Communication method and communication apparatus

Abstract

A communication method and a communication apparatus. A network device may send instruction information to a terminal that obtains a plurality of sensing results, the instruction information being used for instructing to fuse the plurality of sensing results and send a fused result to a specific network element (for example, a first communication apparatus). Since the terminal can fuse the plurality of sensing results on the basis of the instruction information, and send a fused sensing result to the first communication apparatus, the number of sensing results needing to be fed back by the terminal can be reduced, and the terminal does not need to send different sensing results to different sensing devices respectively, thereby reducing the amount of communication resources required for the terminal to report or transmit sensing results, and thus lowering communication resource overhead.

Description

Communication methods and communication devices

[0001] This application claims priority to Chinese Patent Application No. 202411768025.6, filed with the State Intellectual Property Office of China on November 30, 2024, entitled "Communication Method and Communication Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more specifically, to a communication method and a communication device. Background Technology

[0003] Integrated sensing and communication (ISAC) technology is one of the key technologies for expanding the service capabilities of mobile communication networks. In ISAC design, it is necessary to sense the target (e.g., measuring the distance to the target). The transmitting device sends a sensing signal, and the receiving device receives the echo signal reflected from the target. The echo signal is processed to obtain the sensing result, thus achieving the sensing of the target. Of course, this sensing signal can also be used for communication simultaneously.

[0004] In current integrated communication and sensing scenarios or sensing scenarios, multiple different sensing devices send sensing signals to the target to be sensed. The terminal receives the echo signal formed by the reflection of the sensing signal by the target and determines multiple different sensing results. For example, one sensing result can correspond to one sensing device. The terminal needs to send multiple different sensing results to the corresponding sensing devices separately, resulting in a large communication resource overhead for the terminal to report the sensing results. Summary of the Invention

[0005] This application provides a communication method and a communication device that can reduce the number of sensing results that the terminal needs to feedback, thereby reducing the size of the communication resources required to transmit the sensing results and reducing the overhead of communication resources.

[0006] Firstly, a communication method is provided. The executing entity of this method can be a terminal, which can be a terminal device, a component (chip, chip system, or processor) supporting the implementation of the method on the terminal device, or a logic module or software capable of implementing all or part of the functions of the terminal device. The method includes: receiving echo signals corresponding to multiple sensing signals to obtain multiple sensing results; receiving indication information, which indicates a first fusion method and an identifier of a first communication device; fusing the multiple sensing results using the first fusion method; and sending a first sensing result obtained by fusing the multiple sensing results to the first communication device.

[0007] The communication method provided in the first aspect allows the terminal to receive instruction information sent by a network device. This instruction information instructs the fusion of multiple sensing results using a first fusion method and the transmission of the fused result to a first communication device. The terminal can then fuse the multiple sensing results according to the instruction information and send the fused result to the first communication device, reducing the number of sensing results the terminal needs to report. The terminal only needs to send the fused sensing result to the first communication device, eliminating the need to send different sensing results before or after fusion to different sensing devices separately. This reduces the amount of communication resources required for the terminal to report or transmit sensing results, thus lowering communication resource overhead.

[0008] For example, the first communication device may be a network device.

[0009] Optionally, the number of perception results obtained after fusion can be less than the number of perception results before fusion.

[0010] In one possible implementation of the first aspect, "receiving echo signals corresponding to multiple sensing signals respectively and obtaining multiple sensing results" is an optional step.

[0011] In one possible implementation of the first aspect, a sensing device can send one or more sensing signals to the target to be sensed. Each sensing signal corresponds to an echo signal, and each echo signal corresponds to a sensing result. That is, one sensing signal corresponds to one sensing result, or different sensing signals correspond to different sensing results. In other words, different sensing results are determined by the terminal based on different sensing signals (or possibly integrated sensing signals) and the echo signals reflected by the target to be sensed from the sensing signals.

[0012] In one possible implementation of the first aspect, the multiple sensing results correspond to the same sensing area of ​​the same target to be sensed, and different sensing results correspond to different sensing signals; or, the multiple sensing results correspond to at least two different sensing areas, each sensing area corresponds to at least one sensing result, the at least two different sensing areas belong to the same target to be sensed, and different sensing results correspond to different sensing signals. That is, different sensing areas can correspond to the same target to be sensed. In this implementation, since the multiple sensing results correspond to the same target to be sensed, the accuracy of the sensing results for the target to be sensed can be improved by fusing the multiple different sensing results corresponding to the same target to be sensed.

[0013] For example, the sensing area can be understood as the area where the sensing target receives the sensing signal or the area on the surface of the sensing target that forms an echo signal. For instance, sensing signals sent by multiple sensing devices are reflected by the same sensing area of ​​the same sensing target to form an echo signal which is then received by the terminal. For example, a sensing area of ​​the sensing target may include a physical surface of the sensing target (including a plane or curved surface, etc.).

[0014] In one possible implementation of the first aspect, multiple perception results correspond to different perception regions of different objects to be perceived (at least two objects to be perceived), that is, different perception regions can correspond to different objects to be perceived.

[0015] In one possible implementation of the first aspect, multiple sensing results can correspond to the same sensing area, which may also include at least one target to be sensed.

[0016] In one possible implementation of the first aspect, the indication information is used to indicate: a first fusion method corresponding to at least one sensing area, and an identifier of a first communication device. In this implementation, by instructing the terminal through the indication information to send the fused sensing result to the first communication device, the terminal can clearly understand that it needs to send the fused sensing result to the first communication device. The terminal only needs to send the fused sensing result to the first communication device, without having to send the fused sensing result to different sensing devices separately, thereby reducing the amount of communication resources required to transmit the sensing result, reducing communication resource overhead, and ensuring that the sensing result can be transmitted accurately. By instructing the terminal through the indication information to indicate the fusion method corresponding to at least one sensing area, the terminal can clearly understand the fusion method used for the sensing result corresponding to each sensing area or the fusion method used for the sensing results corresponding to different sensing areas, which can improve the efficiency and accuracy of the terminal in fusing multiple sensing results, thereby improving the accuracy of the first sensing result obtained after fusion.

[0017] In one possible implementation of the first aspect, the indication information includes first indication information, second indication information, and third indication information. The first indication information indicates at least one sensing region corresponding to the plurality of sensing results; the second indication information indicates the fusion method of the sensing results corresponding to at least one sensing region; and the third indication information indicates the identifier of the first communication device. In this implementation, the indication information is relatively simple to implement and has low complexity, enabling the terminal to clearly identify the fusion method used for the sensing results corresponding to each sensing region or the fusion method used for the sensing results corresponding to different sensing regions.

[0018] In one possible implementation of the first aspect, the first fusion method for multiple sensing results corresponding to the same sensing region includes a multiplicative fusion method, and / or, the first fusion method for multiple sensing results corresponding to different sensing regions includes an additive fusion method. In this implementation, fusing multiple sensing results corresponding to the same sensing region using a multiplicative fusion method can improve the accuracy of the fused sensing result, thereby improving the accuracy of the sensing result corresponding to that sensing region. Fusing multiple sensing results corresponding to different sensing regions using an additive fusion method can improve the accuracy of the fused sensing result, thereby improving the accuracy of the overall sensing result corresponding to different sensing regions (e.g., different sensing regions included in the same target or different sensing regions included in multiple targets).

[0019] In one possible implementation of the first aspect, receiving indication information includes: receiving indication information from a first communication device, wherein the plurality of sensing signals includes sensing signals sent by the first communication device. In this implementation, the network device sending the indication information is also the device receiving the fused sensing results. The network device sending the indication information does not need to determine other devices receiving the fused sensing results, which reduces the complexity of determining the first communication device, improves the efficiency of determining the first communication device, and ensures the efficiency and accuracy of transmitting the fused sensing results. Furthermore, the first communication device also sends a sensing signal to the target to be sensed, and the terminal receives the echo signal corresponding to that sensing signal. In other words, the plurality of sensing results determined by the terminal include the sensing results corresponding to the sensing signals sent by the first communication device, or the sensing device corresponding to the plurality of sensing results includes the first communication device. Since the plurality of sensing results determined by the terminal include the sensing results corresponding to the sensing signals sent by the first communication device, the first communication device needs to acquire the sensing results of the target to be sensed. The first communication device can receive the fused sensing results, which can improve the accuracy of transmitting the fused sensing results, thereby improving sensing efficiency.

[0020] In one possible implementation of the first aspect, receiving indication information includes: receiving indication information from a second communication device, wherein the first and second communication devices are different, and the plurality of sensing signals include sensing signals sent by the second communication device. In this implementation, the first communication device and the network device sending the indication information are different network devices; that is, the network device sending the indication information and the device receiving the fused sensing result are different devices. The first communication device can be a device that needs to acquire the sensing result of the target to be sensed, which can improve the flexibility of transmitting the fused sensing result and ensure the efficiency and accuracy of the transmission of the fused sensing result.

