimum number of points based on at least one of the distance resolution, velocity resolution, or angular resolution of the sensing resolution in the first information. Since there is a correspondence between the sensing resource configuration information and the sensing resolution, the second device can also determine the cluster radius and / or the minimum number of points based on the sensing resource configuration information in the first information. For example, when the sensing resolution is high, finer-grained points can be distinguished, and a smaller cluster radius or a larger number of minimum points can be selected; when the sensing resolution is low, only coarser-grained points can be distinguished, and a larger cluster radius or a smaller number of minimum points can be selected. For example, when the signal bandwidth is large, the time interval is small, or the antenna aperture is large, finer-grained points can be distinguished. In this case, a smaller cluster radius or a larger number of minimum points can be selected. Conversely, when the signal bandwidth is small, the time interval is long, or the antenna aperture is small, only coarser-grained points can be distinguished. In this case, a larger cluster radius or a smaller number of minimum points can be selected. After determining the first sensing parameters, the second device can determine the second sensing data based on the first sensing parameters and the first sensing data using the aforementioned clustering algorithm. For instance, when the distance resolution is 0.5m, the cluster radius should be greater than 0.5m.

[0180] In one possible implementation, the second device determining the second sensing data based on the first information further includes: the second device determining a first sensing parameter based on sensing resource configuration information and / or sensing resolution, and determining the second sensing data based on the first sensing parameter. The method by which the second device determines the first sensing parameter based on the sensing resource configuration information and / or sensing resolution, and determines the second sensing data based on the first sensing parameter, is the same as the method described above, and will not be repeated here.

[0181] It is understood that by introducing first information for determining the target point cloud through inter-node interaction in the second device, the second device can perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target, thus solving the problem of inaccurate sensing results caused by the inability of nodes to obtain clustering-related information in the communication sensing system.

[0182] Optionally, the method further includes S603 before S602, in which the second device receives an echo signal, which is used to determine the first sensing data. In this embodiment, the echo signal can be understood as a signal generated by the reflection of the sensing signal by a target in the environment, and the second device can process the echo signal to obtain the original sensing data.

[0183] Optionally, the method further includes S604 and S605 before S601 or S603. In S604, the second device sends second configuration information, and correspondingly, the first device receives the second configuration information. In S605, the second device sends a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the first device receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information; or, the second device receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the first device sends the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. The second device sending the second configuration information can be understood as the second device sending frequency domain and / or time domain resource indication information to the first device, instructing the first device to receive or send a sensing signal on the corresponding frequency domain and / or time domain resource.

[0184] Optionally, the method further includes S606, whereby the second device sends first configuration information, and correspondingly, the first device receives the first configuration information. The second device sending the first configuration information can be understood as the second device sending configuration parameters of the sensing signal to the first device, instructing the first device to receive or send the sensing signal according to these parameters.

[0185] Optionally, the method further includes S607, whereby the second device sends second information, and correspondingly, the first device receives the second information, which indicates second sensing data.

[0186] The above embodiments illustrate a method for the first and second devices to interact with first information when the second device is determining the subject of the second sensing data. By receiving the first information from the first device, the second device can perform clustering of the first sensing data based on at least one of the following: first configuration information, first sensing parameters, or the first sensing data, thereby determining the point cloud of the sensing target. In the above embodiments, the first and second devices can be one of SF, SU, RAN / gNB, CU, DU, or a terminal device, respectively. The following explanation uses gNB as an example to illustrate RAN; the definition of RAN can be referred to the relevant description in Figure 1, and will not be repeated here.

[0187] The communication method provided in this application embodiment will be described below with reference to specific network elements or nodes in Figure 8. This communication method includes interaction between the SF, gNB, and UE. The information sending end is a first device, and the information receiving end is a second device, wherein the second device is the gNB and the first device is the SF.

[0188] S1101, SF sends the first information to gNB, and correspondingly, gNB receives the first information from SF.

[0189] The first information includes first configuration information, or first perception parameters; the first configuration information includes perception resource configuration information and / or perception resolution, and the first perception parameters include cluster radius and / or minimum number of points. The definitions of the first configuration information and the first perception parameters can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0190] In this embodiment, the SF may send the first information to the gNB in ​​two ways: One possible way is that the SF can send the first information to the gNB via control plane signaling, through the AMF, or directly. Specifically, the SF can send the first information via the N2 interface or the interface between the SF and the gNB, related to the perception session, such as a perception session establishment request, perception measurement request, perception activation request, or perception data reporting request. Another possible way is that the SF can send the first information to the gNB via user plane signaling, through the UPF, or directly. Specifically, the SF can send the first information via the N3 interface or the interface between the SF and the gNB, either through user plane data packets or data packet headers, or through control data packets; the SF can also indicate that this data packet is an auxiliary information data packet.

[0191] Optionally, the method further includes S1103, whereby the UE sends first sensing data to the gNB, and correspondingly, the gNB receives the first sensing data from the UE. The first sensing data includes information about the echo signal, the received sensing signal, or the original channel information.

[0192] S1102, gNB determines second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0193] It is understood that, based on the method for determining the second sensing data in S602, the gNB can determine the second sensing data based on the first configuration information in the first information and the first sensing data sent by the UE; or, the gNB can determine the second sensing data based on the first sensing parameters in the first information and the first sensing data sent by the UE.

[0194] In one possible implementation, the first information includes first configuration information, which includes sensing resource configuration information. The gNB determines the sensing resolution based on the sensing resource configuration information, determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In another possible implementation, the first information includes first configuration information, which includes sensing resolution. The gNB determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In yet another possible implementation, the first information includes first sensing parameters. The gNB determines the second sensing data based on the cluster radius and minimum number of points in the first sensing parameters, as well as the first sensing data. The methods for determining the second sensing data described above can be found in the relevant description in S602, and will not be repeated here.

[0195] Optionally, the method further includes S1104 and S1105 before S1102. In S1104, the gNB sends second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the gNB. The second configuration information includes frequency domain information and / or time domain information of the sensed signal. It can be understood that the second configuration information is used to instruct the UE to receive the sensed signal on the resources corresponding to the corresponding frequency domain information and / or time domain information. The definition of the second configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0196] Optionally, in step S1105, the gNB transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives the sensing signal from the gNB on the resources corresponding to the frequency domain information and / or time domain information. The sensing signal is used to determine the first sensing data.

