Communication method and apparatus

Abstract

A communication method and apparatus, applicable to a sensing application scenario. The method comprises: a first communication apparatus acquiring a first sensing data set, receiving first information from a second communication apparatus, and sending, to the second communication apparatus, a second sensing data set that meets a first condition and is in the first sensing data set. The first information is used for determining sensing data of a same target, and / or the first information is used for instructing to report sensing data satisfying a first condition. The sensing data in the second sensing data set corresponds to the same target. The first condition comprises the interval between any two pieces of sensing data among a number N of pieces of sensing data being less than or equal to a first threshold. By means of the present method, unnecessary reporting of sensing data can be avoided, thereby saving reporting overhead, and reducing false alarms to a certain extent.

Description

A communication method and apparatus

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411520371.2, filed on October 28, 2024, entitled "A Communication Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a communication method and apparatus. Background Technology

[0004] With the development of communication technology, communication-sensing fusion technology has been proposed. The core idea of ​​this technology is to add sensing capabilities to mobile communication networks, integrating communication and sensing capabilities into a single network system. The principle of sensing technology is as follows: the transmitting end sends a signal (also called a sensing signal), which reaches the sensing target (or simply the target) and is reflected by it. The receiving end receives the reflected sensing signal (also called the echo signal) and processes it to obtain sensing data, which is then used to obtain sensing results.

[0005] Raw sensing data contains a variety of information, and its processing involves multiple stages, resulting in diverse and complex sensing data sets. Furthermore, the processing of raw sensing data may require the participation of multiple nodes in the network, with the specific nodes involved varying across different sensing network architectures. Given the complexity of these network architectures, further research is needed to determine how to report sensing data / results on demand. Summary of the Invention

[0006] This application provides a communication method and apparatus that enables sensing nodes to generate sensing data / sensing results that meet requirements, thereby facilitating efficient sensing.

[0007] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0008] Firstly, a communication method is provided, which can be applied to a first communication device. The first communication device is a sensing device, whereby sensing refers to the process of receiving echo signals of sensing signals, processing the echo signals, and obtaining sensing data or sensing results. For example, the first communication device may be an access network device, or a component (e.g., a circuit, chip, or chip system) within the access network device, or a module or unit used to perform some or all of the functions of the network device, such as a central unit (CU), a distributed unit (DU), or a radio unit (RU). Alternatively, the first communication device may be a logical node, logical module, or software module that implements all or part of the functions of the network device. As another example, the first communication device may also be a terminal device, or a module or unit used to perform some of the functions of the terminal device, such as a circuit or chip / chip system (e.g., a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip) or other functional module within the terminal device. Alternatively, the first communication device may be a logical node, logical module, or software module that implements all or part of the functions of the terminal device.

[0009] The method includes: acquiring a first sensing dataset, receiving first information, and sending a second sensing dataset from the first sensing dataset that meets a first condition. The first information is used to identify sensing data for the same target, and / or to instruct the reporting of sensing data that meets the first condition. The second sensing dataset corresponds to the same target. The first condition includes that the interval between any two sensing data in N sensing datasets is less than or equal to a first threshold, where N is an integer greater than or equal to 2.

[0010] In this method, the first information enables the first communication device to determine how to process the sensed data, or to what extent the sensed data should be processed before reporting. Specifically, the first information can instruct the first communication device to determine how to process the sensed data and what type of sensed data to report. For example, the first information can instruct the reporting of sensed data that meets a first condition, which includes that the interval between any two sensed data points in N sensed datasets is less than or equal to a first threshold. Correspondingly, the first communication device reports a second sensed dataset that meets the first condition, where the interval between any two sensed data points is less than or equal to the first threshold. This method satisfies the need for sensed data reporting, achieving the goal of reporting appropriate sensed data, thereby avoiding unnecessary reporting of sensed data, saving reporting costs, and reducing false alarms to some extent.

[0011] In one implementation, when the first information is used to determine the sensing data of the same target, a second sensing dataset that satisfies the first condition is sent, including: determining at least one second sensing dataset that corresponds to the same target and satisfies the first condition in the first sensing dataset, and sending at least one second sensing dataset, wherein the first condition is predefined.

[0012] In this method, the first condition can be predefined. When the first communication device receives the first information, it can determine the sensing data of the same target based on the first information, and determine the sensing data that satisfies the first condition, thereby obtaining at least one second sensing dataset.

[0013] In one implementation, when the first information is used to determine the sensing data of the same target, the first information includes a distance threshold and / or a speed threshold. If the difference in distance between the targets determined based on the two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target. If the difference in speed between the targets determined based on the two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

[0014] It should be understood that the distance to the same target does not vary significantly. Therefore, if the difference in distance between two targets determined from two sets of sensing data is less than or equal to a distance threshold, then the two sets of sensing data can be considered to correspond to the same target. Similarly, the velocity of the same target does not vary significantly. If the velocity of a target determined from two sets of sensing data is less than or equal to a velocity threshold, then the two sets of sensing data correspond to the same target. This scheme provides distance and / or velocity thresholds to determine sensing data corresponding to the same target.

[0015] In one implementation, when the first information is used to indicate the reporting of sensing data that meets the first condition, sending a second sensing dataset that meets the first condition from the first sensing dataset includes: determining at least one second sensing dataset that corresponds to the same target and meets the first condition from the first sensing dataset, and sending at least one second sensing dataset.

[0016] In this method, the first communication device can determine, based on first information, the sensing data that needs to be reported and meets the first condition. Specifically, a sensing dataset that meets the first condition corresponds to the same target. Therefore, the first communication device can determine, based on the first information, at least one second sensing dataset that corresponds to the same target and meets the first condition from the first sensing dataset.

[0017] In one implementation, the first information includes information used to determine the first condition.

[0018] In one implementation, the first information includes N, which is used to determine the first condition.

[0019] N can be viewed as information that determines the first condition. N can be indicated by signaling, allowing for greater flexibility. For example, the first information includes a first value N. The first communication device determines which sensed data satisfies the first condition based on N included in the first information.

[0020] In one implementation, when the first information is used to indicate the reporting of perceived data that meets the first condition, the first information indicating the reporting of perceived data that meets the first condition includes: the first information indicating the reporting of perceived data that belongs to the same target and indicating the reporting of perceived data that meets the first condition.

[0021] The process of reporting perceived data that belong to the same target and meet the first condition by displaying the first information is relatively simple and can reduce the processing complexity of the first communication device.

[0022] In one implementation, the second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

[0023] The interval between any two sensing data points in the second sensing dataset being less than or equal to the first threshold can be considered as a first condition satisfied by the second sensing dataset. N can be used to determine the sensing data points that satisfy the first condition, and the number M of sensing data points reported by the first communication device can be greater than or equal to N.

[0024] Secondly, a communication method is provided, which can be applied to a second communication device responsible for sensing-related management, or a network device having a sensing management function (SMF) and / or a sensing control function (SCF). For example, the second communication device can implement sensing authorization / control, sensing data processing, and other functions. Optionally, the second communication device can be a functional unit of an access network device; for example, the first communication device is a newly added sensing unit (SU) within the access network device. Alternatively, the second communication device can be a communication node independent of the access network device (e.g., a sensing control (SC) node), and this communication node is deployed on the access network side. Alternatively, the second communication device can be a network element on the core network side; for example, the second communication device can be a sensing function (SF) network element on the core network side, or the first communication device can be a chip system / chip, logic node / module, software module, or other functional module capable of implementing sensing-related functions.

[0025] The method includes: sending first information and receiving a second dataset. The first information is used to identify sensing data belonging to the same target, and / or to indicate the reporting of sensing data that meets a first condition. The sensing data in the second sensing dataset correspond to the same target. The first condition includes that the interval between any two sensing data points out of N sensing data is less than or equal to a first threshold.

[0026] In one implementation, when the first information is used to determine the sensing data of the same target, the first information includes a distance threshold and / or a speed threshold. If the difference in distance between the targets determined based on the two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target. If the difference in speed between the targets determined based on the two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

[0027] In one implementation, when the first information is used to indicate the reporting of perceived data that meets the first condition, the first information includes information for determining the first condition.

[0028] In one implementation, the first information includes N, which is used to determine the first condition.

[0029] In one implementation, the first information used to indicate the reporting of perceived data that meets the first condition includes: the first information indicating the reporting of perceived data belonging to the same target and indicating the reporting of perceived data that meets the first condition.

[0030] In one implementation, the second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

[0031] For the beneficial effects of the second aspect, please refer to the beneficial effects of the first aspect and its various implementation methods; they will not be elaborated here.

[0032] Thirdly, embodiments of this application provide a communication device that has the function of implementing the behaviors described in the first or second aspect of the method examples. The beneficial effects can be found in the relevant descriptions of the first or second aspect, and will not be repeated here. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more units corresponding to the above-described functions.

[0033] In one possible design, the communication device includes corresponding means, modules, or units for performing the methods of the first aspect or the second aspect. These modules, units, or means can be implemented in software, hardware, or a combination of both. For example, the communication device includes a processing unit and / or a transceiver unit, which can perform the corresponding functions of the first communication device in the first aspect or the second communication device in the method examples of the second aspect, as detailed in the method examples below. For example, the communication device can be the first communication device in the first aspect, such as an access network device or a terminal device; or, the communication device can be a device capable of supporting the first communication device in implementing the functions required by the method provided in the first aspect, such as a chip or chip system in an access network device or a terminal device. As another example, the communication device can be the second communication device in the second aspect, such as an access network device or a first core network element; or, the communication device can be a device capable of supporting the second communication device in implementing the functions required by the method provided in the second aspect, such as a chip or chip system in an access network device or a first core network element.

[0034] The processing unit is also called a processing module or processor; the transceiver unit is also called a transceiver module or transceiver. The transceiver unit can implement both sending and receiving functions. When the transceiver unit implements the sending function, it can be called a sending unit (sometimes also called a sending module); when the transceiver unit implements the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional unit, called the transceiver unit, which can implement both sending and receiving functions; or, the sending unit and the receiving unit can be different functional units, and the transceiver unit is a collective term for these functional units.