[0021] Secondly, a communication method is provided. The executing entity of this method can be a network-side device, which can be a network device, a component (chip, chip system, or processor) supporting the network device in implementing the method, or a logical node, logical module, or software capable of implementing all or part of the functions of the network device. The method includes: determining indication information, which indicates a first fusion method and an identifier of a first communication device; sending the indication information to a first terminal; and receiving a first sensing result from the first terminal, wherein the first sensing result is obtained by fusing multiple sensing results using the first fusion method.

[0022] The second aspect provides a communication method in which a network device (i.e., a first communication device) can send instruction information to a terminal. The instruction information is used to instruct the fusion of multiple sensing results using a first fusion method and to send the fused result to the first communication device. The terminal can then fuse multiple sensing results according to the instruction information and send the fused sensing result to the first communication device (i.e., the network device). This can reduce the number of sensing results that the terminal needs to report, thereby reducing the amount of communication resources required for the terminal to report or transmit sensing results and reducing the overhead of communication resources.

[0023] For an explanation of the sensing regions corresponding to multiple sensing results, the target to be sensed, and the fusion methods of sensing results corresponding to different sensing regions, please refer to the corresponding part of the first aspect above and the explanation of the beneficial effects, which will not be repeated here.

[0024] In one possible implementation of the second aspect, determining the indication information includes: determining the indication information based on the locations of the sensing devices corresponding to multiple sensing results, the location of the first terminal, the location of the first communication device, and information about the target to be sensed, wherein the sensing device is used to transmit sensing signals. In this implementation, the network device knows its own location. Therefore, the network device only needs to obtain the locations of the multiple sensing devices and the location of the first terminal. Based on the locations of the multiple sensing devices, the location of the first terminal, and its own location, the network device can determine that it can receive the fused first sensing result sent by the first terminal and that the first terminal can acquire multiple sensing results, thereby improving the efficiency of determining the indication information. The network device does not need to obtain the location information of other communication devices (e.g., other network devices) to determine the first communication device, thus saving signaling overhead.

[0025] In this context, a sensing device can be understood as a device that sends sensing signals to a target. Multiple sensing devices can each send sensing signals (or they can be integrated sensing signals) to the target. The target reflects the sensing signals sent by different sensing devices, forming echo signals. A first terminal can receive the echo signals corresponding to each of the multiple sensing signals and determine multiple sensing results based on these echo signals. Specifically, a single sensing device can send one or more sensing signals to the target. One sensing signal corresponds to one echo signal, and one echo signal corresponds to one sensing result. That is, one sensing signal corresponds to one sensing result, or different sensing signals correspond to different sensing results.

[0026] Thirdly, a communication method is provided, the method comprising: a network device sending indication information to a first terminal, the indication information being used to indicate: a first fusion method and an identifier of a first communication device; the first terminal using the first fusion method to fuse multiple sensing results; and the first terminal sending a first sensing result obtained by fusing the multiple sensing results to the first communication device.

[0027] The third aspect provides a communication method in which the network device can send instruction information to the terminal. This instruction information instructs the fusion of multiple sensing results using a first fusion method and the resulting fusion to be sent to a first communication device. The terminal can then fuse the multiple sensing results according to the instruction information and send the fused sensing result to the first communication device. The terminal only needs to send the fused sensing result to the first communication device; it does not need to send the different sensing results before fusion or the fused sensing result separately to different sensing devices, thereby reducing the amount of communication resources required to transmit the sensing results and reducing communication resource overhead.

[0028] For an explanation of the sensing regions corresponding to multiple sensing results, the target to be sensed, and the fusion methods of sensing results corresponding to different sensing regions, please refer to the corresponding part of the first aspect above and the explanation of the beneficial effects, which will not be repeated here.

[0029] In one possible implementation of the third aspect, the method further includes: a first terminal receiving echo signals corresponding to sensing signals sent by multiple sensing devices, and obtaining multiple sensing results, wherein the multiple sensing devices include a first communication device.

[0030] In one possible implementation of the third aspect, the method further includes: the network device determining indication information based on the location of the sensing device corresponding to multiple sensing results, the location of the first terminal, the location of the first communication device, and the information of the target to be sensed, wherein the sensing device is used to send sensing signals.

[0031] For an explanation of the various possible implementation methods and beneficial effects of the third aspect, please refer to the corresponding parts of the first or second aspect and the explanation of the beneficial effects mentioned above. They will not be repeated here.

[0032] Fourthly, a communication apparatus is provided, comprising: a module (e.g., including a processing module and a communication module) for performing the steps of the first aspect or any possible implementation thereof; or, a module for performing the steps of the second aspect or any possible implementation thereof.

[0033] Fifthly, a communication device is provided, the device comprising at least one processor, the at least one processor being configured to execute: the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof.

[0034] In one possible implementation, the communication device may further include a memory storing a computer program, and at least one processor executes the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof, by executing the computer program stored in the memory. Optionally, the processor and the memory may be integrated together.

[0035] In one possible implementation, at least one processor executes the method of the first aspect or any possible implementation of the first aspect above, or the method of the second aspect or any possible implementation of the second aspect above, through logic circuits or processing circuits.

[0036] In one possible implementation, the communication device may further include an interface circuit for performing specific signal transmission and reception.

[0037] For example, the communication device can be a terminal, a component (chip, chip system, or processor) in the terminal, or a logic module or software that can realize all or part of the terminal's functions.

[0038] For example, the communication device can be a network device, a component (chip, chip system, or processor) in a network device, or a logical node, logical module, or software that can implement all or part of the functions of a network device.

[0039] In a sixth aspect, a terminal is provided, which includes the communication device provided in the fourth aspect above, or the terminal includes the communication device provided in the fifth aspect above.

[0040] In a seventh aspect, a network-side device is provided, which includes the communication device provided in the fourth aspect above, or the network-side device includes the communication device provided in the fifth aspect above.

[0041] Eighthly, a computer program product is provided, comprising a computer program that, when executed by a processor, performs: the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof.

[0042] Ninth aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed, it is used to perform: the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof.

[0043] In a tenth aspect, a chip is provided, the chip comprising: a processor for calling and running a computer program from a memory, causing a communication device on which the chip is mounted to perform: the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof.

[0044] Eleventhly, a chip or system-on-a-chip is provided, comprising: logic circuitry for implementing the method of the first aspect or any possible implementation thereof, or the method of the second aspect or any possible implementation thereof. Optionally, the chip or system-on-a-chip may further include interface circuitry.

[0045] In a twelfth aspect, a communication system is provided, comprising: the terminal provided in the sixth aspect and the network-side device provided in the seventh aspect.

[0046] In a thirteenth aspect, a communication system is provided, comprising a network device and a terminal, wherein the network device is used to perform the method executed by the network device in the third aspect or any possible implementation thereof, and the terminal is used to perform the method executed by a first terminal in the third aspect or any possible implementation thereof. Attached Figure Description

[0047] Figure 1 is a schematic diagram of a single-station scenario.

[0048] Figure 2 is a schematic diagram of a dual-station scenario.

[0049] Figure 3 is a schematic diagram of a scenario where a terminal provides feedback on multiple sensing results.

[0050] Figure 4 is a schematic diagram of a communication system applicable to an embodiment of this application.

[0051] Figure 5 is a schematic diagram of a sensing scene provided in an embodiment of this application.

[0052] Figure 6 is a schematic diagram of another example of a communication system applicable to embodiments of this application.

[0053] Figure 7 is a schematic diagram of the structural division of an access network device and the corresponding protocol layer functions of each structure provided in an embodiment of this application.

[0054] Figure 8 is a schematic diagram of another communication system applicable to embodiments of this application.

[0055] Figure 9 is a schematic flowchart of a communication method provided in an embodiment of this application.

[0056] Figure 10 is a schematic diagram of a terminal providing feedback on multiple perception results according to an embodiment of this application.

[0057] Figure 11 is a schematic diagram of another scenario in which a terminal provides feedback on multiple perception results, as provided in an embodiment of this application.

[0058] Figure 12 is a schematic diagram of a terminal providing feedback on multiple perception results according to an embodiment of this application.

[0059] Figure 13 is a schematic diagram of another scenario in which a terminal provides feedback on multiple perception results, as provided in an embodiment of this application.

[0060] Figure 14 is a schematic block diagram of another communication device provided in the embodiments of this application.

[0061] Figure 15 is a schematic block diagram of another communication device provided in the embodiments of this application.

[0062] Figure 16 is a schematic block diagram of a terminal provided in an embodiment of this application.

[0063] Figure 17 is a schematic block diagram of a network device provided in an embodiment of this application. Detailed Implementation

[0064] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0065] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0066] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this embodiment, unless otherwise stated, "a plurality of" means two or more.