[0197] Optionally, the method further includes S1106 before S1102. In S1106, the gNB sends first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the gNB. It can be understood that the first configuration information is used to instruct the UE to receive the sensing signal according to the configuration parameters of the corresponding sensing signal. The definition of the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0198] Optionally, the method further includes S1107, whereby the gNB sends second information to the SF, and correspondingly, the SF receives the second information from the gNB, the second information indicating second sensing data. The gNB can send the second information to the SF via control plane signaling or user plane signaling; specific methods can be found in the relevant description in S1101, and will not be repeated here. It can be understood that the SF determines the sensing result of the sensing target based on the second information.

[0199] In another implementation of S1101-S1107, S1103 and S1105 can be replaced by S1105a. In S1105a, the UE transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the gNB receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data. It can be understood that in this method, the UE transmits the sensing signal, the gNB receives the sensing signal and determines the first sensing data based on the sensing signal, and the UE no longer needs to transmit the first sensing data.

[0200] It is understandable that by determining the interface through which the SF sends the first information to the gNB and the method by which the gNB obtains the first sensing data, the gNB can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target. This solves the problem that the gNB cannot obtain clustering-related information in the communication sensing system, which leads to inaccurate sensing results. Determining the point cloud of the sensing target by the gNB can improve the transmission efficiency of sensing-related data and enhance the sensing performance.

[0201] In the above embodiments S1101-S1107, gNB can be replaced by CU and DU, and the communication method includes interaction between SF, CU, DU and UE. At this time, the second device is CU, and S1103, S1104, S1105 and S1106 can be replaced by S1103b, S1104b, S1105b and S1106b.

[0202] S1103b, the UE sends the first sensing data, and the corresponding DU receives the first sensing data.

[0203] S1104b, DU sends the second configuration information, and correspondingly, UE receives the second configuration information.

[0204] S1105b, the DU transmits sensing signals on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives sensing signals on the resources corresponding to the corresponding frequency domain information and / or time domain information.

[0205] S1106b, DU sends the first configuration information, and correspondingly, UE receives the first configuration information.

[0206] Optionally, the method further includes S1104c before S1104b. In S1104c, the CU sends the second configuration information, and correspondingly, the DU receives the second configuration information.

[0207] Optionally, the method further includes S1106c before S1106b. In S1106c, the CU sends the first configuration information, and correspondingly, the DU receives the first configuration information.

[0208] Optionally, the method further includes S1103c after S1103b. In S1103c, the DU sends the first sensing data, and correspondingly, the CU receives the first sensing data.

[0209] It is understandable that after the gNB is replaced by CU and DU, the CU and DU need to transmit the first configuration information, the second configuration information, and the first sensing data, while the DU and UE need to transmit the first configuration information, the second configuration information, the sensing signal, and the first sensing data. Optionally, in the above method, the relevant description of S1105a can also be referred to, whereby the UE sends the sensing signal and the DU receives the sensing signal.

[0210] It is understandable that by determining the interface through which the SF sends the first information to the CU and the method by which the CU obtains the first sensing data through the DU, the CU can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target. This solves the problem that the CU cannot obtain clustering-related information in the communication sensing system, which leads to inaccurate sensing results. Determining the point cloud of the sensing target by the CU can improve the transmission efficiency of sensing-related data and enhance the sensing performance.

[0211] In the above embodiments S1101-S1107, SF can be replaced by UE. In this case, gNB obtains the first sensing data from UE and the first sensing parameters from SF; CU obtains the first sensing data from UE and the first sensing parameters from SF through DU. The overall method is the same as in the above embodiments, and will not be described again here.

[0212] The above embodiments illustrate a method for the first device and the second device to interact with first information when the second device is a gNB or a CU, wherein the first device can be a UE or an SF. The gNB or CU receives the first information from the first device, enabling the gNB or CU to perform clustering based on at least one of the following: first configuration information, first perception parameters, or first perception data, to determine the accurate point cloud of the perceived target. The following describes in detail a method for the first device and the SU to interact with first information when the second device is a SU, wherein the first device can be an SF, a gNB, or a CU.

[0213] The communication method provided in this application embodiment will be described below with reference to specific network elements or nodes in Figure 9. This communication method includes interaction between SF, SU, gNB and UE. The information sending end is a first device, and the information receiving end is a second device, wherein the second device is SU and the first device is SF.

[0214] S1201, SF sends the first information to SU, and SU receives the first information from SF accordingly.

[0215] The first information includes first configuration information, or first perception parameters; the first configuration information includes perception resource configuration information and / or perception resolution, and the first perception parameters include cluster radius and / or minimum number of points. The definitions of the first configuration information and the first perception parameters can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0216] In this embodiment, the SF may send the first information to the SU in two ways: One possible way is that the SF can send the first information to the SU via control plane signaling, through the AMF, or directly. Specifically, the SF can send the first information via sensing session-related signaling, such as a sensing session establishment request, sensing measurement request, sensing activation request, or sensing data reporting request. Another possible way is that the SF can send the first information to the SU via user plane signaling, through the UPF, or directly. Specifically, the SF can send user plane data packets or data packet headers, or control data packets; the SF can also indicate that this data packet is an auxiliary information data packet.

[0217] Optionally, the method further includes S1203, whereby the gNB sends first sensing data to the SU, and correspondingly, the SU receives the first sensing data from the gNB. The first sensing data includes information about the echo signal. The definition of the first sensing data can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0218] In this embodiment, the gNB may send the first information to the SU in two ways: In one possible way, if the SU is a function or entity within the gNB, together forming a RAN node, the SU connects to the CU through the F1-S or F1-Sensing interface, and the gNB sends the first sensing data and the first configuration information to the SU through this interface; In another possible way, if the SU is a function or entity outside the gNB, the SU connects to the CU through the Xn-S or Xn-Sensing interface, and the gNB sends the first sensing data and the first configuration information to the SU through this interface.

[0219] S1202, SU determines second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0220] It is understandable that, based on the method for determining the second sensing data in S602, the SU can determine the second sensing data based on the first configuration information in the first information and the first sensing data sent by the gNB, or the SU can determine the second sensing data based on the first sensing parameters in the first information and the first sensing data sent by the gNB.