[0035] Fourthly, embodiments of this application provide a communication device, which includes a communication interface and a processor. The processor is used to execute the methods performed by the first communication device or the second communication device in the above-described method embodiments. For example, the communication device may be the first communication device in the above-described embodiments, or a chip or chip system disposed in the first communication device, or a device including the first communication device. As another example, the communication device may be the second communication device in the above-described embodiments, or a chip or chip system disposed in the second communication device, or a device including the second communication device. This application does not limit the specific type of processor. For example, the processor may be a central processing unit (CPU), or other specific integrated circuits. As another example, the processor may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0036] Optionally, the communication device further includes a memory. The memory stores computer programs, instructions, or data, and the processor is coupled to the memory and the communication interface. When the processor can access the computer programs, instructions, or data in the memory, the method executed by the first or second communication device in the above method embodiments can be executed by the communication device.

[0037] In one design, the memory is located outside the communication device.

[0038] In one design, the memory is located within the communication device.

[0039] In one design, the processor and memory are integrated together.

[0040] Fifthly, embodiments of this application provide a chip system including a processor and a communication interface for implementing the methods described in the first or second aspect. Optionally, the chip system further includes a memory. The memory stores computer programs (also referred to as code or instructions). The processor retrieves and executes the computer program from the memory, causing a device equipped with the chip system to perform the methods in the first or second aspect and any possible implementation thereof. The chip system may be composed of chips or may include chips and other discrete devices.

[0041] Sixthly, embodiments of this application provide a communication device including an input / output interface and logic circuitry. The input / output interface is used for inputting and / or outputting information. The input / output interface may be an interface circuit, an output circuit, an input circuit, pins, or related circuits, etc. The logic circuitry is used to execute the methods described in the first or second aspect.

[0042] In practical implementation, the aforementioned communication device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the logic circuit can be a transistor, gate circuit, flip-flop, and various other logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the input / output interface and the logic circuit.

[0043] In a seventh aspect, embodiments of this application provide a communication system, which includes an access network device (or terminal device) and a sensing device. The access network device (or terminal device) is used to implement the functions described in the first aspect, and the sensing device is used to implement the functions described in the second aspect. Optionally, the sensing device may be a core network element with sensing-related functions.

[0044] Eighthly, embodiments of this application provide a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the methods described in the first or second aspect and any of their implementations to be implemented.

[0045] Ninthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the methods described in the first or second aspect and any of their implementations to be implemented.

[0046] The beneficial effects of the third to ninth aspects and their implementation methods mentioned above can be referenced to the beneficial effects of the first aspect and any of its implementation methods. Attached Figure Description

[0047] Figure 1 is a schematic diagram of a process for processing perception data in a perception path scenario;

[0048] Figure 2 is a schematic diagram of another process for processing perception data in a perception path scenario;

[0049] Figure 3 is a schematic diagram of various sensing modes provided in the embodiments of this application;

[0050] Figure 4 is a schematic diagram of an architecture of a communication system provided in an embodiment of this application;

[0051] Figure 5 shows a typical application scenario of sensing;

[0052] Figure 6 is a schematic diagram of the core network architecture provided in an embodiment of this application;

[0053] Figure 7 is a schematic diagram of the architecture for introducing perception-related functions into the core network according to an embodiment of this application;

[0054] Figure 8 is a schematic diagram of the architecture for introducing perception-related functions on the RAN side according to an embodiment of this application;

[0055] Figure 9 is a schematic diagram of possible communication interfaces of the SU provided in the embodiments of this application;

[0056] Figure 10 is a flowchart illustrating the communication method provided in an embodiment of this application;

[0057] Figure 11 is a schematic diagram of a communication device provided in an embodiment of this application;

[0058] Figure 12 is a schematic diagram of another structure of the communication device provided in the embodiment of this application. Detailed Implementation

[0059] The technical solutions of this application embodiment are applicable to integrated sensing and communication (ISAC) systems. An integrated sensing and communication system refers to a system that integrates communication and sensing, also known as a harmonized communication and sensing (HCS) system. The core idea of ​​integrated sensing and communication is to add sensing-related capabilities to the communication system, building capabilities such as target detection, tracking, and imaging, thereby integrating communication and sensing capabilities into a single network. The communication system can be a cellular system related to the 3rd Generation Partnership Project (3GPP). Examples include Long Term Evolution (LTE), the sixth generation (5G) mobile communication system / new radio (NR) communication system, future communication systems, or other similar communication systems. Other similar communication systems may include wireless fidelity (WIFI), vehicle-to-everything (V2X), Internet of Things (IoT) systems, non-terrestrial network (NTN) communication systems, etc.

[0060] Before introducing the technical solutions provided in the embodiments of this application, the terminology, applicable network architecture, etc. involved in the embodiments of this application will be introduced first.

[0061] (1) Perception

[0062] Perception can be understood as a technology capable of acquiring information about the characteristics of the environment and / or objects within it. This information includes, but is not limited to, shape, size, orientation, speed, position, distance between objects, or relative motion. The working principle of perception is as follows: the transmitting end sends a signal for perception (also called a sensing signal), and the receiving end receives the signal reflected from the sensing target (also called an echo signal). Based on the processing of the echo signal, the perception result can be obtained, such as speed, distance, shape, and size. The sensing target can also be called a target, the object being detected, the object being sensed, or the object being sensed, etc., without limitation. The sensing target can be any tangible object in the environment capable of reflecting electromagnetic waves. For example, the sensing target can be a stationary object such as a building. Alternatively, the sensing target can be a mobile object such as a vehicle, drone, or terminal device.

[0063] Perception can also be replaced by: sensing process, sensing operation, sensing detection, or detection processing.

[0064] Sensing signals are also called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be pulse signals or any signal that may exist in a wireless communication system, such as orthogonal frequency division multiplexing (OFDM) signals. For example, sensing signals include (or may be) sounding reference signals (SRS), demodulation reference signals (DMRS), positioning reference signals (PRS), sidelink positioning reference signals (SL-PRS), channel state information reference signals (CSI), reference signals (RS), synchronization signal blocks (SSB), synchronization signal / physical broadcast channel blocks (SS / PBCH blocks), tracking reference signals (TRS), phase tracking reference signals (PTRS), beam manager reference signals (BMRS), or cell reference signals (CRS), etc. Sensing signals can also include communication information, such as signals carried on the physical downlink shared channel (PDSCH) or the physical sidelink shared channel (PSSCH).

[0065] An echo signal is the signal reflected back to the receiver after a sensing signal is emitted from a transmitter to a target object. By performing autocorrelation processing on the echo signal and the sensing signal, and then transforming them, the time delay of the echo signal relative to the sensing signal in the time domain can be analyzed. This allows us to determine the distance of the sensing target from the transmitter. By comparing the echo signals reflected back from the same target by different transmitted signals, we can convert the signal to the Doppler domain. Combining the Doppler and range domain analyses, we can determine the distance and velocity of the sensing target. Furthermore, the direction of the sensing target relative to the transmitter can be determined by the beam direction of the antenna emitting the sensing signal. The echo signal can be understood as a reflected sensing signal; therefore, it can also be called a sensing signal.

[0066] (2) Perceived data and perceived results

[0067] Sensing data, also known as sensing measurement data, refers to the data obtained after processing echo signals. The processing of echo signals involves multiple stages, and the data obtained from each stage can be called sensing data. For example, the echo signal processing flow may include the following stages: (1) Performing symbol extraction and cyclic prefix removal on the echo signal to obtain the time-domain data of the radar frame, separating in-phase (I / quadrature, IQ) data; (2) Performing time-frequency transformation, effective subcarrier extraction, signal estimation, and inverse fast fourier transform (IFFT) on the IQ data to obtain the range (R) spectrum; (3) Performing inter-symbol windowing and fast fourier transform on the R spectrum. (4) Perform FFT on the channel dimension of the RD spectrum to obtain the range / doppler (RDA) spectrum; (5) Detect all valid point target information from the RD spectrum or RDA spectrum to obtain multiple data points. The set of these multiple data points is also called a point cloud. Each data point is used to represent a relative position or an absolute position relative to the sensing device; (6) Cluster the multiple data points to obtain the centroid of the real target.

[0068] Sensing data can represent one or more of the following: time delay, Doppler effect, angle, and intensity of a sampling point; it can also represent one or more of the following: position, distance, velocity, and intensity of a sampling point. For example, sensing data includes, but is not limited to, one or more of the following: IQ data, RD spectrum, RDA spectrum, distance / velocity (DV) spectrum, distance / velocity / angle (DVA) spectrum, range / velocity (RV) spectrum, range / velocity / angle (RVA) spectrum, set of coordinate points, point cloud, point cluster, cluster trace, centroid of a real target, etc.

[0069] Perception results refer to the results related to business functions and performance obtained through calculation and analysis of perceived data. For example, perception results include the existence of the target to be perceived and information about the target (e.g., speed, distance, angle, orientation, acceleration, position, movement path, imaging results, facial expression, breathing / heart rate, etc.). Some perception results can also be considered as perception data; for example, speed and distance information can be considered as perception data. Perception results also vary depending on the target being perceived. For example, if the target is air, the perception results include air quality and the composition of gases in the air; another example is vehicles, where the perception results include the number of vehicles, their positions, and their movement paths.

[0070] Perception results can also be viewed as a type of perception data, and some types of perception data can also be viewed as perception results. For example, perception data can be a movement path, and the movement path can be a perception result.