[0067] In this embodiment, the terminal or network device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. Furthermore, this embodiment does not specifically limit the specific structure of the execution entity of the method provided in this embodiment, as long as it can communicate according to the method provided in this embodiment by running a program that records the code of the method provided in this embodiment. For example, the execution entity of the method provided in this embodiment can be a terminal or network device, or a functional module in the terminal or network device that can call and execute a program.

[0068] Furthermore, various aspects or features of this application can be implemented as methods, apparatus, or articles of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used herein encompasses a computer program accessible from any computer-readable device, carrier, or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). Additionally, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0069] In the evolution of fifth-generation (5G) mobile communication systems towards 5G-advanced (5G-A) technology, ISAC technology is considered one of the key technologies for expanding the service capabilities of mobile communication networks. The core idea of ​​this technology is to add sensing capabilities to the mobile communication network, building the ability to detect, track, and image targets, thereby integrating communication and sensing capabilities into a single network, achieving harmonious coexistence and even mutual benefit.

[0070] The principles of sensing technology and communication technology differ somewhat. Communication technology primarily involves the transmitter modulating information onto radio waves and sending it to the receiver. The receiver then demodulates the signal (or communication signal) carried on the radio waves to obtain the information. Sensing technology, on the other hand, requires the transmitter to send radio waves (or sensing signals) in a specific direction. When these radio waves strike a target surface, they create reflected waves (or echo signals). The receiver then receives and processes these reflected waves to obtain the sensing results, such as information about the target's position, speed, and type.

[0071] Sensing can generally be divided into two modes: single-site sensing and dual-site sensing. Single-site sensing is characterized by the same device transmitting and receiving the sensing signal. In terms of signal transmission, the sensing station both transmits and receives the signal reflected from the target surface; therefore, single-site sensing can also be called a self-transmitting and self-receiving mode. For dual-site sensing, the transmitting and receiving devices are different. In terms of signal transmission, after sensing station A transmits the sensing signal, the signal reflected from the target surface is received by sensing station B; therefore, dual-site sensing is also called the A-transmit, B-receive mode.

[0072] For example, Figure 1 shows a schematic diagram of a single-site sensing operation of a network device. As shown in Figure 1, the network device and the terminal communicate using communication signals. The network device sends a sensing signal to the target to be sensed. The target reflects the sensing signal to form an echo signal. The network device receives the echo signal and uses the echo signal and the sensing signal to sense the target.

[0073] For example, Figure 2 shows a schematic diagram of dual-site sensing using two network devices. As shown in Figure 2, network device A and the terminal communicate using communication signals. Network device A sends a sensing signal to the target to be sensed. The target reflects the sensing signal to form an echo signal. Network device B receives the echo signal and uses the echo signal and the sensing signal to sense the target.

[0074] In wireless communication systems, communication can be categorized into different types based on the types of transmitting and receiving nodes. Generally, sending information from a network device to a terminal is called downlink communication, and sending information from a terminal to a network device is called uplink communication. In Long Term Evolution (LTE) / Long Term Evolution Advanced (LTE-A) communication systems and New Radio (NR) systems, based on the duplex mode, communication can be mainly divided into Frequency Division Duplex (FDD) and Time Division Duplex (TDD) modes. For wireless communication systems operating in TDD mode, the downlink and uplink carriers share the same carrier frequency. Multiple access methods typically employ Orthogonal Frequency Division Multiple Access (OFDMA). The main characteristic of OFDMA is that it divides transmission resources into mutually orthogonal time-frequency resource elements (REs). Signals transmitted by the transmitting end are carried on REs and transmitted to the receiving end. Because different REs are orthogonal, the receiving end can individually receive the signals transmitted on each RE.

[0075] In current integrated communication and sensing scenarios or sensing scenarios, multiple different sensing devices can send sensing signals to the target to be sensed. The device that obtains the sensing results (such as the terminal) can determine multiple sensing results based on the echo signals corresponding to the sensing signals, and needs to send the multiple different sensing results to different sensing devices respectively.

[0076] The following example illustrates how a network device sends a sensing signal, and a terminal receives the corresponding echo signal.

[0077] In one possible scenario, network devices send sensing signals, and the terminal obtains the sensing result within the sensing range based on the echo signal corresponding to the sensing signal. For example, Figure 3 illustrates a typical sensing scenario. In the example shown in Figure 3, network device 1 (or sensing device 1) sends sensing signal 1 to the target to be sensed, and network device 2 (or sensing device 2) sends sensing signal 2 to the target to be sensed. The terminal receives the echo signal 1 reflected by the target in response to sensing signal 1 and the echo signal 2 reflected by the target in response to sensing signal 2. The terminal processes the two echo signals to obtain two sensing results, sensing result 1 and sensing result 2, and then sends sensing result 1 to network device 1 and sensing result 2 to network device 2.

[0078] After network device 1 receives sensing result 1 and network device 2 receives sensing result 2, one possible implementation is as follows: Network device 1 sends sensing result 1 to a higher-layer sensing function (SF), and network device 2 also sends sensing result 2 to the higher-layer sensing function. The higher-layer sensing function performs fusion processing on sensing result 1 and sensing result 2 to obtain a fused sensing result, which is then used as the final sensing result for the target to be sensed. Another possible implementation is as follows: Network device 1 sends sensing result 1 to network device 2, or network device 2 sends sensing result 2 to network device 1, thus allowing network device 1 or network device 2 to obtain multiple sensing results for the target to be sensed. Network device 1 or network device 2 can then perform fusion processing on sensing result 1 and sensing result 2 to obtain a fused sensing result, which is then used as the final sensing result for the target to be sensed. Optionally, network device 1 or network device 2 can also send the fused sensing result to the sensing function.

[0079] In the example shown in Figure 3, after the terminal obtains two sensing results, it does not consider whether the two sensing results can be fused, and directly sends the two sensing results to two network devices respectively. Since the two sensing results need to use two communication resources for transmission or sending, the communication resource overhead used by the terminal to report the sensing results is large, resulting in a waste of communication resources.

[0080] In view of this, this application provides a communication method in which a network device can send instruction information to a terminal that has obtained multiple sensing results. The instruction information is used to instruct the multiple sensing results to be fused and the fused result to be sent to a specific network element (e.g., a first communication device). The terminal can then fuse the multiple sensing results according to the instruction information and send the fused sensing result to the first communication device. This reduces the number of sensing results that the terminal needs to report, and the terminal does not need to send different sensing results to different sensing devices separately, thereby reducing the amount of communication resources required for the terminal to transmit or report sensing results and reducing communication resource overhead.

[0081] For example, in the example shown in Figure 3, using the method provided in the embodiments of this application, the two echo signals received by the terminal can simultaneously image the left side of the building (the target to be sensed). Then, the two sensing results (or sensing spectra) obtained by the terminal can be fused to obtain a fused sensing result (or fused sensing spectrum), thereby obtaining the benefits of multiple perspectives. The number of sensing results (or sensing spectra) that the terminal needs to feed back is reduced from two to one, thereby reducing the overhead of communication resources.

[0082] To facilitate understanding of the embodiments of this application, the communication system applicable to the embodiments of this application will be briefly introduced first with reference to Figures 4 and 5.

[0083] For example, the communication method provided in this application can be applied in scenarios of integrated communication and sensing or sensing scenarios. For instance, Figure 4 shows a schematic diagram of an example integrated communication and sensing system. As shown in Figure 4, the system includes: network devices, multiple terminals, and multiple targets to be sensed or sensed targets. While conducting wireless communication, the network devices and terminals in the communication system can also sense objects that do not have communication functions or objects that do have communication functions (i.e., targets to be sensed or sensed targets). For example, targets to be sensed may include moving targets such as vehicles, low-altitude drones, and pedestrians, as well as stationary objects in the environment, such as buildings and the ground. The embodiments of this application do not limit the specific form of the targets to be sensed.

[0084] For example, Figure 5 shows a schematic diagram of a sensing scenario, illustrating different sensing modes. Figure 5a shows a single-site sensing mode where the network device uses the sensing signal, i.e., a self-transmitting and self-receiving mode. Figure 5b shows a single-site sensing mode where the terminal uses the sensing signal, i.e., a self-transmitting and self-receiving mode. Figure 5c shows a bi-site sensing mode where different network devices (Network Device A and Network Device B) use sensing signals, i.e., Network Device A sends the sensing signal and Network Device B receives the corresponding echo signal. Figure 5d shows a single-site sensing mode where different terminals (Terminal A and Terminal B) use sensing signals, i.e., Terminal A sends the sensing signal and Terminal B receives the corresponding echo signal. Figure 5e shows a bi-site sensing mode between a network device and a terminal, where the echo signal from the sensing signal on the surface of the sensing target is received by the terminal after the network device sends the sensing signal. As shown in Figure 5f, this is a dual-station sensing mode between the terminal and the network device. After the terminal sends a sensing signal, the echo signal of the signal on the surface of the sensing target is received by the network device.