[0221] In one possible implementation, the first information includes first configuration information, which includes sensing resource configuration information. The gNB determines the sensing resolution based on the sensing resource configuration information, determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In another possible implementation, the first information includes first configuration information, which includes sensing resolution. The gNB determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In yet another possible implementation, the first information includes first sensing parameters. The gNB determines the second sensing data based on the cluster radius and minimum number of points in the first sensing parameters, as well as the first sensing data. The methods for determining the second sensing data described above can be found in the relevant description in S602, and will not be repeated here.

[0222] Optionally, the method further includes S1204 before S1202. In S1204, the UE sends first sensing data to the gNB, and correspondingly, the gNB receives the first sensing data from the UE.

[0223] Optionally, the method further includes S1205 and S1206 before S1202. In S1205, the gNB sends second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the gNB. The second configuration information includes frequency domain information and / or time domain information of the sensed signal. It can be understood that the second configuration information is used to instruct the UE to receive the sensed signal on the resources corresponding to the corresponding frequency domain information and / or time domain information.

[0224] Optionally, in S1206, the gNB transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives the sensing signal from the gNB on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data transmitted by the UE in S1205.

[0225] Optionally, the method further includes S1207 before S1202. In S1207, the gNB sends first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the gNB. It can be understood that the first configuration information is used to instruct the UE to receive the sensing signal according to the configuration parameters of the corresponding sensing signal. The definition of the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0226] Optionally, the method further includes S1208, whereby the SU sends second information to the SF, and correspondingly, the SF receives the second information from the SU, the second information indicating second sensing data. The SU can send the second information to the SF via control plane signaling or user plane signaling; for details, please refer to the relevant description in S1201, which will not be repeated here.

[0227] In another implementation of S1201-S1208, S1206 and S1204 can be replaced by S1204a. In S1204a, the UE transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the gNB receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data. It can be understood that in this method, the UE transmits the sensing signal, the gNB receives the sensing signal and determines the first sensing data, and the UE no longer needs to transmit the first sensing data.

[0228] It is understandable that by determining the interface through which the SF sends the first information to the SU and the method by which the SU obtains the first sensing data through the gNB, the SU can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target. This solves the problem that the SU cannot obtain clustering-related information in the communication sensing system, which leads to inaccurate sensing results. Determining the point cloud of the sensing target by the SU can improve the processing capability of sensing-related data and enhance the communication sensing performance.

[0229] In the above embodiments S1201-S1207, gNB can be replaced by CU and DU, and the communication method includes interaction between SF, SU, CU, DU and UE. At this time, S1203, S1204, S1205, S1206 and S1207 can be replaced by S1203b, S1204b, S1205b, S1206b and S1207b.

[0230] S1203b, the CU sends the first sensing data to the SU, and correspondingly, the SU receives the first sensing data from the CU. The CU sends the first sensing data to the SU through the F1-S interface or the F1-Sensing interface.

[0231] S1204b, the UE sends the first sensing data to the DU, and correspondingly, the DU receives the first sensing data from the UE.

[0232] S1205b, the DU sends the second configuration information to the UE, and the UE receives the second configuration information from the DU accordingly.

[0233] S1206b, the DU transmits sensing signals on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives sensing signals on the resources corresponding to the corresponding frequency domain information and / or time domain information.

[0234] S1207b, the DU sends the first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the DU.

[0235] Optionally, the method further includes S1205c before S1205b. In S1205c, the CU sends second configuration information to the DU, and correspondingly, the DU receives the second configuration information from the CU.

[0236] Optionally, the method further includes S1207c before S1207b. In S1207c, the CU sends first configuration information to the DU, and correspondingly, the DU receives the first configuration information from the CU.

[0237] Optionally, the method further includes S1204c after S1204b. In S1204c, the DU sends first sensing data to the CU, and correspondingly, the CU receives the first sensing data from the DU.

[0238] It is understandable that after the gNB is replaced by CU and DU, the CU and DU need to transmit first configuration information, second configuration information, and first sensing data, while the DU and UE need to transmit first configuration information, second configuration information, sensing signals, and first sensing data. In the above method, the relevant description in S1204a can also be referred to: the UE sends sensing signals, and the DU receives sensing signals.

[0239] It is understandable that by determining the interface through which the SF sends the first information to the SU and the method by which the SU obtains the first sensing data through the CU, the SU can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target, thus solving the problem that the SU cannot obtain clustering-related information in the communication sensing system, resulting in inaccurate sensing results.

[0240] In the above embodiments S1201-S1207, the first device can be replaced by a CU, DU, or gNB. In this case, the second device obtains the first configuration information or the first sensing parameter, as well as the first sensing data, from the first device. The overall method is the same as in the above embodiments and will not be repeated here.

[0241] The above embodiments illustrate a method for the first device and the second device to interact with first information when the second device is a SU, wherein the first device can be a gNB / CU or an SF. By receiving the first information from the first device, the SU can perform clustering based on at least one of the first configuration information, first sensing parameters, or first sensing data, to determine the accurate point cloud of the sensing target. The following describes in detail the method for the first device and the SF to interact with first information when the second device is an SF, wherein the first device can be a gNB or a CU.

[0242] The communication method provided in this application embodiment will be described below with reference to specific network elements or nodes in Figure 10. This communication method includes interaction between the SF, gNB, and UE. The information sending end is a first device, and the information receiving end is a second device, wherein the second device is the SF and the first device is the gNB.

[0243] S1301, gNB sends the first information to SF, and SF receives the first information from gNB accordingly.

[0244] The first information includes first sensing data and first configuration information, first sensing parameters and first sensing data, or first sensing data. The first sensing data includes information about the echo signal; the first configuration information includes sensing resource configuration information and / or sensing resolution; and the first sensing parameters include cluster radius and / or minimum number of points. The definitions of the first sensing data, first sensing parameters, and first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0245] One possible approach is for the gNB to send the first configuration information and / or first sensing data to the SF via control plane signaling, either through the AMF or directly. Specifically, the gNB can send the first configuration information and / or first sensing data through sensing session-related signaling on the N2 interface or the interface between the gNB and the SF, such as sensing session establishment requests, sensing measurement requests, sensing activation requests, or sensing data reporting requests. Another possible approach is for the gNB to send the first configuration information and / or first sensing data to the SF via user plane signaling, either through the UPF or directly. Specifically, the gNB can send the data via the N3 interface or the interface between the gNB and the SF, either through user plane data packets or data packet headers, or through control data packets; the gNB can also indicate that this data packet is an auxiliary information data packet.