[0071] Please refer to Figure 1, which illustrates a workflow for processing sensing data in a sensing path scenario. The workflow shown in Figure 1 uses the processing of raw sensing data to obtain the RD spectrum as an example. It should be understood that the RD spectrum is generated based on the range spectrum data of a frame. After clutter suppression and constant false alarm rate (CFAR) detection, the RD spectrum yields valid point targets within a given frame. Amplitude variation with angle (RVA) estimation is performed on the valid point targets to obtain the range (R), velocity (V), and azimuth angle (A) of all point targets. The obtained point targets are clustered to obtain the centroids of the true targets. The target motion path can then be determined based on the clustering information. For example, path association can be performed based on the centroids. Path association includes initializing the path and path state vector using the clustering information of the first frame in the first frame, and determining whether the path in the previous frame is associated / continuous with the path in the next frame. Afterwards, path tracking can be performed, such as associating the clustered target of the current frame with existing paths and updating the associated paths using Kalman filtering. If multiple consecutive frames do not meet the consistency of paths within a short period, then the path is considered invalid and can be eliminated. Additionally, the path for the next frame can be predicted based on the path of the current frame. For example, path prediction can be performed using a motion model (e.g., a uniformly accelerated linear motion model), and the predicted path can be displayed. It should be understood that path association occurs during or after path prediction. Optionally, after path output, perception performance (e.g., target tracking performance) can be statistically analyzed.

[0072] Path consistency includes one or more of the following: consistency of direction of movement, consistency of distance, consistency of speed, consistency of position-speed, or consistency of distance-azimuth. Heading consistency refers to minimal changes in heading over a short period, such as changes within a certain range. Distance consistency refers to roughly the same changes in distance over a short period (or near-uniform movement of the target), such as changes within a certain range. Speed ​​consistency refers to minimal changes in speed over a short period, such as changes within a certain range. Position-speed consistency refers to minimal changes in both position and speed over a short period, such as changes within both ranges. Distance-azimuth consistency refers to minimal changes in both distance and azimuth over a short period, such as changes within both ranges.

[0073] Please refer to Figure 2, which illustrates another workflow for processing sensing data in a sensing path scenario. The workflow shown in Figure 2 takes the processing of raw sensing data to obtain the RV spectrum as an example. Clustering the RV spectrum yields clusters of target points. Coordinate transformation and cluster point preprocessing are performed on the target points within each cluster, followed by cluster-track association. Cluster-track association refers to associating clusters that satisfy path consistency, forming a path. Cluster-track association includes determining the path's start point and target tracking, and then associating multiple paths to form a single path. The path association process includes false alarm suppression processing, which determines whether the paths to be associated satisfy path consistency; if not, they are not associated. Subsequently, multi-station fusion processing can be performed to determine the final path. Multi-station fusion processing refers to the joint processing of sensing data from multiple stations.

[0074] (3) Perception Mode

[0075] Sensing can generally be divided into two modes: single-site sensing and dual-site sensing. In single-site sensing, the transmitting device and the receiving device for the echo signal are the same device. In other words, in single-site sensing, the transmitting device both transmits the sensing signal and receives the echo signal reflected from the surface of the sensing target. Therefore, this single-site sensing mode can also be called a self-transmitting and self-receiving mode, without limitation. In dual-site sensing, the transmitting device and the receiving device for the echo signal are two different devices. In other words, sensing station A transmits the sensing signal, and the echo signal reflected from the surface of the sensing target is received by sensing station B. Therefore, this dual-site sensing mode can also be called the A-transmitting and B-receiving mode. It should be noted that the echo signal is obtained by reflecting the sensing signal from the surface of the sensing target; therefore, this echo signal can still be called the sensing signal. Sensing stations can be network devices or terminal devices.

[0076] For example, please refer to Figure 3, which is a schematic diagram of various sensing modes provided in the embodiments of this application. Figure 3 illustrates a vehicle as the sensing target and provides six sensing modes. These six sensing modes are: the self-transmitting and self-receiving mode of network device A as shown in (1) of Figure 3, that is, the mode in which network device A sends sensing signals and receives echo signals; the self-transmitting and self-receiving mode of terminal device A as shown in (2) of Figure 3, that is, the mode in which terminal device A sends sensing signals and receives echo signals; the mode in which network device A sends sensing signals and network device B receives echo signals as shown in (3) of Figure 3; the mode in which terminal device A sends sensing signals and terminal device B receives echo signals as shown in (4) of Figure 3; the mode in which network device A sends sensing signals and terminal device A receives echo signals as shown in (5) of Figure 3; and the mode in which terminal device A sends sensing signals and network device A receives echo signals as shown in (6) of Figure 3. Figure 8 shows an example of a smartphone as the terminal device.

[0077] The sensing process for the six sensing modes shown in Figure 3 all includes sensing measurement configuration and reporting of sensing data. Optionally, the sensing process also includes reporting of sensing capabilities. Sensing capabilities mainly include whether sensing is supported, whether a certain sensing method / mode is supported, and whether the device has the function of processing sensing signals. Sensing capabilities are typically reported by the sensing device to the sensing management device. The sensing device refers to the device that performs sensing services / businesses; it can send sensing signals and / or receive echo signals. The sensing management device refers to the devices or units with management functions at each sensing node participating in the sensing process. The sensing management device determines the sensing measurement configuration based on the sensing capabilities reported by the sensing device and configures it for the sensing device. The sensing device performs sensing according to the sensing measurement configuration, obtains sensing data, and sends it to the sensing management device.

[0078] Depending on the different sensing modes, the interaction processes between network elements involved in the sensing process also differ, as shown in Table 1. In Table 1, SF refers to the network element with sensing management functions. The first column in Table 1 represents the sensing mode, the second column represents the interaction between SF and gNB (gNB A and / or gNB B), the third column represents the interaction between SF and UE, the fourth column represents the interaction between gNB and UE, and the fifth column represents the interaction between UEs. Optionally, SF and UE can interact through non-access stratum signaling. In this case, the interaction between SF and UE is transparent to gNB, and the complexity is lower than the interaction between SF, gNB, and UE. It should be noted that in Table 1, gNB in ​​gNB sensing capability reporting includes gNB A and / or gNB B; gNB in ​​gNB sensing measurement reporting includes gNB A and / or gNB B; UE in UE sensing capability reporting includes UE A and / or UE B; and gNB in ​​UE sensing measurement reporting includes UE A and / or UE B.

[0079] Table 1

[0080] (4) Network equipment

[0081] Network equipment refers to radio access network (R)AN equipment / RAN nodes. In the embodiments of this application, (R)AN and RAN are interchangeable; for ease of description, RAN is used as an example below. RAN can be a 3GPP-related cellular system, such as a 5G / NR mobile communication system, or a future-oriented evolution system. RAN can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), a virtualized RAN (vRAN), NTN, etc. RAN can also be a communication system that integrates two or more of the above systems. RAN equipment can also be called a RAN node, RAN entity, or access node, etc.

[0082] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), or a base station in a future mobile communication system. RAN nodes can also be macro base stations, micro base stations, indoor stations, relay nodes, donor / host nodes, or radio controllers. RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in V2X technology, the RAN node can be a roadside unit (RSU).

[0083] In another possible scenario, the RAN node can be a module or unit that performs some of the functions of the base station; or multiple RAN nodes can cooperate to assist terminal equipment in achieving wireless access, with different RAN nodes performing some of the functions of the base station. For example, the RAN node can be a CU, DU, or RU. The function of the CU can be implemented by a single entity or by different entities. For example, the function of the CU can be further divided, that is, the control plane and the user plane can be separated and implemented by different entities, namely the control plane CU entity (i.e., CU-control plane (CP) entity) and the user plane CU entity (i.e., CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the function of the RAN node. The CU and DU can be set up separately or included in the same network element, such as in the baseband unit (BBU). Any of the units among the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by software modules, hardware modules, or a combination of software modules and hardware modules.

[0084] 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 ORAN 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.

[0085] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of the protocol layers below the PDCP layer (such as the Radio Link Control (RLC) layer, the Media Access Control (MAC) layer, and / or the Physical (PHY) layer). For specific descriptions of the above protocol layers, please refer to the relevant 3GPP technical specifications or the technical specifications of other applicable communication protocols.

[0086] The above division of the processing functions of CU and DU according to protocol layers is merely an example; other division methods are also possible, and this application does not limit this. For example, in one design, CU or DU can be further divided into processing functions with protocol layers. In one design, some functions of the RLC layer and the functions of the protocol layer above the RLC layer are located in the CU, while the remaining functions of the RLC layer and the functions of the protocol layer below the RLC layer are located in the DU.

[0087] In another possible design, the DU and RU collaborate to implement the PHY layer functionality, or, more specifically, a portion of the PHY layer functionality of the DU can be moved to the RU. 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. Alternatively, the DU may be configured to implement higher-level functions in the PHY layer, and the RU may be configured to implement lower-level functions in the PHY layer, or both lower-level and RF functions. Higher-level functions in the physical layer may include a portion of the physical layer's functionality closer to the MAC layer, and lower-level functions may include another portion of the physical layer's functionality closer to the mid-RF side. This application does not limit the specific functions of the DU and RU. The interface between the DU and RU can be called a fronthaul interface. In one design, the CU may not have a PDCP layer; for example, the CU may only include an RRC layer. The CU-CP may not have PDCP-C. The CU-UP may not have PDCP-U, or may not have a CU-UP. In one design, the DU may not have an RLC layer; for example, the DU may only have a MAC and a higher PHY layer.

[0088] When the RAN is O-RAN, it can also have artificial intelligence (AI) capabilities. For example, O-RAN includes an intelligent controller. The intelligent controller can be a non-real-time RAN intelligent controller (RIC / non-RT RIC / NRT RIC) or a near-real-time RAN intelligent controller (RIC / near-RT RIC / nRT RIC). A non-real-time RIC can be used to implement non-real-time intelligent management of RAN functions, enabling workflows including model training and model updates, and guiding applications / functions in the nRT RIC based on policies. A near-real-time RIC can be used to implement near-real-time intelligent management of the RAN. Through data collection and related operations on the E2 interface, near-real-time control and optimization of O-RAN modules and resources are achieved.