[0085] It should be understood that the sensing scenarios in the communication system shown in Figure 4 may include one or more of the scenarios shown in Figure 5.

[0086] For example, in the example shown in Figure 4, the method provided in this application can be used in the process of the terminal fusing and feeding back the determined multiple perception results.

[0087] For example, the scenario or communication system shown in Figure 4 can be a cellular system related to the 3rd generation partnership project (3GPP), such as LTE system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD) system, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, 4G, 5G mobile communication system, New Radio (NR), future-oriented evolution system (e.g., future communication network), cloud radio access network (CRAN), or it can be an open RAN (O-RAN or ORAN) system, or it can be a communication system integrating two or more of the above systems. This application embodiment is not limited to these specific implementations.

[0088] In this application embodiment, the network device may also be referred to as an access network device, a radio access network (RAN) node, a network device, an RAN entity, or an access node, etc., constituting part of the communication system to help the terminal achieve wireless access.

[0089] In one possible scenario, the network device or RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), or a next-generation NodeB (gNB) in a future communication network. Optionally, the network device or RAN node can be a macro base station, a micro base station or indoor station, a relay node or donor node, or a radio controller in a CRAN scenario. Optionally, the network device or RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the network device or RAN node in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the network device or RAN node in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The network device or RAN node in this application can also be a logical node, logical module, or software capable of implementing all or part of the functions of the network device or RAN node.

[0090] In another possible scenario, multiple RAN nodes can collaborate to assist the terminal in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). Optionally, a central unit can also be called a control unit.

[0091] 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. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0092] 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). Alternatively, the CU can be configured to implement the functions of the protocol layers above the PDCP layer (such as the RRC and / or SDAP layers), and the DU can be configured to implement the functions of the protocol layers below the PDCP layer (such as the RLC, MAC, and / or PHY layers).

[0093] In the embodiments of this application, the functions of the RAN node can be executed by modules (such as chips) within the RAN node, or by a control subsystem that includes RAN node functions. For example, a control subsystem that includes RAN node functions can be a control center in application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. The functions of the terminal can also be executed by modules (such as chips or modems) within the terminal, or by a device that includes terminal functions.

[0094] In one possible implementation of this application, the network device (or RAN node, access network device) may include CU, DU, and RU, etc. In another possible implementation, the network device (or RAN node, access network device) may be CU, DU, or RU, etc. This application does not impose any limitations on the implementation.

[0095] In the embodiments of this application, the terminal may also be referred to as a terminal device, user equipment (UE), mobile station (MS), mobile terminal (MT), etc., or a device used to provide voice or data connectivity to a user. It may also be an Internet of Things (IoT) device, or an entity on the user side used to receive or transmit signals, for sending uplink signals to network devices, receiving downlink signals from network devices, sending signals to another terminal device, receiving signals from another terminal device, or receiving echo signals of signals transmitted by itself. For example, terminal devices include handheld devices with wireless connectivity, vehicle-mounted devices, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, smart furniture, smart office, smart wearables, smart transportation, and smart city.

[0096] For example, terminal devices can be: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices (such as smartwatches, smart bracelets, pedometers, smart glasses, etc.), in-vehicle equipment (such as cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), satellite terminals, VR devices, AR devices, point-of-sale (POS) machines, customer-premises equipment (CPE), light user equipment (light UE), reduced capability user equipment (REDCAP UE), wireless terminals in industrial control, smart home devices (such as refrigerators, televisions, air conditioners, electricity meters, etc.), smart robots, robotic arms, workshop equipment, wireless terminals in autonomous driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, or wireless terminals in smart homes, surveillance cameras in intelligent transportation and smart cities, and flying equipment (such as smart robots, hot air balloons, drones, airplanes), etc. The terminal device can also be a vehicle device, such as a complete vehicle device, an in-vehicle module, an in-vehicle chip, an on-board unit (OBU), or a telematics box (T-BOX). The terminal device can also be other devices with terminal functions; for example, it can be a device that functions as a terminal in D2D communication. The embodiments of this application do not limit the form of the terminal device.

[0097] It should be understood that in the embodiments of this application, "RAN node" can also be referred to in different ways, such as "RAN node" can also be called network device, access network device or wireless access network device, etc. Unless otherwise specified in this application, "network device" will be used as the term, where network device is the original term for access network device (such as base station).

[0098] It should be understood that the communication system shown in Figure 4 is merely exemplary and should not impose any limitations on the communication systems applicable to the embodiments of this application. For example, the communication system shown in Figure 4 may also include more or fewer network nodes, such as terminal devices or RAN nodes. The RAN nodes or terminal devices included in the communication system shown in Figure 4 can be the various forms of RAN nodes or terminal devices described above. The embodiments of this application are not shown one by one in the figures.

[0099] For example, Figure 6 shows a schematic diagram of the structural division of an access network device.

[0100] As shown in Figure 6, the access network equipment communicates with the core network (CN) equipment via a backhaul link and with the UE via an air interface. The access network equipment includes a BBU and at least one RU, with the BBU containing at least one CU and at least one DU. The BBU communicates with the core network via the backhaul link, and the RU in the access network equipment communicates with at least one UE via an air interface. The BBU also communicates with at least one RU via a fronthaul link. The BBU and RU may or may not be co-located.

[0101] As shown in Figure 6, at least one CU and at least one DU can communicate via at least one midhaul link.

[0102] For example, Figure 7 shows a schematic diagram of the structural division of access network equipment in an O-RAN system and the corresponding protocol layer functions of each structure.

[0103] As shown in Figure 7, the access network equipment includes CU, DU and RU.

[0104] The CU (Core Unit) can be a logical node carrying the RRC, SDAP, PDCP, and other control functions of access network equipment. The CU can connect to network nodes such as core network equipment through interfaces, for example, E2 interfaces. Optionally, the CU can have some core network functions. For example, the CU (e.g., PDCP layer and higher layers) connects to the DU (e.g., RLC layer and lower layers) through interfaces, for example, the F1 interface. In some examples, these interfaces (e.g., the F1 interface) can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, UE context management, RRC message transmission, etc.). The F1 application protocol (F1 AP) is the application protocol of the F1 interface; in some examples, the F1 AP defines the F1 signaling procedures. The F1 interface supports control plane F1-C and user plane F1-U.

[0105] In some examples, the CU can be split into CU-CP and CU-UP. CU-CP is a logical node carrying the RRC layer and the PDCP control plane (PDCP-C) layer, used to implement the CU's control plane functions. CU-CP can interact with network elements in the core network used to implement control plane functions. For example, network elements in the core network used to implement control plane functions can be access and mobility function (AMF) network elements, such as the access and mobility management function (AMF) in a 5G system. The AMF network element can be used to handle mobility management in the mobile network, such as terminal device location updates, terminal device registration with the network, and terminal device handover. CU-UP can be a logical node carrying the SDAP layer and the PDCP user plane (PDCP-U) layer, used to implement the CU's user plane functions. CU-UP can interact with network elements in the core network used to implement user plane functions, such as the user plane function (UPF) in a 5G system, used to handle data forwarding and reception in terminal devices.

[0106] It should be understood that the above configuration of the protocol layer functions of CU and DU is merely an example, and the functions of CU and DU can be configured as needed. For example, CU or DU can be configured to have more protocol layer functions, or it can be configured to have only some protocol layer processing functions. For example, some functions of the RLC layer and the protocol layer functions above the RLC layer can be set in CU, and the remaining functions of the RLC layer and the protocol layer functions below the RLC layer can be set in DU. Furthermore, the functions of CU or DU can be divided according to service type or other system requirements, such as by latency, setting functions that need to meet low latency requirements in DU, and functions that do not need to meet this latency requirement in CU.

[0107] As shown in Figure 7, in some examples, a DU can be a logical node carrying the RLC layer, MAC layer, higher physical layer (Higher PHY) layer, and other functions. In some examples, a DU can control at least one RU. The DU connects to the RU through interfaces, such as fronthaul interfaces. In some examples, the higher physical layer may include some functions processed by the PHY layer, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation.

[0108] In some examples, the RU can be a logical node carrying both lower physical layer (PHY) and radio frequency (RF) processing. In some examples, the RU can be a transmission reception point (TRP), RRH, or other similar entity in 3GPP. In some examples, the lower physical layer may include some functions of PHY processing, such as fast fourier transform (FFT), inverse fast fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more UEs via a radio link.