[0246] Optionally, the method further includes S1303 before S1301. In S1303, the UE sends first sensing data to the gNB, and correspondingly, the gNB receives the first sensing data from the UE.

[0247] S1302, SF determines the second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0248] In one possible implementation, the first information includes first sensing data and first configuration information. The first configuration information includes sensing resource configuration information. The SF determines the sensing resolution based on the sensing resource configuration information, determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, cluster radius, and minimum number of points. In another possible implementation, the first information includes first sensing data and first configuration information. The first configuration information includes the sensing resolution. The SF determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, cluster radius, and minimum number of points. In another possible implementation, the first information includes first sensing parameters and first sensing data. The SF determines the second sensing data based on the cluster radius and minimum number of points in the first sensing parameters, and the first sensing data. In yet another possible implementation, the first information includes first sensing data. The SF determines the second sensing data based on the cluster radius and minimum number of points, and the first sensing data, wherein the cluster radius and minimum number of points are determined by the SF. The method for determining the second sensing data described above can be found in the relevant description in S602, and will not be repeated here.

[0249] Optionally, the method further includes S1304 and S1305 before S1301. In S1304, the gNB sends second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the gNB. The second configuration information includes frequency domain information and / or time domain information of the sensed signal. It can be understood that the second configuration information is used to instruct the UE to receive the sensed signal on the resources corresponding to the corresponding frequency domain information and / or time domain information.

[0250] Optionally, in S1305, the gNB transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives the sensing signal from the gNB on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data in S1303.

[0251] Optionally, the method further includes S1306 before S1302. In S1306, the gNB sends first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the gNB. It can be understood that the first configuration information is used to instruct the UE to receive the sensing signal according to the configuration parameters of the corresponding sensing signal. The definition of the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0252] In another implementation of S1301-S1306, S1303 and S1305 can be replaced by S1305a. In S1305a, the UE transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the gNB receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data. It can be understood that in this method, the UE transmits the sensing signal, the gNB receives the sensing signal and determines the first sensing data, and the UE no longer needs to transmit the first sensing data.

[0253] It is understandable that by determining the interface through which the gNB sends the first information to the SF, the SF can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target. This solves the problem that the SF cannot obtain clustering-related information in the communication sensing system, which leads to inaccurate sensing results. Determining the point cloud of the sensing target by the SF can improve the processing capability of sensing-related data and enhance the sensing performance.

[0254] In the above embodiments S1301-S1306, gNB can be replaced by CU and DU, and the communication method includes interaction between SF, CU, DU and UE. At this time, the first device is CU, and S1303, S1304, S1305 and S1306 can be replaced by S1303b, S1304b, S1305b and S1306b.

[0255] S1303b, the UE sends the first sensing data to the DU, and correspondingly, the DU receives the first sensing data from the UE.

[0256] S1304b, the DU sends the second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the DU.

[0257] S1305b, the DU transmits sensing signals on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives sensing signals on the resources corresponding to the corresponding frequency domain information and / or time domain information.

[0258] S1306b, DU sends the first configuration information, and correspondingly, UE receives the first configuration information.

[0259] Optionally, the method further includes S1304c before S1304b. In S1304c, the CU sends second configuration information to the DU, and correspondingly, the DU receives the second configuration information from the CU.

[0260] Optionally, the method further includes S1306c before S1306b. In S1306c, the CU sends the first configuration information, and correspondingly, the DU receives the first configuration information.

[0261] Optionally, the method further includes S1303c after S1303b. In S1303c, the DU sends first sensing data to the CU, and correspondingly, the CU receives the first sensing data from the DU.

[0262] It is understandable that after the gNB is replaced by CU and DU, CU and DU need to exchange first configuration information, second configuration information, and first sensing data, while DU and UE need to exchange first configuration information, second configuration information, first sensing data, and sensing signals. In the above method, the relevant description in S1305a can also be referred to, whereby the UE sends sensing signals and DU receives sensing signals.

[0263] It is understandable that by determining the interface through which the CU sends the first information to the SF, the SF can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target, thus solving the problem that the SF cannot obtain clustering-related information in the communication sensing system, resulting in inaccurate sensing results.

[0264] The above embodiments illustrate a method for the first device and the second device to interact with first information when the second device is an SF (Secondary Component Store). The first device can be a CU (Computer Integrated Circuit) or a gNB (Gateway Node). By receiving the first information from the first device, the SF can perform clustering based on at least one of the following: first configuration information, first perception parameters, or first perception data, to determine the accurate point cloud of the perceived target. The following describes in detail a method for the first device and the DU to interact with first information when the second device is a DU (User Integrated Circuit). The first device can be a CU or a UE (User Equipment).

[0265] The communication method provided in this application embodiment will be described below with reference to specific network elements or nodes in Figure 11. This communication method includes interaction between SF, CU, DU and UE. The information sending end is a first device, and the information receiving end is a second device, wherein the second device is DU and the first device is CU.

[0266] S1401, CU sends the first information to DU, and DU receives the first information from CU accordingly.

[0267] The first information includes first configuration information, or first sensing parameters; the first configuration information includes sensing resource configuration information and / or sensing resolution, and the first sensing parameters include cluster radius and / or minimum number of points. The definitions of the first sensing parameters and the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0268] Optionally, the method further includes S1403, whereby the UE sends first sensing data to the DU, and correspondingly, the DU receives the first sensing data from the UE. The first sensing data includes information about the echo signal. The definition of the first sensing data can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0269] S1402, DU determines second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0270] In one possible implementation, the first information includes first configuration information, which includes sensing resource configuration information. The DU determines the sensing resolution based on the sensing resource configuration information, determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In another possible implementation, the first information includes first configuration information, which includes sensing resolution. The DU determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In yet another possible implementation, the first information includes first sensing parameters. The DU determines the second sensing data based on the cluster radius and minimum number of points in the first sensing parameters, as well as the first sensing data. The methods for determining the second sensing data described above can be found in the relevant description in S602, and will not be repeated here.