[0089] (5) Terminal equipment

[0090] In this application embodiment, anything capable of data communication with a base station can be considered a terminal device. Terminal devices are also called terminals, terminal equipment, user equipment (UE), mobile stations, or mobile terminals, etc. Terminal devices can be widely used in various scenarios. For example, terminal devices can be: mobile phones, computers, mobile internet devices (MID), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, stations (STA), robotic arms, cameras, robots, vehicles, drones, helicopters, airplanes, ships, or smart home devices (such as televisions, air conditioners, robot vacuums, speakers, set-top boxes), relays, customer premises equipment (CPE), etc.

[0091] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system, such as a water meter or electricity meter. IoT is an important component of future information technology development. Its main technical characteristic is connecting objects to networks through communication technology, thereby realizing an intelligent network that enables human-machine interconnection and object-to-object interconnection.

[0092] When the terminal device is applied to V2X, it can also be called a V2X device, such as a smart car, an unmanned car, a driverless car, a pilotless car, or an automobile, or an RSU. All the terminal devices described above, if located on a vehicle (e.g., placed / installed inside the vehicle), can be considered in-vehicle terminal devices. In-vehicle terminal devices can be built into a vehicle's in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit. In-vehicle terminal devices can be vehicle equipment, in-vehicle modules, vehicles, in-vehicle units (on-board units, OBUs), RSUs, in-vehicle infotainment systems (or in-vehicle transmission units) (telematics boxes, T-boxes), chips, or SoCs, etc., and the aforementioned chips or SoCs can be installed in the vehicle, OBU, RSU, or T-box.

[0093] The core network refers to the collective term for core network equipment or functions that provide service support to terminal devices. The core network can be a 5G core network, an evolved 5G core network, or a future core network. The core network includes access and mobility management functions (AMF), session management functions (SMF), user plane functions (UPF), policy control functions (PCF), location management functions (LMF), network exposure functions (NEF), unified data management (UDM), unified data repository (UDR), network data analytics functions (NWDAF), etc., which will not be listed here.

[0094] (6) In the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include direct transmission via the air interface or indirect transmission by other units or modules via the air interface. "Receive information from YY" can be understood as the sender of the information being YY, which may include direct reception from YY via the air interface or indirect reception from YY via other units or modules via the air interface. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface. In other words, sending and receiving can be performed between devices, such as between access network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0095] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A / B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "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 means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0096] In the embodiments of this application, "when," "if," and "if" all refer to the device taking corresponding actions under certain objective circumstances, and are not time-limited, nor do they require the device to perform a judgment action, nor do they imply any other limitations. Unless otherwise specified, "if" and "if" can be substituted, and "when" and "in the case of" can be substituted. "When" and "if" / "if" can be substituted.

[0097] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0098] In this application's embodiments, ordinal numbers such as "first" and "second" are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. For example, "first information" and "second information" refer to two different pieces of information, and do not indicate a difference in priority or importance between the two pieces of information.

[0099] Please refer to Figure 4, which is a schematic diagram of the architecture of a communication system applicable to embodiments of this application. This network architecture comprises four components: terminal equipment, access network, core network (CN), and data network (DN). The terminal equipment, access network, and core network are the main components of the aforementioned network architecture. Logically, they can be divided into user plane and control plane. The control plane is responsible for the management of the mobile network, while the user plane is responsible for the transmission of service data. For example, as shown in Figure 4, in a 5G communication system, the N2 interface is located between the access network control plane and the core network control plane, the N3 interface is located between the access network user plane and the core network user plane, and the N6 interface is located between the core network user plane and the data network.

[0100] It should be noted that the network architecture shown in Figure 4 is merely illustrative. The communication system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application and does not constitute a limitation on the communication systems to which the embodiments of this application are applicable. For example, the communication system may also include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 4. As those skilled in the art will know, with the evolution of network architecture, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0101] The network architecture shown in Figure 4 can integrate sensing functions to achieve integrated communication and sensing. A typical application scenario for sensing is illustrated in Figure 5. Figure 5 uses an environment including one access network device and multiple terminal devices as an example, with smartphones as the terminal devices and drones, pedestrians, and vehicles as the sensing targets. In Figure 5, solid lines represent communication, and dashed lines represent sensing.

[0102] In implementation method 1, sensing-related functions (such as sensing management function (SMF) and / or sensing control function (SCF)) can be introduced on the core network side to realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. The specific names of these sensing-related functions are not limited in this application. For example, sensing-related functions can be replaced by any of the following: sensing management network element, sensing management device, sensing management entity, sensing function (SF), integrated sensing and communication (ISAC) management function (ISACMF), ISAC service management function (ISACSMF), or sensing service management function (SSMF), etc.

[0103] Please refer to Figure 6, which is a schematic diagram of the core network architecture provided in an embodiment of this application. Figure 6 is based on the 5G core network (5G core, 5GC), and introduces sensing-related functions on the core network side.

[0104] As shown in Figure 6, a new SF network element has been added to the core network side. Simultaneously, interfaces have been added between the SF network element and one or more 5GC network elements, enabling the SF network element to interact with the RAN or UE through the 5GC network elements for sensing signaling, etc. For example, in Figure 6, the SF can perform sensing interaction with the interfaces of 5GC network elements such as the Location Management Function (LMF), AMF, NEF, UDM, NWDAF, and PCF network elements. The sensing data acquired by the RAN or UE can be transmitted to the SF network element via the control plane or user plane. When sensing data is transmitted to the SF network element via the user plane, it can be forwarded to the SF network element through the UPF or directly transmitted to the SF network element. The interface definitions between the SF and the 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF are as follows.

[0105] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0106] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0107] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0108] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete AI processing related to perception services.

[0109] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0110] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0111] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0112] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc., one or more of these information. It should be noted that the above-mentioned interfaces "NSX (e.g., NS1 to NS6)" are only illustrative examples, and this application embodiment does not limit the names of interfaces between SF network elements and other network elements.

[0113] The SF can be deployed in a traditional 5GC, as shown in Figure 7(a). Optionally, the SF can be a separate structure of SF-CP and SF-UP. The SF-CP, as a functional unit of a device in the 5GC, or a functional entity independent of the 5GC, can be connected to the base station through an interface with the AMF.

[0114] Sensing-related functions can also be deployed independently of the traditional 5GC, as shown in Figure 7(b). Optionally, the SF can be a separate structure of SF-CP and SF-UP. When the SF-CP is deployed independently of the 5GC, it can act as a communication node independent of the traditional 5GC device, connecting to the base station through an interface with the base station. The SF-CP can also connect to traditional sensing devices.

[0115] In implementation method 2, perception-related functions can be introduced on the RAN side. For example, in some scenarios, the RAN side can determine the perception mode based on the perception service requirements sent by the SF, or select appropriate gNBs and / or UEs to participate in perception, and determine the perception measurement configuration. For an introduction to perception-related functions, please refer to the aforementioned content; it will not be repeated here. These perception-related functions can be deployed on the RAN equipment or independently of the RAN equipment.

[0116] Please refer to Figure 8, which illustrates two typical architectures for introducing perception-related functions on the RAN side. This application does not limit the name of the perception-related functions introduced on the RAN side; for example, the function can be called SU.

[0117] As shown in Figure 8(a), the SU can be an entity independent of the RAN equipment and can connect to the base station through an interface similar to the Xn interface. For ease of distinction, the interface between the SU and the base station can be called the Xn-S interface. If the base station is a CU-DU structure, the SU can communicate with the CU through the Xn-S interface. When the SU is an entity independent of the RAN equipment, it can also be regarded as a communication node independent of the RAN equipment (e.g., called an SC node).

[0118] As shown in Figure 8(b), the SU can be a functional unit in the base station, which can communicate with the CU through an interface similar to F1. For ease of distinction, the interface between the SU and the CU can be called the F1-SC interface.

[0119] In Figure 8, the RAN side introduces the SU, which has the function of managing UEs for sensing. Therefore, the base station can communicate with both ordinary UEs and sensing UEs.

[0120] Please refer to Figure 9, which illustrates the possible communication interfaces of the SU. Figure 9 uses dashed lines to indicate the possible interfaces of the SU. As shown in Figure 9, the SU can communicate directly with the DU or the UE. The SU can be directly connected to one or more core network elements; for example, the SU may be directly connected to the SF, AMF, or UPF. The SU can also be indirectly connected to one or more core network elements; for example, the SU can connect to the SF via the AMF, or to the SF via the UPF. Alternatively, the SU can connect to the AMF via the CU, and then connect to the SF via the AMF.

[0121] In this embodiment, the SU is deployed on the RAN side and can interact directly with the CU, interacting with the core network through the CU. During the sensing and measurement process, the SU / CU can configure the sensing and measurement configuration for the UE, and the transmission path of this configuration can be: DU→CU / SU→UE. Similarly, the DU obtains sensing data and can send the sensing data to the SU / SC. The transmission path of the sensing data can be DU→SU / SC, or DU→CU→SU / SC.

[0122] It should be noted that the network architectures shown in Figures 4 to 9 are merely illustrative. The communication systems 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 communication systems to which the embodiments of this application are applicable. Those skilled in the art will understand that, with the evolution of network architectures, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc., in the embodiments can be replaced with corresponding devices, components, modules, etc., in other communication systems, without limitation.

[0123] As discussed above, raw sensing data contains various types of information, and its processing involves multiple stages, resulting in diverse and complex sensing data sets. Furthermore, the processing of raw sensing data may require the participation of multiple nodes in the network (e.g., RAN devices, SF / SU, etc.). The nodes involved may differ depending on the sensing network architecture. Given the complexity of sensing network architectures, how to generate appropriate sensing data / results to achieve sensing requires further research. For example, how to achieve on-demand provision of sensing data.

[0124] To address the aforementioned problems, this application provides a solution based on its embodiments. This solution enables the device to clearly define how to generate sensing data, to what extent the sensing data should be processed before reporting, or to specify what type of sensing data should be reported, such as reporting sensing data that meets a first condition. This solution avoids unnecessary reporting of sensing data, thereby saving reporting overhead and reducing false alarms to some extent.

[0125] The following describes in detail the solution provided in the embodiments of this application, taking the network architecture shown in Figures 4 to 9 and one or more perception scenarios shown in Figure 3 as examples.