[0109] The DU and RU may or may not be co-located. The DU and RU exchange control plane, user plane, and synchronization plane information (O-RAN CUS-Plane) via the lower-layer split-control, user, and synchronization (LLS-CUS) interface through the fronthaul link. The LLS-CUS may include LLS-C and LLS-U interfaces that provide the control plane (C-Plane) and user plane (U-Plane), respectively. In some examples, the control plane (C-Plane) may refer to real-time control between the DU and RU. The DU and RU exchange management plane information (O-RAN M-Plane) via the lower-layer split-management-Plane (LLS-M) interface of the fronthaul link. The management plane (M-Plane) may refer to non-real-time management operations between the DU and RU.

[0110] As shown in Figure 7, the DU and RU can cooperate to implement the functions of the PHY layer. 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 can be configured to implement baseband functions, and the RU can be configured to implement mid-RF functions. Another example is that the DU can be configured to implement higher-level PHY functions, and the RU can be configured to implement lower-level PHY functions, or both lower-level and RF functions. Higher-level PHY functions may include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level PHY functions may include another portion of the physical layer's functions that are closer to the mid-RF side.

[0111] For example, Figure 8 shows a schematic diagram of another communication architecture applicable to an embodiment of this application.

[0112] As shown in Figure 8, the CU (Core Unit) performs some functions of Layer 2 (L2) and Layer 3 (L3) in the wireless communication protocol stack. The midhaul link carries data between the CU and DU (Digital Unit), while the backhaul link carries data between the CU and core network equipment. The DU performs Layer 1 (L1) and some Layer 2 functions, and the RU (Realtory Unit) performs Layer 1 data computation and RF digital functions. Data between the RU and DU is carried using the fronthaul link. An integrated DU includes the functions of both the DU and RU. For example, Layer 1 includes the PHY layer, Layer 2 includes the MAC layer, RLC layer, and PDCP layer, and Layer 3 includes the RRC layer. In one implementation, the SDAP layer may also be included above the PDCP layer. Above the RRC layer, a non-access stratum (NAS) may also exist.

[0113] For example, the CU may include a CPU, as well as chips of the type such as a field-programmable gate array (FPGA), graphics processing unit (GPU), or other accelerators. For instance, the CPU may include an x86 architecture processor or an advanced reduced instruction set computer (RISC) machine (ARM) processor. The x86 type chip or the ARM-based chip can process instructions from the core network device. Some of the underlying logical operations, such as simple summation, are handled by the FPGA, GPU, or other accelerators. After processing, the results are fed back to the CPU for further control operations. The CPU and the FPGA, GPU, or other accelerators can be connected and communicate via a high-speed serial computer expansion bus interface (PCIe).

[0114] A DU (Distributed Unit) is typically implemented using a multi-core processor and one or more hardware accelerators. For example, a DU can also include chips of the type of CPU, FPGA, GPU, or other accelerators. The CPU can be an x86-based processor or an ARM-based processor. The x86-based or ARM-based chip processes instructions from the CU, while some logical operations, such as simple summation, are handled by the FPGA, GPU, or other accelerators. After processing, the results are fed back to the CPU for further control operations. The CPU and the FPGA, GPU, or other accelerators can connect and communicate via a PCIe interface and connect to external devices via Gigabit Ethernet (GbE).

[0115] The protocol stack functionality executed by DU can be partially implemented in software running on a multi-core processor (CPU). Computationally intensive Layer 1 and Layer 2 functionalities can be offloaded to FPGA- or GPU-based hardware accelerators, or all Layer 1 functionalities can be offloaded to FPGA- or GPU-based hardware accelerators, while other protocol stack components are implemented in software running on the processor (CPU); or the entire protocol stack can be implemented in software running on the processor. The hardware accelerator supports interconnection with both x86 and non-x86 processors.

[0116] In terms of hardware, a CU or DU can include a chassis platform, motherboard, peripherals, and cooling system. The motherboard contains processing units, memory, internal input / output (I / O) interfaces, and external connection ports. Its hardware accelerator is designed with interfaces, and hardware functional components include: storage for software, hardware, and system debugging interfaces, and a single-board management controller.

[0117] RU consists of three parts:

[0118] The first part is the O-RAN processing unit (OPU). The OPU can receive Enhanced Common Public Radio Interface (eCPRI) frames from the O-RAN fronthaul and perform fronthaul interface, bottom-level (Layer 1) encoding, scrambling, modulation, layer mapping, precoding, synchronization, beamforming, and resource unit mapping. The OPU can be implemented using a CPU, FPGA, or application-specific integrated circuit (ASIC). Optionally, the OPU can also be called the fronthaul processing unit.

[0119] The second part is the O-RU digital processing unit (DPU). The DPU performs synchronization, digital downconversion (DDC) in the uplink, digital upconversion (DUC) in the downlink, crest factor reduction (CFR), and digital pre-distortion (DPD). It improves power amplifier efficiency by reducing the peak-to-average power ratio (PAPR) or adjacent channel leakage ratio (ACLR) of the RF front-end. The DPU can be implemented using an FPGA or ASIC.

[0120] The third part is the O-RU's RF processing unit, which includes a transceiver module, up / down converters, power amplifiers (PA), low noise amplifiers (LNA), and transmit or receive (Tx / Rx) filters. All conversions between the analog and digital domains, including digital-to-analog converters (DACs) and analog-to-digital converters (ADCs), are performed within the transceiver module. For example, RF sampling, the use of RF in up-conversion and down-conversion, and frequency conversion by mixing the intermediate frequency (IF) and local oscillator (LO) frequencies are all performed within the transceiver module.

[0121] It should be understood that the communication systems or architectures shown in Figures 4 to 8 are merely exemplary and should not impose any limitations on the communication systems applicable to the embodiments of this application. For example, the communication systems shown in Figures 4 to 8 may also include more or fewer network nodes, such as terminal devices or RAN nodes. The RAN nodes or terminal devices included in the communication systems shown in Figures 4 to 8 can be the various forms of RAN nodes or terminal devices described above. The embodiments of this application are not shown one by one in the figures.

[0122] The following section uses specific examples to illustrate the communication method provided in this application.

[0123] It should be understood that in this application, network-side devices and terminals are used as examples to illustrate the method. As examples and not limitations, the terminal in this application can be a terminal device, a component (chip, chip system, or processor) that supports the terminal device in implementing the method, or a logic module or software capable of implementing all or part of the terminal device's functions. Similarly, the network-side device in this application can be a component (chip, chip system, or processor) that supports the network-side device in implementing the method, or a logic module or software capable of implementing all or part of the network-side device's functions, such as a CU, DU, or RU. The embodiments in this application are not limited here. In the examples below, the network-side device is described using a network device as an example.

[0124] The communication method provided in this application will be described in detail below with reference to Figure 9. Figure 9 is a schematic flowchart of a communication method according to an embodiment of this application. This method 900 can be applied to the scenarios or communication architectures shown in Figures 3, 4, 6 or 8. Of course, it can also be applied to other communication scenarios or communication architectures. This application embodiment does not limit the scope of the application.

[0125] As shown in Figure 9, the method 900 shown in Figure 4 may include steps S910 to S930. The steps of method 900 will be described in detail below with reference to Figure 9.

[0126] S910, the network device sends an instruction message to the first terminal, and the first terminal receives the instruction message accordingly.

[0127] Specifically, the indication information is used to indicate: the first fusion method and the identifier of the first communication device. In other words, the indication information can be used to indicate: fusing multiple sensing results and sending the fused result to the first communication device.

[0128] For example, the indication information can be carried in RRC signaling or in downlink control information (DCI). This application embodiment does not limit the specific signaling used to carry the indication information. For instance, the indication information can also be carried in other signaling, or the network device can use separate signaling to send the indication information to the first terminal. This application embodiment does not impose any limitations here.

[0129] For example, the identifier of the first communication device may include the Internet Protocol (IP) address of the first communication device. This application does not limit the specific implementation of the identifier of the first communication device, as long as the identifier can be used by the first terminal to identify the first communication device, so that the first terminal can communicate with the first communication device based on the identifier of the first communication device.

[0130] It should be understood that in the embodiments of this application, the first terminal may determine or obtain multiple sensing results.

[0131] Optionally, in one possible implementation, before S910, the method 900 may further include S909: the first terminal receives echo signals corresponding to multiple sensing signals respectively, and obtains multiple sensing results.

[0132] For example, multiple sensing devices can send sensing signals (which can be dedicated sensing signals or integrated sensing signals) to a target. The target reflects these signals, forming echo signals. A first terminal receives the echo signals corresponding to each of the multiple sensing signals and determines multiple sensing results based on these echo signals. A single sensing device can send one or more sensing signals to the target. Each sensing signal corresponds to one echo signal, and each echo signal corresponds to one sensing result. In other words, one sensing signal corresponds to one sensing result, or different sensing signals correspond to different sensing results. In other words, different sensing results are determined by the first terminal based on the different sensing signals and the echo signals reflected by the target. For example, the first terminal can determine N sensing results, where N is an integer greater than 1.