[0271] Optionally, the method further includes S1404 and S1405 before S1402. In S1404, the DU sends second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the DU. The second configuration information includes frequency domain information and / or time domain information of the sensed signal. It can be understood that the second configuration information is used to instruct the UE to receive the sensed signal on the resources corresponding to the respective frequency domain information and / or time domain information.

[0272] Optionally, in S1405, the DU transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. The sensing signal is used to determine the first sensing data transmitted by the UE in S1403.

[0273] Optionally, the method further includes S1406 before S1402. In S1406, the DU sends first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the DU. It can be understood that the first configuration information is used to instruct the UE to receive the sensing signal according to the configuration parameters of the corresponding sensing signal. The definition of the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0274] Optionally, the method further includes S1407 before S1402. In S1407, the CU sends first configuration information to the DU, and correspondingly, the DU receives the first configuration information from the CU.

[0275] Optionally, the method further includes S1408 before S1402. In S1408, the CU sends second configuration information to the DU, and correspondingly, the DU receives the second configuration information from the CU.

[0276] Optionally, the method further includes S1409 before S1402. In S1409, the SF sends first information to the CU, and correspondingly, the CU receives the first information from the SF. The SF can send the second information to the CU via control plane signaling or user plane signaling. For details, please refer to the relevant description in S1101, which will not be repeated here.

[0277] Optionally, the method further includes S1410, whereby the DU sends second information to the CU, and correspondingly, the CU receives the second information from the DU, the second information indicating second sensing data.

[0278] Optionally, the method further includes S1411, whereby the CU sends second information to the SF, and correspondingly, the SF receives the second information from the CU. The CU can send the second information to the SF via control plane signaling or user plane signaling; specific methods can be found in the relevant description in S1101, and will not be repeated here. It can be understood that the SF determines the perception result of the perceived target based on the second information.

[0279] In another implementation of S1401-S1411, S1403 and S1405 can be replaced by S1403a. In S1403a, the UE transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the DU receives the sensing signal on the resources corresponding to the frequency domain information and / or time domain information. This sensing signal is used to determine the first sensing data. It can be understood that in this method, the UE transmits the sensing signal, the DU receives the sensing signal and determines the first sensing data, and the UE no longer needs to transmit the first sensing data.

[0280] It is understandable that by determining the interface through which the CU sends the first information to the DU and the method by which the DU obtains the first sensing data through the UE, the DU can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target, thus solving the problem that the DU cannot obtain clustering-related information in the communication sensing system, resulting in inaccurate sensing results.

[0281] In the above embodiments S1401-S1411, the CU can be replaced by the UE. In this case, the DU obtains first sensing data from the UE and first configuration information, or first sensing parameters, from the CU. The overall method is the same as in the above embodiments, and will not be described again here.

[0282] The above embodiments illustrate a method for the first device and the second device to interact with first information when the second device is a DU, wherein the first device can be a UE or a CU. The DU receives the first information from the first device, enabling the DU to perform clustering based on at least one of the following: first configuration information, first perception parameters, or first perception data, to determine the accurate point cloud of the perceived target. The method for the first device and the UE to interact with first information when the second device is a UE is described in detail below, wherein the first device can be a gNB or a DU.

[0283] The communication method provided in this application embodiment will be described below with reference to specific network elements or nodes in Figure 12. This communication method includes interaction between the SF, gNB, and UE. The information sending end is a first device, and the information receiving end is a second device, wherein the second device is the UE, and the first device is the gNB.

[0284] S1501, gNB sends first information to UE, and correspondingly, UE receives first information from gNB.

[0285] The first information includes first configuration information, or first perception parameters; the first configuration information includes perception resource configuration information and / or perception resolution, and the first perception parameters include cluster radius and / or minimum number of points. The definitions of the first configuration information and the first perception parameters can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0286] Optionally, the method further includes S1503, whereby the gNB sends second configuration information to the UE, and correspondingly, the UE receives the second configuration information from the gNB. The second configuration information includes frequency domain information and / or time domain information of the sensed signal. It can be understood that the second configuration information is used to instruct the UE to receive the sensed signal on the resources corresponding to the respective frequency domain information and / or time domain information.

[0287] Optionally, the method further includes S1504, whereby the gNB transmits a sensing signal on the resources corresponding to the frequency domain information and / or time domain information, and correspondingly, the UE receives the sensing signal from the gNB on the resources corresponding to the frequency domain information and / or time domain information. The sensing signal is used to determine the first sensing data.

[0288] S1502, the UE determines the second sensing data based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

[0289] In one possible implementation, the first information includes first configuration information, which includes sensing resource configuration information. The UE determines the sensing resolution based on the sensing resource configuration information, determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In another possible implementation, the first information includes first configuration information, which includes sensing resolution. The UE determines the cluster radius and minimum number of points based on the sensing resolution, and then determines the second sensing data based on the first sensing data, the cluster radius, and the minimum number of points. In yet another possible implementation, the first information includes first sensing parameters. The UE determines the second sensing data based on the cluster radius and minimum number of points in the first sensing parameters, and the first sensing data. The first sensing data is determined by the UE based on sensing signals. The method for determining the second sensing data described above can be found in the relevant description in S602, and will not be repeated here.

[0290] Optionally, the method further includes S1505 before S1502. In S1505, the gNB sends first configuration information to the UE, and correspondingly, the UE receives the first configuration information from the gNB. It can be understood that the first configuration information is used to instruct the UE to receive the sensing signal according to the configuration parameters of the corresponding sensing signal. The definition of the first configuration information can be found in the relevant descriptions in S601 and S602, and will not be repeated here.

[0291] Optionally, the method further includes S1506 before S1502. In S1506, the SF sends first information to the gNB, and correspondingly, the gNB receives the first information from the SF. The SF can send the first sensing parameters to the gNB via control plane signaling or user plane signaling. The specific method can be referred to S1101, and will not be repeated here.

[0292] Optionally, the method further includes S1507, whereby the UE sends second information to the gNB, and correspondingly, the gNB receives the second information from the UE, the second information indicating second sensing data.