[0126] For ease of description, the following description uses the communication method provided in the embodiments of this application, executed by a first communication device and a second communication device, as an example. The first communication device can be a sensing device; for example, it can be a RAN device or a terminal device. Sensing refers to the process of receiving echo signals from sensing signals, processing these echo signals, and obtaining sensing data or sensing results. The steps executed by the first communication device can be implemented by the first communication device itself, by a device including the first communication device, or by components (e.g., processing units / processors) within the first communication device. For example, if the first communication device is a RAN device, the steps executed by the first communication device can be implemented by the RAN device itself, or by a CU, DU, or SU that implements some functions of the RAN device. As another example, if the first communication device is a terminal device, the steps executed by the first communication device can be implemented by a device that implements the terminal device itself, or by a module that performs some functions of the terminal device.

[0127] The second communication device has sensing capabilities, including sensing control and / or sensing management functions, and is responsible for executing sensing-related functions. For example, in scenario 1, the second communication device can be a RAN device equipped with a Subsystem Unit (SU). In scenario 2, the second communication device can be an SF network element introduced from the core network side. In scenario 3, the second communication device is a SU deployed on the RAN side, and can be a functional unit or component independent of the RAN device. The steps executed by the second communication device can be implemented by the second communication device itself, by a device including the second communication device, or by components within the second communication device (e.g., processing units / processors). For example, if the second communication device is a SU, the steps executed by the second communication device can be implemented by the SU itself or by the RAN device where the SU is located. As another example, if the second communication device is a RAN device, the steps executed by the second communication device can be implemented by a SU used to implement some functions of the RAN device.

[0128] Please refer to Figure 10, which is a flowchart illustrating the communication method provided in an embodiment of this application. Figure 10 illustrates the interaction between a first communication device and a second communication device. The first communication device is a RAN device or a terminal device, and the second communication device is a SU or SF. The first communication device is configured to participate in sensing; however, the specific configuration of the first communication device for sensing is not limited in this embodiment. As shown in Figure 10, the communication method provided in this embodiment includes the following steps. In the following description, the sensing dataset may also be referred to as a sensing data set or a sensing data group, including multiple sensing data sets.

[0129] S1001, The first communication device acquires the first sensing dataset.

[0130] The first perception dataset is a collection of perception data obtained from perceiving at least one target. The type of perception data is not limited; for example, perception data can be one or more of the following: IQ data, R spectrum, RD spectrum, RDA spectrum, DV spectrum, DVA spectrum, RV spectrum, RVA spectrum, coordinate point set, point cloud, point cluster, cluster trace, centroid of the real target, and target information obtained by processing echo signals from at least one target. Perception data or perception datasets can also include target information. The target information varies depending on the perception scenario. For example, if the target is a moving target, the target information may include the target's position, speed, and movement path. For instance, in an autonomous driving scenario, the perceived target can be a vehicle, and the perception data can be the vehicle's movement path. Similarly, in flight networking, the perceived target can be an aircraft (e.g., a drone), and the perception data can be the aircraft's flight path.

[0131] Depending on the sensing mode, the source of the sensing data also varies. For example, in the scenario shown in (2) of Figure 3, the sensing signal is sent by the terminal device, and the echo signal of the sensing signal is received by the terminal device, so the sensing data comes from the terminal device. As another example, in the scenario shown in (6) of Figure 3, the sensing signal is sent by the terminal device, and the echo signal of the sensing signal is received by the network device, so the sensing data comes from the network device.

[0132] Depending on the sensing mode, the specific implementation of the first communication device acquiring the first sensing dataset also varies, as illustrated in the following example.

[0133] In Example 1, the first communication device is a RAN device or a terminal device.

[0134] The first communication device can receive echo signals from at least one target, process the received echo signals to obtain sensing data, and form a first sensing dataset. Alternatively, the first communication device can receive the first sensing dataset sent by a device performing the sensing. That is, the device performing the sensing receives echo signals from at least one target, processes the received echo signals to obtain the first sensing dataset, and sends the first sensing dataset to the first communication device.

[0135] In Example 2, the first communication device is the CU in the RAN equipment.

[0136] The CU can receive echo signals from at least one target, process the received echo signals to obtain multiple sensing data, and form a first sensing dataset. Alternatively, the DU can receive echo signals from at least one target, process the received echo signals to obtain multiple sensing data, form a first sensing dataset, and send the first sensing dataset to the CU.

[0137] In Example 3, the first communication device is a DU in the RAN equipment.

[0138] The DU can receive echo signals from at least one target, process the received echo signals to obtain multiple sensing data, and form a first sensing dataset. Alternatively, the CU can receive echo signals from at least one target, process the received echo signals to obtain multiple sensing data, form a first sensing dataset, and send the first sensing dataset to the DU.

[0139] S1002, the second communication device sends first information to the first communication device, and correspondingly, the first communication device receives the first information from the second communication device.

[0140] Depending on different perceptual needs, the content contained in the first information, or the content indicated by the first information, may vary, as illustrated in the following examples.

[0141] In Example 1, the first information can be used to indicate the reporting of perceived data that meets the first condition.

[0142] There may be multiple or various types of perceived data. The second communication device may not be interested in one or more types of perceived data. Alternatively, the first communication device may acquire a first perception dataset, while the second communication device may only need specific perceived data from that dataset. For ease of description, this example uses the specific perceived data that satisfies the first condition.

[0143] For example, the first condition may include that the time interval between any two corresponding sensing data points among N sensing data points is less than or equal to a first threshold. If the time interval between any two corresponding sensing data points among N sensing data points is less than or equal to the first threshold, the N sensing data points can be considered continuous sensing data. From this perspective, sensing data that satisfies the first condition is continuous sensing data, and reporting sensing data that satisfies the first condition is equivalent to reporting continuous sensing data. Here, N is an integer greater than or equal to 2, and the first threshold can be a (pre)configured or predefined value.

[0144] For example, the first condition may include the existence of a time interval greater than a first threshold between two adjacent sensing data points among N sensing data points. If the time interval between two adjacent sensing data points among N sensing data points is greater than the first threshold, the N sensing data points can be considered discontinuous sensing data. From this perspective, sensing data satisfying the first condition is discontinuous sensing data, and reporting sensing data satisfying the first condition is equivalent to reporting discontinuous sensing data. Here, two adjacent sensing data points refer to two sensing data points whose corresponding times are adjacent. The "time corresponding to the sensing data" can be understood as the time during which the first communication device performs sensing (e.g., the time when the first communication device receives the echo signal), or the time during which the first communication device performs sensing to acquire sensing data, or the time during which the first communication device processes the echo signal.

[0145] The aforementioned condition of whether N sensing data are continuous is used as the first condition. Correspondingly, there may be condition 1 and / or condition 2. Condition 1 includes: the time interval between any two sensing data points in the N sensing data is less than or equal to a first threshold. Condition 2 includes: there exists a time interval between two adjacent sensing data points in the N sensing data that is greater than the first threshold. The first condition may include (or be) condition 1, or it may include (or be) condition 2. It should be noted that using whether N sensing data are continuous as the first condition is merely an example, and the specific implementation of the first condition is not limited in the embodiments of this application.

[0146] For example, condition 1 or condition 2 can be further subdivided. For instance, condition 1 may include sub-condition 11 and sub-condition 12, where sub-condition 11 indicates that reporting is required, and sub-condition 12 indicates that reporting is not required. Similarly, condition 2 may include sub-condition 21, sub-condition 22, and sub-condition 23. Sub-condition 21 may indicate that the motion path determined based on the sensed data exceeds the false alarm threshold, causing the motion path determined based on the sensed data to be canceled, or that the motion path determined based on the sensed data is canceled due to interruption. Sub-condition 22 may indicate that the motion path determined based on the sensed data is a temporary motion path or an initial motion path. Sub-condition 23 may indicate that the motion path determined based on the sensed data is deleted. The first condition can be one or more of sub-conditions 11, 12, 21, 22, and 23.

[0147] The specific names of each sub-condition are not limited in this embodiment. Alternatively, if the perceived data is information about a motion path, the perceived dataset satisfying the first condition can be replaced with the perceived dataset satisfying the first state, which can indicate the state of the motion path. For example, condition 1 can be called the confirmed state, and condition 2 can be called the unconfirmed state. Sub-condition 21 can be called the canceled state, sub-condition 22 can be called the temporary state or the initial state, and sub-condition 23 can be called the deleted state.

[0148] In this embodiment, multiple conditions can be (pre-)configured, and the first and second communication devices can agree on multiple conditions. Each condition can be considered a reporting condition for sensed data. The first condition can be some or all of the multiple conditions. This embodiment does not limit the specific definition of the multiple conditions.

[0149] In one design, the first information may include a first field, which indicates a first condition. When the value of the first field is "true", it indicates that the sensed data that meets the first condition should be reported; when the value of the first field is "false", it indicates that the sensed data that meets the first condition does not need to be reported. Alternatively, the first information may indicate the sensed data that meets the first condition by enumerating it.

[0150] In a possible implementation, the second communication device further configures information for determining the first condition to the first communication device. For example, the information for determining the first condition includes a first value N. The second communication device may send the first value N to the first communication device. Optionally, the information for determining the first condition may be included in the first information, or the information for determining the first condition may be carried in different signaling than the first information. For example, the first value N may be included in the first information. When the first value N is included in the first information, it can be considered that the first information, in addition to indicating the reporting of sensing data that meets the first condition, is also used to determine the first condition. When the first information includes the first value N, it may implicitly instruct the first communication device to determine the first condition based on N, and instruct the reporting of sensing data that meets the first condition.

[0151] In this embodiment, the sensing data that satisfies the first condition corresponds to the same target. The first information instructs the reporting of sensing data that satisfies the first condition, implicitly indicating that the first information also instructs the reporting of sensing data for the same target. That is, the first information instructing the reporting of sensing data that satisfies the first condition has the following meaning: the first information instructs the reporting of sensing data that satisfies the first condition, and the reporting of sensing data for the same target. In this case, the second communication device does not need to instruct the first communication device to report sensing data for the same target through additional signaling.