[0133] It should be understood that, in the embodiments of this application, the sensing device can be understood as a device that sends sensing signals to the target to be sensed.

[0134] It should also be understood that S909 is an optional step; that is, method 900 may also omit S909 and proceed directly from S910. If method 900 does not include S909, the first terminal can acquire multiple sensing results through other means. For example, other communication devices (e.g., other terminals) can send multiple sensing results to the first terminal.

[0135] In one possible implementation, for example, the first terminal determines N sensing results, where N is an integer greater than 1. Then, N sensing devices can each send sensing signals to the target to be sensed. The first terminal can receive N echo signals reflected from the target by the sensing signals, and determine the N sensing results based on these N echo signals. In other words, different sensing results can correspond to sensing signals sent by different sensing devices; that is, different sensing results correspond to different sensing signals. The N sensing results determined by the first terminal correspond to N sensing signals. Each sensing signal sent by a sensing device corresponds to one sensing result, or in other words, one sensing result corresponds to one sensing device, and the number of sensing results is the same as the number of sensing devices.

[0136] In one possible implementation, for example, the first terminal determines N sensing results, where N is an integer greater than 1. Then, M sensing devices can send sensing signals to the target to be sensed. The first terminal can receive N echo signals reflected from the target by the sensing signals, and determine N sensing results based on the N echo signals. The value of M is less than N. That is, among the M sensing devices, at least one sensing device can send multiple sensing signals, each sensing signal corresponding to a sensing result, or different sensing results corresponding to different sensing signals. The number of sensing results is greater than the number of sensing devices.

[0137] In one possible implementation, multiple sensing devices (e.g., N or M sensing devices) may include terminals and / or network devices; in other words, the sensing devices can be either terminals or network devices. For example, the multiple sensing devices may include a first terminal. As another example, the multiple sensing devices may include the network device that transmits indication information in S910.

[0138] In one possible implementation, multiple sensing results (e.g., N sensing results) determined by the first terminal correspond to the same sensing region, which may include at least one target to be sensed. In another possible implementation, the multiple sensing results (e.g., N sensing results) determined by the first terminal correspond to at least two different sensing regions. That is, each sensing region may correspond to at least one sensing result, and when multiple sensing results correspond to at least two different sensing regions, the at least two different sensing regions may belong to the same sensing target or different sensing targets. Optionally, in this embodiment, the sensing region may also be called a fusion region. In one possible implementation, the sensing region can be understood as: the area that the sensing signal can cover; or, the area where the target to be sensed receives the sensing signal or the area where an echo signal is formed on the surface of the target to be sensed. For example, a certain sensing region of the target to be sensed may include a physical surface of the target to be sensed (including a plane or curved surface, etc.).

[0139] Different sensing areas can correspond to the same target or different targets. Specifically, in one possible implementation, multiple sensing results correspond to different sensing areas of the same target. For example, sensing signals sent by multiple sensing devices are reflected by different sensing areas of the target to form echo signals, which are then received by a first terminal. Each sensing area can correspond to one or more sensing results. In another possible implementation, multiple sensing results correspond to different sensing areas of different targets (at least two targets). For example, sensing signals sent by multiple sensing devices are transmitted through different sensing areas of different targets to form echo signals, which are then received by a first terminal. For each target, sensing signals sent by some of the sensing devices can be received. For each target, there can be one or more sensing areas, and each sensing area can correspond to one or more sensing results.

[0140] For example, Figure 10 shows a scenario diagram illustrating the use of the communication method provided in this application. As shown in Figure 10, network device 1, network device 2, and network device 3 respectively send sensing signals (or integrated sensing signals) to the target to be sensed. Terminal 1 receives the echo signals reflected by the target to the sensing signals sent by network device 1 and network device 3, respectively, and terminal 2 receives the echo signals reflected by the target to the sensing signals sent by network device 1 and network device 2, respectively. Network device 1, network device 2, and network device 3 are all sensing devices.

[0141] In the example shown in Figure 10, terminal 1 can obtain sensing result 1 based on sensing signal 1 and corresponding echo signal 1 sent by network device 1, and sensing result 3 based on sensing signal 3 and corresponding echo signal 3 sent by network device 3. That is, terminal 1 can obtain two sensing results (sensing result 1 and sensing result 3). Sensing result 1 corresponds to network device 1 (or sensing result 1 corresponds to sensing signal 1), and sensing result 3 corresponds to network device 3 (or sensing result 3 corresponds to sensing signal 3). Terminal 2 can obtain sensing result 4 based on sensing signal 4 and corresponding echo signal 4 sent by network device 1, and sensing result 2 based on sensing signal 2 and corresponding echo signal 2 sent by network device 2. That is, terminal 2 can also obtain two sensing results (sensing result 2 and sensing result 4). Sensing result 2 corresponds to network device 2 (or sensing result 2 corresponds to sensing signal 2), and sensing result 4 corresponds to network device 1 (or sensing result 4 corresponds to sensing signal 4). For terminal 1 or terminal 2, different sensing results can correspond to sensing signals sent by different sensing devices, or in other words, different sensing results can correspond to different sensing devices, and the number of sensing results is the same as the number of sensing devices.

[0142] In the example shown in Figure 10, the first terminal can be either terminal 1 or terminal 2. If the first terminal is terminal 1, then network device 1 or network device 3 can send instruction information to terminal 1. If the first terminal is terminal 2, then network device 1 or network device 2 can send instruction information to terminal 2.

[0143] In the example shown in Figure 10, if the first terminal is terminal 1, then the first communication device can be network device 1 or network device 3. If the first terminal is terminal 2, then the first communication device can be network device 1 or network device 2.

[0144] In the example shown in Figure 10, the two perception results determined by terminal 1 or terminal 2 respectively correspond to the same target to be perceived.

[0145] For example, in the example shown in Figure 10, for the two perception results (perception result 1 and perception result 3) determined by terminal 1, the two perception results correspond to different perception areas of the same target to be perceived. For example, perception result 1 corresponds to the upper surface of the target to be perceived, and perception result 3 corresponds to the left side of the target to be perceived.

[0146] For example, in the example shown in Figure 10, for the two perception results (perception result 2 and perception result 4) determined by terminal 2, the two perception results correspond to the same perception area of ​​the target to be perceived. For example, the perception area of ​​the target to be perceived corresponding to perception result 2 and perception result 4 is the right side.

[0147] As an example, Figure 11 illustrates another scenario where the communication method provided in this application can be used. As shown in Figure 11, network device B, terminal B, and terminal C respectively send sensing signals (or integrated sensing signals) to target 1, while terminal B and terminal C respectively send sensing signals (or integrated sensing signals) to target 2. Terminal A receives echo signals reflected by target 1 from the sensing signals sent by network device B, terminal B, and terminal C. Furthermore, terminal A can also receive echo signals reflected by target 2 from the sensing signals sent by target B and terminal C. Network device B, terminal B, and terminal C are all sensing devices.

[0148] In the example shown in Figure 11, terminal A can obtain sensing result 1 based on sensing signal 1 and its corresponding echo signal 1 sent by terminal B; sensing result 2 based on sensing signal 2 and its corresponding echo signal 2 sent by terminal B; sensing result 3 based on sensing signal 3 and its corresponding echo signal 3 sent by the network device; sensing result 4 based on sensing signal 4 and its corresponding echo signal 4 sent by terminal C; and sensing result 5 based on sensing signal 5 and its corresponding echo signal 5 sent by terminal C. That is, terminal A can obtain 5 sensing results. Sensing result 4 and sensing result 5 correspond to different sensing signals sent by terminal C, while sensing result 1 and sensing result 2 correspond to different sensing signals sent by terminal B. The 5 sensing results correspond to three sensing devices (network device, terminal B, and terminal C), with each sensing device corresponding to one or more sensing results, and the number of sensing results is greater than the number of sensing devices.

[0149] In the example shown in Figure 11, the first terminal can be terminal A, and the network device can send instruction information to terminal A. The first communication device can be the network device in Figure 11.

[0150] In the example shown in Figure 11, for the five perception results determined by terminal A, perception result 2, perception result 3 and perception result 4 correspond to the same target to be perceived (target to be perceived 1), and perception result 1 and perception result 5 correspond to the same target to be perceived (target to be perceived 2).

[0151] For example, in the example shown in Figure 11, perception result 2 and perception result 4 correspond to the same perception area of ​​the same target (target 1) (e.g., the right side of target 1), while perception result 3 corresponds to the upper side of target 1. Perception results 3 and 2 correspond to different perception areas of the same target (target 1), or perception results 3 and 4 correspond to different perception areas of the same target (target 1). Perception results 1 and 5 correspond to different perception areas of the same target (target 2). For example, perception result 5 corresponds to the lower side of target 2, and perception result 1 corresponds to the upper side of target 2.