[0293] Optionally, the method further includes S1508, whereby the gNB sends second information to the SF, and correspondingly, the SF receives the second information from the gNB. The gNB can send the second information to the SF via control plane signaling or user plane signaling; for details, please refer to the relevant description in S1101, which will not be repeated here. It can be understood that the SF determines the perception result of the perceived target based on the second information.

[0294] It is understandable that by determining the interface through which the gNB sends the first information to the UE and the method by which the UE obtains the first sensing data, the UE can be enabled to perform clustering based on the clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, as well as sensing measurement data, to determine the accurate point cloud of the sensing target. This solves the problem that the UE cannot obtain clustering-related information in the communication sensing system, which leads to inaccurate sensing results. Determining the point cloud of the sensing target by the UE can reduce the transmission of sensing-related data and reduce the latency for the UE to obtain sensing results.

[0295] In the above embodiments S1501-S1508, gNB can be replaced by CU and DU, and the communication method includes interaction between SF, CU, DU and UE. At this time, the first device is DU, and S1506 and S1508 can be replaced by S1506b and S1508b.

[0296] S1506b, SF sends the first information to CU, and CU receives the first information from SF accordingly.

[0297] S1508b, the CU sends the second information to the SF, and the SF receives the second information from the CU accordingly.

[0298] Optionally, the method includes S1508. In S1508, the DU sends second information to the CU, and correspondingly, the CU receives the second information from the DU.

[0299] Optionally, the method further includes S1503b. In S1503b, the CU sends second configuration information to the DU, and correspondingly, the DU receives the second configuration information from the CU.

[0300] Optionally, the method further includes S1505b. In S1505b, the CU sends first configuration information to the DU, and correspondingly, the DU receives the first configuration information from the CU.

[0301] Optionally, the method further includes S1501b. In S1501b, the CU sends first information to the DU, and correspondingly, the DU receives the first information from the CU.

[0302] It is understandable that after gNB is replaced by CU and DU, CU and DU need to exchange first configuration information, second configuration information, first information and second information, and DU and UE need to exchange first configuration information, second configuration information, second information and sensing signals.

[0303] The above embodiments illustrate a method for the first device and the second device to interact with first information when the second device is a UE, wherein the first device can be a DU or a gNB. By receiving the first information from the first device, the UE can perform clustering based on at least one of the first configuration information, first perception parameters, or first perception data, and determine the accurate perception result of the perception target.

[0304] In summary, embodiments S1101-S1107, S1201-S1207, S1301-S1306, S1401-S1411, and S1501-S1508 are methods for determining accurate perception results of sensing targets by performing clustering when CU, SU, SF, DU, and UE are the subjects of the second sensing data. Through these methods, inter-node interaction can be introduced to determine indication information for point clouds for different sensing data processing nodes under different network architectures. This allows the sensory network to determine accurate perception results of sensing targets based on clustering radius and minimum number of points, or sensing resource configuration information and / or sensing resolution, and sensing measurement data.

[0305] The following describes the apparatus embodiments corresponding to the method embodiments of this application. Only a brief description of the apparatus is provided below; for specific implementation steps and details, please refer to the preceding method embodiments.

[0306] To achieve the functions of the methods provided in this application, the communication device may include hardware structures and / or software modules, implementing the aforementioned functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is implemented in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0307] The following describes in detail, with reference to Figures 13 and 14, the communication apparatus used to perform the communication method provided in the embodiments of this application.

[0308] Figure 13 is a schematic block diagram of a communication device 1000 according to an embodiment of this application. The communication device 1000 includes a processor 1010 and a communication interface 1020. Optionally, the processor 1010 and the communication interface 1020 can be interconnected via a bus. The communication device 1000 can be a first device or a second device.

[0309] Optionally, the communication device 1000 may further include a memory 1040. The memory 1040 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), cache, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), synchronous dynamic random access memory (SDRAM), hard disk drive (HDD), registers, solid-state drive (SSD), or compact disc read-only memory (CD-ROM). The memory 1040 is used to store related instructions and / or data. The memory 1040 may be integrated with the processor 1010 or disposed separately.

[0310] Processor 1010 can be a general-purpose processor or a special-purpose processor. Processor 1010 may include one or more central processing units (CPUs), application processors, modem processors, graphics processors, image signal processors, digital signal processors (DSPs), video codec processors, controllers, or neural network processors. When processor 1010 is a CPU, the CPU can be a single-core CPU or a multi-core CPU. Processor 1010 can be a signal processor, a chip, or other integrated circuit capable of implementing the methods of this application, or a portion of the circuitry within the aforementioned processor, chip, or integrated circuit for processing functions. The processor in the embodiments of this application can be 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. A general-purpose processor can be a microprocessor or any conventional processor.

[0311] The communication interface 1020 can be an input / output interface or an antenna. The input / output interface is used for inputting or outputting signals or data, or it can be an input / output circuit.

[0312] For example, the communication device 1000 is a first device, and the communication device 1000 is configured to perform the following operations: sending first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; the first configuration information including sensing resource configuration information and / or sensing resolution; the sensing resource configuration information including at least one of the following: bandwidth of sensing signals, time interval of sensing signals, or antenna information; the sensing resolution including at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters including cluster radius and / or minimum number of points; the first sensing data including information of echo signals, or sensing measurement data determined based on echo signals; the first information is used to determine second sensing data, the second sensing data being a point cloud of a sensing target, or the second sensing data being data of a sensing target determined based on the point cloud of the sensing target.

[0313] For example, the communication device 1000 is a second device, and the communication device 1000 is configured to perform the following operations: the first configuration information includes sensing resource configuration information and / or sensing resolution; the sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters include cluster radius and / or minimum number of points; the first sensing data includes information of the echo signal, or sensing measurement data determined based on the echo signal; the second sensing data is determined based on the first information, the second sensing data being a point cloud of the sensing target, or the second sensing data being data of the sensing target determined based on the point cloud of the sensing target.

[0314] The above description is for illustrative purposes only. The communication device 1000 is responsible for executing the methods or steps related to the first or second device in the foregoing method embodiments.

[0315] In one possible implementation, the communication interface 1020 can be a transceiver. The transceiver may include a transmitter and a receiver, with the transmitter performing a transmission operation and the receiver performing a reception operation. For example, the processor 1010 is used to control the transceiver to receive and / or transmit signals.