[0152] Alternatively, the second communication device may explicitly instruct the first communication device to report sensing data for the same target. For example, the second communication device may also send second information to the first communication information, which instructs the reporting of sensing data for the same target. Optionally, the second information is carried in a signaling message, and the first information is carried in a signaling message. Or, the second information and the first information are carried in the same message, for example, the second information is contained within the first information. It is understood that when the second information is contained within the first information, the first information instructing the reporting of sensing data that satisfies the first condition includes the first information instructing the reporting of sensing data belonging to the same target and satisfying the first condition.

[0153] If the second communication device needs the first communication device to report the sensing data of the same target, then the first communication device also needs to determine the sensing data belonging to the same target from the first sensing data set.

[0154] In a possible implementation, the second communication device may configure information to the first communication device for determining the sensing data of the same target. For example, the second communication device may send third information to the first communication device, which can be used to determine the sensing data of the same target. Accordingly, the first communication device receives the third information and can determine the sensing data of the same target based on the third information.

[0155] Optionally, the third information is carried on a signaling message, and the first information is carried on a signaling message. Alternatively, the third information and the first information are carried on the same message; for example, the third information is contained within the first information. For ease of description, the following example uses the third information and the first information as the same message, meaning that the first information is also used to determine the sensing data of the same target.

[0156] For example, the first information may include a distance threshold and / or a velocity threshold. For the same target, the distance change is approximately the same over a short period of time (or the target moves at a near-uniform speed), for example, the distance change is less than or equal to a certain threshold. Similarly, for the same target, the velocity change is not significant over a short period of time, for example, the velocity change is less than or equal to a certain threshold. Therefore, the sensing data of the same target can be determined based on the distance threshold and / or velocity threshold. For example, if the difference in distance between two targets determined based on two sets of sensing data is less than or equal to the distance threshold, then the two sets of sensing data correspond to the same target; if the difference in velocity between two targets determined based on two sets of sensing data is less than or equal to the velocity threshold, then the two sets of sensing data correspond to the same target. The two sets of sensing data can be two adjacent sets of sensing data, or they can be sensing data obtained from two consecutive sensing operations.

[0157] It should be understood that there may be multiple attribute information representing the same target, and the first piece of information may include some or all of these multiple pieces of information. For example, for the same target, its position and velocity may not change significantly over a short period of time; for example, the position change may be less than or equal to a certain threshold, and the velocity change may be less than or equal to a certain threshold. Accordingly, the first piece of information may also include the position threshold and / or the velocity threshold. As another example, for the same target, its distance and azimuth may not change significantly over a short period of time; for example, the distance change may be less than or equal to a certain threshold, and the azimuth change may be less than or equal to a certain threshold. Accordingly, the first piece of information may also include the distance threshold and / or the azimuth threshold.

[0158] The content included in the first piece of information above is just an example. Depending on the actual perception scenario, perception needs, etc., the content included in the first piece of information will also vary. No further examples will be given here.

[0159] In Example 2, the first piece of information can be used to determine the perceived data for the same target.

[0160] Referring to Example 1 above, the first information may include, for example, a distance threshold and / or a speed threshold, for determining the sensing data of the same target. When the first information is used to determine the sensing data of the same target, it may be assumed that the second communication device needs a second sensing dataset that meets the first condition. The first communication device receives the first information, determines the sensing data of the same target from the first sensing dataset, and determines the sensing data that meets the first condition, thereby obtaining the second sensing dataset.

[0161] In this case, the second communication device can also send information to the first communication device to determine the first condition; for example, the second communication device sends a first value N to the first communication device. Optionally, the first value N is included in the first information, or the first value N and the first information are carried in different signaling.

[0162] In Example 3, the first information can be used to identify the perceived data of the same target, and to indicate the reporting of perceived data that meets the first condition.

[0163] Referring to Examples 1 and 2 above, when the first information includes a distance threshold and / or a speed threshold, this first information can be used to determine the perception data for the same target. When the first information includes information about a first condition, it can instruct the reporting of perception data that meets the first condition. In possible implementations, the first information includes not only the distance threshold and / or speed threshold but also information about the first condition.

[0164] Optionally, the second communication device may also send information to the first communication device for determining the first condition; for example, the second communication device may send a first value N to the first communication device. Optionally, the first value N may be included in the first information, or the first value N and the first information may be carried in different signaling.

[0165] In Example 4, the first information may indicate the perception data reported for the same target.

[0166] When the first information includes a distance threshold and / or a speed threshold, this first information, in addition to being used to determine the sensing data of the same target, may also implicitly indicate that the sensing data of the same target should be reported. Alternatively, the first information may explicitly indicate that the sensing data of the same target should be reported, and the second communication device may also send information for determining the sensing data of the same target to the first communication device via additional signaling. For example, the second communication device may also send the distance threshold and / or speed threshold to the first communication device via additional signaling.

[0167] Depending on the specific implementation of the first and second communication devices, the methods by which the second communication device sends first information or other information (such as second or third information) to the first communication device also differ. The following description uses a specific sensing mode or network architecture as an example to illustrate how the second communication device sends first information to the first communication device. The methods by which the second communication device sends second or third information to the first communication device are the same as those for sending first information, and will not be repeated here.

[0168] (1) The first communication device is a RAN device and the second communication device is a core network element, for example, the second communication device is an SF network element.

[0169] If the second communication device has a communication interface with the first communication device, then the second communication device can send the first information to the first communication device through that communication interface. If the second communication device does not have a communication interface with the first communication device, then the second communication device can send the first information to the first communication device through the communication interface between other core network elements and the first communication device. For example, the second communication device can send the first information to the first communication device through the communication interface between the AMF and the first communication device.

[0170] (2) The first communication device is CU, and the second communication device is SU on the RAN side.

[0171] Assuming the second communication device is the SU in Figure 8(a), the second communication device can send the first information to the first communication device via the Xn-S interface. Alternatively, if the second communication device is the SU in Figure 8(b), the second communication device can send the first information to the first communication device via the FI-SC interface.

[0172] (3) The first communication device is DU, and the second communication device is SU on the RAN side.

[0173] Assuming the second communication device is the SU in Figure 8(a), then the second communication device can send the first information to the CU via the Xn-S interface, and the CU will forward the first information to the first communication device. Alternatively, if the second communication device is the SU in Figure 8(b), then the second communication device can send the first information to the CU via the FI-SC interface, and the CU will forward the first information to the first communication device. Essentially, the transmission path of the first information from the second communication device to the first communication device includes: second communication device → CU → first communication device.

[0174] (4) The first communication device is a terminal device, and the second communication device is a core network element, for example, the second communication device is an SF network element.

[0175] The second communication device can send first information to the first communication device through the RAN device. For example, the transmission path of the first information is: second communication device → RAN device → terminal device. If the RAN device is a CU-DU architecture, the transmission path of the first information is: second communication device → CU → terminal device, or, second communication device → DU → terminal device, or, second communication device → CU → DU → terminal device.

[0176] (5) The first communication device is a terminal device and the second communication device is a SU, which is deployed on the RAN side.

[0177] If the SU is a module in the RAN device and has a communication interface with the terminal device, then the SU can send the first information to the terminal device through this communication interface. If there is no communication interface between the SU and the terminal device, the SU can send the first information to the terminal device through the CU or DU.

[0178] The execution order of S1001 and S1002 is not limited in this embodiment. For example, S1002 can be executed before or after S1001.

[0179] S1003, The first communication device determines at least one second sensing dataset.

[0180] The second sensing dataset is the sensing dataset reported by the first communication device to the second communication device. The sensing data in the second sensing dataset satisfies a first condition. Assuming the first condition is condition 1 as described above, then the interval between any two sensing data points in the second sensing dataset is less than or equal to a first threshold. Assuming the first condition is condition 2 as described above, then there exists a pair of adjacent sensing data points in the second sensing dataset where the interval between them is greater than the first threshold. Furthermore, the sensing data in the second sensing dataset corresponds to the same target.

[0181] The first sensing dataset can be considered as an initial sensing dataset acquired by the first communication device. Some sensing data in the first sensing dataset satisfy the first condition, while some do not. A set of multiple sensing data that satisfy the first condition can be considered as a subset of the first sensing dataset (e.g., a second sensing dataset). The first sensing dataset may include one or more sensing datasets (e.g., a second sensing dataset) that satisfy the first condition. Sensing data in one second sensing dataset that satisfies the first condition may correspond to a target. For example, sensing data in one second sensing dataset (e.g., sensing dataset 1) that satisfies the first condition may correspond to a first target, and sensing data in another second sensing dataset (e.g., sensing dataset 2) that satisfies the first condition may correspond to a second target. If there are multiple second sensing datasets that satisfy the first condition, the first communication device can determine these multiple second sensing datasets. For example, if at least one second sensing dataset satisfies the first condition, the first communication device receives first information and determines at least one second sensing dataset from the first sensing dataset based on the first information. The number of sensing data included in the second sensing dataset may be greater than or equal to N. For example, the second sensing dataset may include M sensing data, where M is greater than or equal to N.

[0182] When the first information is used to determine the sensing data of the same target, and the first condition is predefined, then by default, sensing data that meets the first condition needs to be reported; or, when the first information is used to determine the sensing data of the same target, the first information also instructs the reporting of sensing data that meets the first condition. Accordingly, the first communication device can determine the sensing data of the same target from the first sensing dataset based on the first information, and determine the sensing data that meets the first condition from the first sensing dataset, thereby obtaining at least one second sensing dataset. The order in which the first communication device determines the sensing data of the same target and the sensing data that meets the first condition is not limited. For example, the first communication device can determine the sensing data of the same target from the first sensing dataset based on the first information, and then determine the sensing data that meets the first condition from the sensing data of the same target. Alternatively, the first communication device can determine the sensing data of the same target while determining the sensing data that meets the first condition based on the first information.