[0152] As an example, Figure 12 illustrates another scenario where the communication method provided in this application can be used. As shown in Figure 12, the network device, terminal B, and terminal C respectively send sensing signals (or integrated sensing signals). Sensing signal 1 sent by terminal B is reflected by target 1 and target 2 to form an echo signal, which is received by terminal A. Terminal A obtains sensing result 1 based on this echo signal. Sensing signal 2 sent by terminal C is reflected by target 1 and target 2 to form an echo signal, which is received by terminal A. Terminal A obtains sensing result 2 based on this echo signal. Sensing signal 3 sent by the network device is reflected by target 1 to form an echo signal, which is received by terminal A. Terminal A obtains sensing result 3 based on this echo signal. That is, terminal A can obtain three sensing results. The three sensing results correspond to three sensing devices (network device, terminal B, and terminal C), and the number of sensing results is the same as the number of sensing devices.

[0153] For example, as shown in Figure 12, the sensing signal 1 sent by terminal B is reflected by the left side of the target 1 and the upper side of the target 2 to form an echo signal. The sensing signal 2 sent by terminal C is reflected by the left side of the target 1 and the lower side of the target 2 to form an echo signal. The sensing signal 3 sent by the network device is reflected by the upper side of the target 1 to form an echo signal.

[0154] In the example shown in Figure 12, the first terminal can be terminal A, and the network device can send instruction information to terminal A. The first communication device can be the network device in Figure 12.

[0155] In the example shown in Figure 12, for the three perception results determined by terminal A, the target to be perceived corresponding to perception result 1 includes target to be perceived 1 and target to be perceived 2, the target to be perceived corresponding to perception result 2 also includes target to be perceived 1 and target to be perceived 2, and the target to be perceived corresponding to perception result 3 includes target to be perceived 1.

[0156] In the example shown in Figure 12, there are several different ways to divide the sensing area, which are illustrated below.

[0157] For example, Figure 13 shows a schematic diagram of different sensing regions in the example shown in Figure 12.

[0158] In one possible implementation, as shown in Figure 13a, the target to be perceived 1 and the target to be perceived 2 can be considered as a whole (perception region 1), that is, perception region 1 includes the target to be perceived 1 and the target to be perceived 2. In this case, perception result 1, perception result 2, and perception result 3 are all partial perception results within the perception results corresponding to perception region 1, or in other words, the perception results corresponding to perception region 1 include: perception result 1, perception result 2, and perception result 3. The perception spectrum corresponding to perception region 1 includes the perception spectra corresponding to perception result 1, perception result 2, and perception result 3 respectively, or in other words, the perception spectra corresponding to perception result 1, perception result 2, and perception result 3 are all partial perception spectra within the perception spectrum corresponding to perception region 1.

[0159] In one possible implementation, as shown in Figure 13b, the target to be perceived, 1, can be considered as one sensing region (referred to as sensing region 1), and the target to be perceived, 2, as another sensing region (referred to as sensing region 2), thus including two sensing regions. In this case, the sensing result corresponding to sensing region 1 includes: sensing result 3, a portion of the sensing result corresponding to sensing region 1 in sensing result 2 (i.e., a part of the sensing result in sensing result 2), and a portion of the sensing result corresponding to sensing region 1 in sensing result 1 (i.e., a part of the sensing result in sensing result 1). The sensing result corresponding to sensing region 2 includes: a portion of the sensing result corresponding to sensing region 2 in sensing result 2 (i.e., another part of the sensing result in sensing result 2), and a portion of the sensing result corresponding to sensing region 2 in sensing result 1 (i.e., another part of the sensing result in sensing result 1).

[0160] In the example shown in Figure 13b, perception result 2 comprises two parts: the first part is the perception result corresponding to the echo signal reflected by the target 1 in perception signal 2 sent by terminal C (i.e., the partial perception result corresponding to perception area 1 in perception result 2); the second part is the perception result corresponding to the echo signal reflected by the target 2 in perception signal 2 sent by terminal C (i.e., the partial perception result corresponding to perception area 2 in perception result 2). Perception result 1 also comprises two parts: the first part is the perception result corresponding to the echo signal reflected by the target 1 in perception signal 1 sent by terminal B (i.e., the partial perception result corresponding to perception area 1 in perception result 1); the second part is the perception result corresponding to the echo signal reflected by the target 2 in perception signal 1 sent by terminal B (i.e., the partial perception result corresponding to perception area 2 in perception result 1).

[0161] In one possible implementation, as shown in Figure 13c, the upper side of the target 1 to be perceived can be considered as a sensing region (referred to as sensing region 1), the left side of the target 1 to be perceived as a sensing region (referred to as sensing region 2), the upper side of the target 2 to be perceived as a sensing region (referred to as sensing region 3), and the lower side of the target 2 to be perceived as a sensing region (referred to as sensing region 4). That is, it includes four sensing regions. In this case, the sensing result corresponding to sensing region 1 includes sensing result 3. The sensing result corresponding to sensing region 2 includes: a portion of the sensing result corresponding to sensing region 2 in sensing result 1 (i.e., a part of the sensing result in sensing result 1), and a portion of the sensing result corresponding to sensing region 2 in sensing result 2 (i.e., a part of the sensing result in sensing result 2). The sensing result corresponding to sensing region 3 includes: a portion of the sensing result corresponding to sensing region 3 in sensing result 1 (i.e., another portion of the sensing result in sensing result 1). The sensing result corresponding to sensing region 4 includes: a portion of the sensing result corresponding to sensing region 4 in sensing result 2 (i.e., another portion of the sensing result in sensing result 2).

[0162] In the example shown in Figure 13c, perception result 2 comprises two parts: the first part is the perception result corresponding to the echo signal reflected by the target 1 in perception signal 2 sent by terminal C (i.e., the partial perception result corresponding to perception area 2 in perception result 2); the second part is the perception result corresponding to the echo signal reflected by the target 2 in perception signal 2 sent by terminal C (i.e., the partial perception result corresponding to perception area 4 in perception result 2). Perception result 1 also comprises two parts: the first part is the perception result corresponding to the echo signal reflected by the target 1 in perception signal 1 sent by terminal B (i.e., the partial perception result corresponding to perception area 2 in perception result 1); the second part is the perception result corresponding to the echo signal reflected by the target 2 in perception signal 1 sent by terminal B (i.e., the partial perception result corresponding to perception area 3 in perception result 1).

[0163] It should be understood that the above division of the sensing area is merely exemplary and should not impose any limitations on the embodiments of this application. In other implementations of this application, there may be other different sensing areas, which are not limited here.

[0164] S920, the first terminal uses the first fusion method to fuse multiple sensing results to obtain the fused sensing result.

[0165] Optionally, in the embodiments of this application, the perception result obtained after fusion can also be referred to as the first perception result.

[0166] Optionally, in this embodiment, fusing multiple sensing results can also be referred to as fusing multiple sensing spectra, where each sensing result corresponds to a sensing spectrum. Alternatively, in this embodiment, the sensing result can also be referred to as or understood as a "sensing spectrum".

[0167] In one possible implementation, the number of perceived results obtained after fusing multiple perceived results using the first fusion method is less than the number of perceived results before fusion. The number of perceived results obtained after fusion can be one or more.

[0168] For example, in the example shown in Figure 10, for terminal 1, the number of perception results before fusion is 2, and the number of perception results obtained after fusing multiple perception results using the first fusion method is 1. For terminal 2, the number of perception results before fusion is 2, and the number of perception results obtained after fusing multiple perception results using the first fusion method is 1.

[0169] For example, in the case shown in Figure 11, for terminal A, the number of perception results before fusion is 5. After fusing multiple perception results using the first fusion method, the number of perception results obtained can be 1, or the number of perception results obtained after fusing multiple perception results using the first fusion method can be 2. For example, perception results 2, 3, and 4 are fused using the first fusion method to obtain one fused perception result, and perception results 1 and 5 are fused using the first fusion method to obtain another fused perception result.

[0170] For example, in the case shown in Figure 12, for terminal A, the number of perception results before fusion is 3. After fusing multiple perception results using the first fusion method, the number of perception results obtained can be 1, or the number of perception results obtained after fusing multiple perception results using the first fusion method can be 2 (each target to be perceived corresponds to one fused perception result).

[0171] S930, the first terminal sends the fused sensing results to the first communication device.

[0172] Correspondingly, the first communication device receives the fused sensing results.

[0173] Optionally, in this embodiment, the first communication device may be a network device.