[0316] In one possible implementation, the communication interface 1020 can also be a communication circuit, pins, input / output interfaces, bus, etc.

[0317] Communication device 1000 may include a transmitter but not a receiver. Alternatively, communication device 1000 may include a receiver but not a transmitter. Specifically, it depends on whether the above-described scheme performed by communication device 1000 includes both transmitting and receiving actions.

[0318] The above description is merely exemplary. For specific details, please refer to the methods illustrated in the above embodiments. The implementation of each operation in FIG13 can also correspond to the descriptions of the method embodiments shown in FIG7 and FIG8-12. For example, the communication device 1000 can be used to execute the scheme shown in FIG7.

[0319] For example, the communication device 1000 is a first device, the processor 1010 is used to determine the first information, and the communication interface 1020 is used to send the first information.

[0320] For example, the communication device 1000 is a second device, the communication interface 1020 can be used to receive first information; the processor 1010 is used to determine second sensing data based on the first information.

[0321] For details on other implementation methods, please refer to the detailed descriptions of the embodiments shown in Figures 7 and 8-12 above, which will not be repeated here. It should be understood that the specific processes by which each component performs the corresponding processes described above have been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0322] Figure 14 is a schematic block diagram of another communication device 1100 according to an embodiment of this application. The communication device 1100 can be a first device or a second device, or it can be a chip or module in the first device or the second device, used to implement the methods involved in the embodiments shown in Figures 7 and 8 to 12. Please refer to the relevant descriptions in the above method embodiments for details.

[0323] The communication device 1100 includes a transceiver unit 1110. The transceiver unit 1110 will be described exemplarily below.

[0324] The transceiver unit 1110 may include a sending unit and a receiving unit. The sending unit is used to perform the sending action of the communication device, and the receiving unit is used to perform the receiving action of the communication device. For ease of description, the sending unit and the receiving unit are combined into one transceiver unit in this embodiment. This will be explained uniformly here and will not be repeated later. The transceiver unit 1110 can implement the corresponding communication functions. The transceiver unit 1110 may also be referred to as a communication interface or a communication module.

[0325] The communication device 1100 may include a transmitting unit but not a receiving unit. Alternatively, the communication device 1100 may include a receiving unit but not a transmitting unit. Specifically, it depends on whether the above-described scheme performed by the communication device 1100 includes both transmitting and receiving actions.

[0326] For example, the transceiver unit 1110 is used to receive a first reference signal, etc.

[0327] Optionally, the communication device 1100 may further include a processing unit 1120, which is used to perform the processing, coordination and other steps involved in the communication device 1100.

[0328] The above description is for illustrative purposes only. The communication device 1100 will be responsible for executing the relevant methods or steps in the foregoing method embodiments.

[0329] Optionally, the communication device 1100 further includes a storage unit 1130 for storing programs or code for executing the aforementioned methods. Alternatively, the storage unit 1130 can be used to store instructions and / or data, and the processing unit 1120 can read the instructions and / or data from the storage unit 1130 to enable the communication device 1100 to implement the aforementioned method embodiments.

[0330] For a detailed description of the implementation method, please refer to the embodiments shown in Figures 7 and 8-12 above, which will not be repeated here. It should be understood that the specific processes by which each component performs the corresponding processes described above have been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0331] When the communication device 1000 in Figure 13 is a chip, the communication interface 1020 can be a transceiver, input / output circuit, or communication interface of the chip. The processor 1010 can be a processor integrated on the chip, a microprocessor, or an integrated circuit. The transmitting operation of the first or second device in the above method embodiments can be understood as the output of the chip, and the receiving operation of the first or second device in the above method embodiments can be understood as the input of the chip.

[0332] When the communication device 1100 in Figure 14 is a chip, the transceiver unit 1110 can be a transceiver, input / output circuit, or communication interface of the chip. The processing unit 1120 can be a processor, microprocessor, or integrated circuit integrated on the chip. The transmitting operation of the first or second device in the above method embodiments can be understood as the output of the chip, and the receiving operation of the first or second device in the above method embodiments can be understood as the input of the chip.

[0333] This application also provides a chip, including a processor, for calling and executing instructions stored in a memory, causing a communication device on which the chip is mounted to perform the methods described in the examples above.

[0334] This application also provides another chip, including: an input interface, an output interface, and a processor, wherein the input interface, the output interface, and the processor are connected via an internal connection path, and the processor is used to execute code in a memory. When the code is executed, the processor is used to perform the methods in the examples described above. Optionally, the chip further includes a memory for storing computer programs or code.

[0335] This application also provides a processor for coupling with a memory, for performing the methods and functions related to the communication device in any of the above embodiments, or for performing the methods and functions related to the first device or the second device in any of the above embodiments.

[0336] In another embodiment of this application, a computer program product comprising a computer program or instructions is provided, wherein when the computer program product is run, the method of the foregoing embodiments is implemented.

[0337] This application also provides a computer program that, when run, enables the implementation of the methods described in the foregoing embodiments.

[0338] In another embodiment of this application, a computer-readable storage medium is provided, which stores a computer program that, when run, implements the methods described in the foregoing embodiments.

[0339] This application also provides a communication system, which includes a first device and a second device. The first device and the second device are respectively used to perform the methods performed by the first device and the second device in the foregoing embodiments.

[0340] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software 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 this application.

[0341] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0342] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0343] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0344] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0345] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essential contributing part of the technical solution of this application, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, external hard drives, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A communication method, characterized in that, include: Receive first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; The first configuration information includes sensing resource configuration information and / or sensing resolution; the sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution. The first sensing parameter includes the cluster radius and / or the minimum number of points; The first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal; The second sensing data is determined based on the first information. The second sensing data is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

2. The method according to claim 1, characterized in that, The first information includes the first sensed data. Wherein, the first sensing data includes a first point cloud set, the second sensing data is a second point cloud set of the sensing target, and the second point cloud set belongs to the first point cloud set.

3. The method according to claim 1 or 2, characterized in that, The step of determining the second sensing data based on the first information further includes: The first sensing parameter is determined based on the first configuration information in the first information, and the second sensing data is determined based on the first sensing parameter; or... The first sensing parameter is determined based on the sensing resource configuration information and / or sensing resolution, and the second sensing data is determined based on the first sensing parameter.