[0183] When the first information indicates that sensing data satisfying the first condition should be reported, it may be assumed that sensing data satisfying the first condition and belonging to the same target should be reported, or the first information may further indicate that sensing data satisfying the same target should be reported. Accordingly, the first communication device may determine sensing data corresponding to the same target and satisfying the first condition from the first sensing dataset based on the first information, and obtain at least one second sensing dataset.

[0184] When the first information is used to determine the sensing data of the same target, the first information also instructs the reporting of sensing data that satisfies the same target. Accordingly, the first communication device can determine the sensing data of the same target from the first sensing dataset based on the first information, and obtain at least one second sensing dataset.

[0185] S1004, the first communication device sends at least one second sensing dataset to the second communication device.

[0186] Sending a second sensing dataset from a first communication device to a second communication device can be described as follows: the first communication device sends a second sensing dataset that satisfies a first condition to the second communication device; or the first communication device sends a sensing dataset of the same target to the second communication device, which satisfies the first condition. If there are multiple second sensing datasets, the first communication device sends multiple sets of second sensing datasets to the second communication device.

[0187] S1003 can be executed before S1004, or it can be executed simultaneously with S1004. Alternatively, S1003 can be regarded as an executable step in the implementation of S1004. S1003 is an optional step, that is, there may be no independent step of determining the second sensory dataset, therefore, it is illustrated by dashed lines in Figure 10.

[0188] Depending on the specific implementation of the first communication device and the second communication device, the implementation method of the first communication device sending the second sensing dataset to the second communication device also varies. The following will introduce the specific sensing mode or network architecture as an example.

[0189] (1) The first communication device is a RAN device and the second communication device is a core network element, for example, the second communication device is an SF network element.

[0190] If the first communication device and the second communication device have a communication interface, the first communication device can send the second sensing dataset to the second communication device through this communication interface. If there is no communication interface between the first and second communication devices, the first communication device can send the second sensing dataset to the second communication device through the communication interface between other core network elements and the second communication device. For example, the first communication device can send the second sensing dataset to the second communication device through the communication interface between the AMF and the second communication device.

[0191] (2) The first communication device is CU, and the second communication device is SU on the RAN side.

[0192] Assuming the second communication device is the SU in Figure 8(a), the first communication device can send the second sensing dataset to the second communication device via the Xn-S interface. Alternatively, if the first communication device is the SU in Figure 8(b), the first communication device can send the second sensing dataset to the second communication device via the FI-SC interface.

[0193] (3) The first communication device is DU, and the second communication device is SU on the RAN side.

[0194] Assuming the second communication device is the SU in Figure 8(a), the first communication device can send the second sensing dataset to the CU via the Xn-S interface, and the CU will then forward the second sensing dataset to the second communication device. Alternatively, if the second communication device is the SU in Figure 8(b), the first communication device can send the second sensing dataset to the CU via the FI-SC interface, and the CU will then forward the second sensing dataset to the second communication device. In other words, the transmission path of the second sensing dataset from the first communication device to the second communication device includes: first communication device → CU → second communication device.

[0195] (4) The first communication device is a terminal device, and the second communication device is a core network element, for example, the second communication device is an SF network element.

[0196] The first communication device can send the second sensing data set to the second communication device via the RAN device. For example, the transmission path of the second sensing data set is: terminal device → RAN device → SF network element. If the RAN device is a CU-DU architecture, the transmission path of the second sensing data set is: terminal device → CU → SF network element, or, terminal device → DU → SF network element, or, terminal device → CU → DU → SF network element.

[0197] (5) The first communication device is a terminal device and the second communication device is a SU, which is deployed on the RAN side.

[0198] If the SU is a module in the RAN device and has a communication interface with the terminal device, the terminal device can send the second sensing data set to the SU through this communication interface. If there is no communication interface between the SU and the terminal device, the terminal device can send the second sensing data set to the SU through the CU or DU.

[0199] In this embodiment, the second communication device, by configuring first information, enables the first communication device to clearly define how to process the sensed data, or to what extent the sensed data should be processed before reporting. This embodiment satisfies the need for sensed data reporting, achieving the goal of reporting appropriate sensed data, thereby avoiding unnecessary reporting of sensed data, saving reporting costs, and reducing false alarms to a certain extent.

[0200] In the embodiments provided above, the methods provided by the embodiments of this application are described using the first communication device and the second communication device as examples. In this application, each embodiment can be implemented independently or in combination based on certain inherent connections; in each embodiment, different implementation methods can be implemented in combination or independently. To achieve the functions in the methods provided by the embodiments of this application above, each device may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or hardware structures plus software modules. Whether a particular function is implemented in the form of hardware structures, software modules, or hardware structures plus software modules depends on the specific application and design constraints of the technical solution.

[0201] Based on the same inventive concept as the method embodiments, this application provides a communication device. The communication device used to implement the above method in the embodiments of this application is described below with reference to the accompanying drawings. The content above can be used in subsequent embodiments, and repeated content will not be repeated.

[0202] Figure 11 is a schematic block diagram of a communication device 1100 provided in an embodiment of this application. The communication device 1100 can implement the functions of the first or second communication device in the above embodiments. The communication device 1100 may include a processing module 1110 and a transceiver module 1120. Optionally, it may also include a storage module, which can be used to store instructions (code or program) and / or data. The storage module may be, for example, a memory. The processing module 1110 and the transceiver module 1120 may be coupled to the storage module. For example, the processing module 1110 can read instructions (code or program) and / or data from the storage module to implement a corresponding method. For example, when the communication device 1100 is a first communication device, and the first communication device is a chip in a terminal device or RAN device, the storage module may be a storage module within the chip, such as a register or cache. For example, the storage module can also be an external storage module located within the terminal device or RAN device, such as a read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM), etc. The aforementioned units can be configured independently, or partially or completely integrated.

[0203] Processing module 1110 may be a processor or controller, such as a CPU, general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. Transceiver module 1120 is a transceiver, interface circuit, bus, pin, or other possible communication interface for receiving signals from other devices. For example, when the device is implemented as a chip, transceiver module 1120 is an interface circuit for the chip to receive signals from other chips or devices, or an interface circuit for the chip to send signals to other chips or devices.

[0204] In one implementation, the communication device 1100 can correspondingly implement the behavior and functions of the first communication device in the above method embodiments. For example, the communication device 1100 can be a RAN device or a terminal device, or the communication device 1100 can be a chip (system) in the RAN device or terminal device; or the communication device 1100 can be a software module in the RAN device or terminal device. Alternatively, the communication device 1100 can also be a chip or circuit, or a part of a chip or chipset deployed in the RAN device or terminal device for performing related method functions, or it can be a software module in the communication device 1100 that can implement the above communication method, without limitation. For details, please refer to the relevant content of the foregoing method embodiments, which will not be repeated here.

[0205] For example, processing module 1110 is used to acquire a first sensing dataset. Transceiver module 1120 is used to receive first information and send a second sensing dataset from the first sensing dataset that meets a first condition. The sensing data in the second sensing dataset correspond to the same target. The first condition includes that the interval between any two sensing data points among N sensing data points is less than or equal to a first threshold.

[0206] In one implementation, the communication device 1100 can correspondingly implement the behavior and functions of the second communication device in the above method embodiments. The second communication device 1100 can be a unit, device, or node with sensing capabilities. For example, the communication device 1100 can be an SF, SU, or RAN device; or, the communication device 1100 can be a chip (system) in an SF, SU, or RAN device; or, the communication device 1200 can be a software module of an SU or base station. Alternatively, the communication device 1100 can also be a chip or circuit, or a part of a chip or chipset deployed on the RAN side for performing related method functions, or a software module in the communication device 1100 capable of implementing the above communication method, without limitation. For details, please refer to the relevant content of the foregoing method embodiments, which will not be repeated here.

[0207] For example, the transceiver module 1120 is used to send first information and receive a second sensing dataset. The first information is used to identify sensing data for the same target, and / or to indicate the reporting of sensing data that meets a first condition. The sensing data in the second sensing dataset correspond to the same target. The first condition includes that the interval between any two sensing data points out of N sensing data is less than or equal to a first threshold. The processing module 1110 is used to determine the first information.

[0208] When the communication device 1100 is a chip-based device or circuit, the transceiver module can be an input / output circuit and / or a communication interface; the processing module is an integrated processor, microprocessor, or integrated circuit.

[0209] Figure 12 is a schematic block diagram of a communication device 1200 provided in an embodiment of this application. The communication device 1200 can be the first communication device or the second communication device in the above embodiments. For example, the communication device 1200 can be the SF in Figure 7, or the SU or base station in Figure 8 or 9; or a chip (system) in the SU or base station. In this embodiment, the chip system can be composed of chips or may include chips and other discrete devices. Specific functions can be found in the descriptions of the above method embodiments.

[0210] The communication device 1200 includes one or more processors 1201, used to implement or support the communication device 1200 in implementing the functions of the first or second communication device in the methods provided in the embodiments of this application. For details, please refer to the detailed description in the method examples, which will not be repeated here. The processor 1201 can also be called a processing unit or processing module, and can implement certain control functions. The processor 1201 can be a general-purpose processor or a dedicated processor, etc. For example, it includes: a baseband processor, a central processing unit, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, a memory, and / or a neural network processor, etc. The baseband processor can be used to process communication protocols and communication data. The central processing unit can be used to control the communication device 1200, execute software programs, and / or process data. Different processors can be independent devices or integrated into one or more processors, for example, integrated on one or more application-specific integrated circuits.

[0211] In one design, processor 1201 may include program 1203 (sometimes also referred to as code or instructions), which can be executed on processor 1201 to cause communication device 1200 to perform the methods described in the embodiments below. In yet another possible design, communication device 1200 includes circuitry (not shown in FIG12) for implementing the functions of the first or second communication device in the above embodiments.

[0212] In one design, the communication device 1200 may include one or more memories 1202 storing a program 1204 (sometimes referred to as code or instructions), which can be run on the processor 1201 to cause the communication device 1200 to perform the methods described in the above method embodiments.

[0213] In one design, the processor 1201 and / or memory 1202 may include an AI module for implementing AI-related functions. The AI ​​module may be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a RIC module. For instance, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0214] In one possible design, the processor 1201 and / or memory 1202 may also store data. The processor and memory may be configured separately or integrated together.

[0215] In one possible design, the communication device 1200 may further include a communication interface 1205. The processor 1201, sometimes referred to as a processing unit, controls the communication device 1200. The communication interface 1205, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, etc.

[0216] In one possible design, the communication device 1200 may further include one or more of the following components: a wireless communication module, an audio module, an external memory interface, internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It is understood that in some embodiments, the communication device 1200 may include more or fewer components, or some components may be integrated, or some components may be separated. These components may be implemented in hardware, software, or a combination of software and hardware.

[0217] The communication device in the above embodiments can be a base station, SU, SF, or terminal equipment, or a circuit, or a chip or other combination device or component having the first or second communication device described above, applied in the base station, SC node, SF, or terminal equipment. Alternatively, the communication device in the above embodiments can be an access network device, or a circuit, or a chip or other combination device or component having the access network device described above, applied in the access network device. When the communication device is a base station or SC node, the transceiver module can be a transceiver, which may include an antenna and radio frequency circuits, etc., and the processing module can be a processor, such as a CPU. When the communication device is a chip system, the communication device can be an FPGA, a dedicated ASIC, a SoC, a CPU, a network processor (NP), a DSP, a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips. The processing module can be the processor of the chip system. The transceiver module or communication interface can be the input / output interface or interface circuit of the chip system. For example, the interface circuit can be a code / data read / write interface circuit. The interface circuit can be used to receive code instructions (the code instructions are stored in memory and can be read directly from memory or through other devices) and transmit them to the processor; the processor can then execute the code instructions to perform the methods described in the above method embodiments. Alternatively, the interface circuit can also be a signal transmission interface circuit between a communication processor and a transceiver.

[0218] This application also provides a communication system, which includes an access network device (or terminal device) and a sensing device. The access network device (or terminal device) implements the functions of a first communication device, and the sensing device implements the functions of a second communication device. Optionally, the sensing device may be a core network element with sensing-related functions.

[0219] This application also provides a computer-readable storage medium including instructions that, when run on a computer, cause the computer to execute the method performed by the first communication device or the second communication device in the above-described communication method.

[0220] This application also provides a computer program product, including computer program code, which, when executed, causes a computer to perform the method executed by the first communication device or the second communication device in the above-described communication method.

[0221] This application provides a chip system including a processor and potentially a memory, for implementing the functions of the first or second communication device in the aforementioned communication method. The chip system can be composed of chips or may include chips and other discrete components.

[0222] To achieve the functions of the communication devices shown in Figures 11 and 12, this application embodiment also provides a chip, including a processor, for supporting the communication device in implementing the functions involved in the first or second communication device in the above method embodiments. In one possible design, the chip is connected to a memory or includes a memory for storing necessary computer programs, instructions, and data for the communication device.

[0223] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0224] Those skilled in the art will recognize that the various illustrative logical blocks and steps 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 implementations should not be considered beyond the scope of this application.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication method, characterized in that, include: Obtain the first perception dataset; Receive first information, the first information being used to determine the sensing data of the same target, and / or, the first information being used to instruct the reporting of sensing data that meets a first condition; Send a second perception dataset from the first perception dataset that satisfies the first condition. The perception data in the second perception dataset correspond to the same target. The first condition includes that the interval between any two perception data in N perception datasets is less than or equal to a first threshold, where N is an integer greater than or equal to 2.

2. The method as described in claim 1, characterized in that, When the first information is used to determine the sensing data of the same target, sending the second sensing dataset in the first sensing dataset that satisfies the first condition includes: In the first perception dataset, at least one second perception dataset corresponding to the same target and satisfying the first condition is determined, wherein the first condition is predefined; Send the at least one second sensing dataset.

3. The method as described in claim 2, characterized in that, The first information includes a distance threshold and / or a speed threshold. If the difference in distance between two targets determined based on two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target. If the difference in speed between two targets determined based on two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

4. The method as described in claim 1, characterized in that, When the first information is used to indicate the reporting of sensing data that meets the first condition, the step of sending a second sensing dataset from the first sensing dataset that meets the first condition includes: In the first perception dataset, at least one second perception dataset that corresponds to the same target and satisfies the first condition is identified; Send the at least one second sensing dataset.

5. The method as described in claim 4, characterized in that, The first information includes N, which is used to determine the first condition.

6. The method as described in claim 4 or 5, characterized in that, The first information used to indicate the reporting of sensing data that meets the first condition includes: The first information indicates that the reported data belongs to the same target and indicates that the reported data meets the first condition.

7. The method according to any one of claims 1-6, characterized in that, The second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

8. A communication method, characterized in that, include: Send first information, the first information being used to identify sensing data of the same target, and / or to instruct the reporting of sensing data that meets a first condition; Receive a second sensing dataset that satisfies a first condition, wherein the sensing data in the second sensing dataset corresponds to the same target, wherein the first condition includes that the interval between any two sensing data in N sensing data is less than or equal to a first threshold.

9. The method as described in claim 8, characterized in that, When the first information is used to determine the sensing data of the same target, the first information includes a distance threshold and / or a speed threshold. If the difference in distance between the targets determined based on the two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target. If the difference in speed between the targets determined based on the two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

10. The method as described in claim 8, characterized in that, When the first information is used to indicate the reporting of perceived data that meets the first condition, the first information includes the N, and the N is used to determine the first condition.

11. The method as described in claim 8 or 10, characterized in that, The first information used to indicate the reporting of sensing data that meets the first condition includes: The first information indicates that the reported data belongs to the same target and indicates that the reported data meets the first condition.

12. The method according to any one of claims 8-11, characterized in that, The second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

13. A communication device, characterized in that, include: The processing unit is used to acquire the first perception dataset; The transceiver unit is configured to receive first information and send a second sensing dataset from the first sensing dataset that satisfies a first condition; wherein the first information is used to determine sensing data of the same target, and / or the first information is used to instruct the reporting of sensing data that satisfies the first condition; the sensing data in the second sensing dataset corresponds to the same target, wherein the first condition includes that the interval between any two sensing data in N sensing datasets is less than or equal to a first threshold, and N is an integer greater than or equal to 2.

14. The apparatus as claimed in claim 13, characterized in that, When the first information is used to determine the sensing data of the same target, the processing unit is specifically used to: determine at least one second sensing dataset in the first sensing dataset that corresponds to the same target and satisfies the first condition, wherein the first condition is predefined; the transceiver unit is specifically used to: send the at least one second sensing dataset.

15. The apparatus as claimed in claim 14, characterized in that, The first information includes a distance threshold and / or a speed threshold, wherein if the difference in distance between two targets determined based on two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target; if the difference in speed between two targets determined based on two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

16. The apparatus as claimed in claim 13, characterized in that, When the first information is used to indicate the reporting of sensing data that meets the first condition, the step of sending a second sensing dataset from the first sensing dataset that meets the first condition includes: In the first perception dataset, at least one second perception dataset that corresponds to the same target and satisfies the first condition is identified; Send the at least one second sensing dataset.

17. The apparatus as claimed in claim 16, characterized in that, The first information includes N, which is used to determine the first condition.

18. The apparatus as claimed in claim 16 or 17, characterized in that, The first information used to indicate the reporting of sensing data that meets the first condition includes: The first information indicates that the reported data belongs to the same target and indicates that the reported data meets the first condition.

19. The apparatus as claimed in any one of claims 13-18, characterized in that, The second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

20. A communication device, characterized in that, include: The processing unit is configured to determine first information, which is used to determine the sensing data of the same target, and / or to instruct the reporting of sensing data that meets a first condition, wherein the first condition includes that the interval between any two sensing data in N sensing data is less than or equal to a first threshold. The transceiver unit is used to send the first information and receive a second sensing dataset that satisfies the first condition; wherein the sensing data in the second sensing dataset corresponds to the same target.

21. The apparatus as claimed in claim 20, characterized in that, When the first information is used to determine the sensing data of the same target, the first information includes a distance threshold and / or a speed threshold; wherein, if the difference in distance between the targets determined based on two sensing data is less than or equal to the distance threshold, then the two sensing data correspond to the same target; if the difference in speed between the targets determined based on two sensing data is less than or equal to the speed threshold, then the two sensing data correspond to the same target.

22. The apparatus as claimed in claim 20, characterized in that, When the first information is used to indicate the reporting of perceived data that meets the first condition, the first information includes the N, and the N is used to determine the first condition.

23. The apparatus as claimed in claim 20 or 22, characterized in that, The first information used to indicate the reporting of sensing data that meets the first condition includes: The first information indicates that the reported data belongs to the same target and indicates that the reported data meets the first condition.

24. The apparatus as claimed in any one of claims 20-23, characterized in that, The second sensing dataset includes M sensing data points, where M is greater than or equal to a first value N, and N is an integer greater than or equal to 2.

25. A communication device, characterized in that, The communication device includes at least one processor, the at least one processor being configured to cause the method of any one of claims 1-7 to be executed by the communication device, or the at least one processor being configured to cause the communication device to execute the method of any one of claims 8-12.

26. A chip or chip system, characterized in that, The chip or chip system includes: At least one processor and an interface, the at least one processor being configured to call and execute instructions from the interface, such that when the at least one processor executes the instructions, the method as claimed in any one of claims 1-7 is executed, or the method as claimed in any one of claims 8-12 is executed.

27. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program or instructions that, when executed on a computer, cause the method as described in any one of claims 1-7 to be performed, or cause the method as described in any one of claims 8-12 to be performed.

28. A computer program product, characterized in that, The computer program product includes a computer program or instructions that, when run on a computer, cause the method as described in any one of claims 1-7 to be performed, or cause the method as described in any one of claims 8-12 to be performed.

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