4. The method according to any one of claims 1-3, characterized in that, The method also includes, The echo signal is received and used to determine the first sensed data.

5. The method according to any one of claims 1-4, characterized in that, The method also includes, Send second configuration information, the second configuration information including frequency domain information and / or time domain information of the sensed signal, the frequency domain information including absolute frequency point information, relative frequency point information, wavelength, or bandwidth information, and the time domain information including time interval, or period; The sensing signal is transmitted or received on the resources corresponding to the frequency domain information and / or the time domain information.

6. The method according to any one of claims 1-5, characterized in that, The method also includes, Send a second message, which indicates the second sensed data.

7. The method according to any one of claims 1-6, characterized in that, The method also includes, Send first configuration information, and send or receive the sensing signal according to the first configuration information.

8. A communication method, characterized in that, include: Send first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; The first configuration information includes sensing resource configuration information and / or sensing resolution; the sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution. The first sensing parameter includes the cluster radius and / or the minimum number of points; The first sensing data includes information about the echo signal, or sensing measurement data determined based on the echo signal; The first information is used to determine the second sensing data, which is either a point cloud of the sensing target or data of the sensing target determined based on the point cloud of the sensing target.

9. The method according to claim 8, characterized in that, The first information includes the first sensed data. Wherein, the first sensing data includes a first point cloud set, the second sensing data is a second point cloud set of the sensing target, and the second point cloud set belongs to the first point cloud set.

10. The method according to claim 8 or 9, characterized in that, The method also includes, Receive the first configuration information, and send or receive the sensing signal according to the first configuration information.

11. The method according to any one of claims 8-10, characterized in that, The method also includes, Receive second configuration information, the second configuration information including frequency domain information and / or time domain information of the sensing signal, the frequency domain information including absolute frequency point information, relative frequency point information, wavelength, or bandwidth information, and the time domain information including time interval, or period; The sensing signal is transmitted or received on the resources corresponding to the frequency domain information and / or the time domain information.

12. The method according to any one of claims 8-11, characterized in that, The method also includes, Receive second information, which indicates the second sensed data.

13. A communication device, characterized in that, include: A communication unit is configured to receive first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; the first configuration information includes sensing resource configuration information and / or sensing resolution; the sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters include cluster radius and / or minimum number of points; the first sensing data includes information of the echo signal, or sensing measurement data determined based on the echo signal. The processing unit is configured to determine second sensing data based on the first information, wherein the second sensing data is a point cloud of the sensing target, or the second sensing data is data of the sensing target determined based on the point cloud of the sensing target.

14. The apparatus according to claim 13, characterized in that, The first information includes the first sensed data. Wherein, the first sensing data includes a first point cloud set, the second sensing data is a second point cloud set of the sensing target, and the second point cloud set belongs to the first point cloud set.

15. The apparatus according to claim 13 or 14, characterized in that, The processing unit determines the second sensing data based on the first information, and further includes: The first sensing parameter is determined based on the first configuration information in the first information, and the second sensing data is determined based on the first sensing parameter; or... The first sensing parameter is determined based on the sensing resource configuration information and / or sensing resolution, and the second sensing data is determined based on the first sensing parameter.

16. The apparatus according to any one of claims 13-15, characterized in that, The communication unit is also used for, The echo signal is received and used to determine the first sensed data.

17. The apparatus according to any one of claims 13-16, characterized in that, The communication unit is also used for, Send second configuration information, the second configuration information including frequency domain information and / or time domain information of the sensed signal, the frequency domain information including absolute frequency point information, relative frequency point information, wavelength, or bandwidth information, and the time domain information including time interval, or period; The sensing signal is transmitted or received on the resources corresponding to the frequency domain information and / or the time domain information.

18. The apparatus according to any one of claims 13-17, characterized in that, The communication unit is also used for, Send a second message, which indicates the second sensed data.

19. The apparatus according to any one of claims 13-18, characterized in that, The communication unit is also used for, Send the first configuration information, and send or receive the sensing signal according to the first configuration information.

20. A communication device, characterized in that, include: A communication unit is configured to transmit first information, the first information including at least one of the following: first configuration information, first sensing parameters, or first sensing data; the first configuration information includes sensing resource configuration information and / or sensing resolution; the sensing resource configuration information includes at least one of the following: bandwidth of the sensing signal, time interval of the sensing signal, or antenna information; the sensing resolution includes at least one of the following: distance resolution, velocity resolution, or angular resolution; the first sensing parameters include cluster radius and / or minimum number of points; the first sensing data includes information of the echo signal, or sensing measurement data determined based on the echo signal; the first information is used to determine second sensing data, the second sensing data being a point cloud of the sensing target, or the second sensing data being data of the sensing target determined based on the point cloud of the sensing target.

21. The apparatus according to claim 20, characterized in that, The first information includes the first sensed data. Wherein, the first sensing data includes a first point cloud set, the first information is used to determine the second sensing data, the second sensing data is a second point cloud set of the sensing target, and the second point cloud set belongs to the first point cloud set.

22. The apparatus according to claim 20 or 21, characterized in that, The communication unit is also used for, Receive the first configuration information, and send or receive the sensing signal according to the first configuration information.

23. The apparatus according to any one of claims 20-22, characterized in that, The communication unit is also used for, Receive second configuration information, the second configuration information including frequency domain information and / or time domain information of the sensing signal, the frequency domain information including absolute frequency point information, relative frequency point information, wavelength, or bandwidth information, and the time domain information including time interval, or period; The sensing signal is transmitted or received on the resources corresponding to the frequency domain information and / or the time domain information.

24. The apparatus according to any one of claims 20-23, characterized in that, The communication unit is also used for, Receive second information, which indicates the second sensed data.

25. A communication device, characterized in that, Including processor and memory, The memory is used to store program instructions, which, when executed by the processor, cause the method as described in any one of claims 1 to 7 to be performed, or cause the method as described in any one of claims 8 to 12 to be performed.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed, cause the method of any one of claims 1 to 7 to be implemented, or cause the method of any one of claims 8 to 12 to be implemented.

27. A computer program product, characterized in that, Includes computer instructions that, when executed, cause the method as described in any one of claims 1 to 7 to be implemented, or cause the method as described in any one of claims 8 to 12 to be implemented.

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