[0174] In one possible implementation, the first communication device and the network device that sends the indication information in S910 can be the same network device. In this implementation, the network device that sends the indication information in S910 is also the device that receives the fused sensing results. The network device that sends the indication information in S910 does not need to determine other devices that receive the fused sensing results, which can reduce the complexity of determining the first communication device, improve the efficiency of determining the first communication device, and at the same time ensure the efficiency and accuracy of the transmission of the fused sensing results.

[0175] In one possible implementation, the first communication device and the network device that sends the indication information in S910 can be different network devices. In this implementation, the network device that sends the indication information in S910 and the device that receives the fused sensing result are different devices. The first communication device can be a device that needs to acquire the sensing result of the target to be sensed, which can improve the flexibility of the transmission of the fused sensing result and ensure the efficiency and accuracy of the transmission of the fused sensing result.

[0176] In one possible implementation, the sensing device sending the sensing signal to the first terminal may include a first communication device. That is, the first communication device also sends a sensing signal to the target to be sensed, and the first terminal receives the echo signal corresponding to that sensing signal. In other words, the multiple sensing results determined by the first terminal include the sensing results corresponding to the sensing signals sent by the first communication device, or the sensing device corresponding to the multiple sensing results includes the first communication device. In this implementation, since the multiple sensing results determined by the first terminal include the sensing results corresponding to the sensing signals sent by the first communication device, the first communication device needs to acquire the sensing results of the target to be sensed. The first communication device can receive the fused sensing results, which can improve the accuracy of sending the fused sensing results, thereby improving sensing efficiency.

[0177] For example, in the example shown in Figure 10, the first communication device can be network device 1.

[0178] For example, in the example shown in Figure 11, the first communication device can be the network device shown in Figure 11.

[0179] For example, in the example shown in Figure 12, the first communication device can be the network device shown in Figure 12.

[0180] In one possible implementation, the first communication device can also send the fused sensing results to higher-level sensing function network elements or core network equipment.

[0181] In one possible implementation, the first communication device can be a high-level sensing function network element or a core network device.

[0182] In one possible implementation, the high-level sensing network elements can be located in the cloud or in the core network.

[0183] The communication method provided in this application embodiment allows a network device to send instruction information to a terminal. This instruction information instructs the fusion of multiple sensing results using a first fusion method and the resulting fusion to be sent to a first communication device. The terminal can then fuse the multiple sensing results according to the instruction information and send the fused sensing result to the first communication device, reducing the number of sensing results the terminal needs to report. The terminal only needs to send the fused sensing result to the first communication device, eliminating the need to send different sensing results before or after fusion to different sensing devices separately. This reduces the amount of communication resources required for the terminal to report or transmit sensing results, thus reducing communication resource overhead.

[0184] In one possible implementation, the first communication device can further process the fused perception results to further improve the accuracy of the perception results.

[0185] In one possible implementation, the first communication device can also receive fused sensing results sent by other terminals. The target to be sensed corresponding to the fused sensing results sent by other terminals and the target to be sensed corresponding to the fused sensing results sent by the first terminal may be the same, partially the same, or different.

[0186] In one possible implementation, if multiple terminals exist, and each terminal can obtain or determine multiple sensing results, the network device can send the aforementioned indication information to each terminal separately. In this case, the first communication device indicated in different indication messages can be the same communication device, which can receive the fused sensing results sent by multiple terminals respectively. Optionally, the communication device can further fuse the fused sensing results sent by multiple terminals again to obtain the benefits of multiple perspectives and further improve the accuracy of the sensing results.

[0187] For example, referring to the example shown in Figure 10, for terminal 1 and terminal 2, the network device can send the aforementioned indication information to terminal 1 and terminal 2 respectively. The first communication device indicated in different indication messages can be the same communication device, such as network device 1. Since network device 1 can receive the fused perception results fed back by terminal 1 and terminal 2 respectively, network device 1 can further fuse the fused perception results sent by terminal 1 and terminal 2 respectively, further improving the accuracy of the perception results and saving signaling overhead. In contrast, if terminal 1 feeds back the fused perception results to network device 1, and terminal 2 feeds back the fused perception results to network device 2, in this case, network device 1 also needs to send the received fused perception results to network device 2, or network device 2 also needs to send the received fused perception results to network device 1. Only then can network device 1 or network device 2 further fuse the fused perception results sent by terminal 1 and terminal 2 respectively. This would require more communication resources to transmit the fused perception results, increasing signaling overhead.

[0188] The following describes the process by which the network device sending indication information in S910 determines the indication information.

[0189] In one possible implementation, the network device sending the instruction information in S910 can determine, based on the locations of multiple sensing devices, the location of the first terminal, and the location of the target to be sensed, that the first terminal can receive the echo signal corresponding to the sensing signals reflected by the target from the sensing signals sent by the multiple sensing devices respectively. In other words, the network device sending the instruction information in S910 can determine, based on the locations of multiple sensing devices, the location of the first terminal, and the information of the target to be sensed (e.g., location information), that the first terminal can acquire or determine multiple sensing results.

[0190] For example, the network device sending instruction information in S910 can send measurement signals to multiple sensing devices and a first terminal respectively. Based on the feedback signals from the multiple sensing devices and the first terminal to the measurement signals, the relative positions of the multiple sensing devices and the first terminal can be determined. The network device sending instruction information can also send a sensing signal (or a combined sensing signal) to the target to be sensed. Based on the echo signal reflected by the target, the position of the target to be sensed can be determined.

[0191] In one possible implementation, the network device sending the instruction information can determine a first communication device capable of receiving the fused first sensing result sent by the first terminal, based on the locations of multiple sensing devices and the location of the first terminal. The first communication device can receive communication signals sent by the first terminal.

[0192] For example, a network device that sends instruction information can obtain the location information of multiple communication devices through signaling interaction, and determine the first communication device among multiple communication devices based on the location of multiple sensing devices, the location of the first terminal, and the location information of multiple communication devices.

[0193] In other words, the network device in S910 can determine that the first terminal can acquire multiple sensing results and the first communication device can receive the communication signals sent by the first terminal.

[0194] In one possible implementation, the first communication device can be the network device that sends the indication information in S910. In this implementation, since the network device that sends the indication information in S910 knows its own location, it only needs to obtain the locations of multiple sensing devices and the location of the first terminal. Based on the locations of the multiple sensing devices, the location of the first terminal, and its own location, it can determine whether it can receive the fused first sensing result sent by the first terminal. This improves the efficiency of determining the first communication device. The network device that sends the indication information in S910 does not need to obtain the location information of other communication devices (e.g., other network devices) to determine the first communication device, thus saving signaling overhead.

[0195] The above example illustrates how the network device sending the instruction information in S910 determines that "the first terminal can acquire multiple sensing results and the first communication device can receive the communication signal sent by the first terminal." In other implementations of this application, these contents can also be determined by higher-layer sensing function network elements. The specific determination process is similar to that of the network device sending the instruction information described above, and will not be elaborated here for simplicity. In this case, the higher-layer sensing function network element can send "the first terminal can acquire multiple sensing results and the first communication device can receive the communication signal sent by the first terminal" to the network device in S910. Thus, the network device in S910 can determine that the first terminal can acquire multiple sensing results and the first communication device can receive the communication signal sent by the first terminal.

[0196] In one possible implementation, after determining that the first terminal can acquire multiple sensing results and the first communication device can receive communication signals sent by the first terminal, the network device in S910 can send indication information to the first terminal. For example, the network device in S910 does not know the sensing area of ​​the target to be sensed corresponding to each sensing result. In this case, the content indicated by the indication information in S910 can include the following three possible implementations:

[0197] Implementation Method 1: In S910, the instruction information indicates the identifiers of the first fusion method and the first communication device. The first fusion method may include an additive fusion method, or in other words, the first fusion method can be an additive fusion method. In this implementation method, by instructing the first terminal to use an additive fusion method, the first terminal can clearly understand the fusion method used for multiple sensing results, thereby improving the efficiency of the first terminal in fusing multiple sensing results.

[0198] In the embodiments of this application, the additive fusion method can be understood as follows: after transforming multiple sensing results (or sensing spectra) obtained from multiple sensing signals in the global coordinate system into power spectra respectively, the corresponding positions (or corresponding positions) in the multiple power spectra are summed.

[0199] Implementation Method Two: In S910, the instruction information indicates the identifiers of the first fusion method and the first communication device. The first fusion method can include multiple different fusion methods. The first terminal can select from these different fusion methods or determine the fusion method to use itself. For example, the first fusion method can include additive fusion and multiplicative fusion. In this implementation method, multiple different fusion methods are indicated to the first terminal. On the one hand, the network device does not need to determine the specific fusion method used for different sensing results, which reduces the complexity of the network device implementation. On the other hand, the first terminal can choose according to the actual situation, which increases the freedom of the first terminal in using the fusion method, achieving flexibility. Furthermore, it can also improve the efficiency and accuracy of the first terminal in fusing multiple sensing results.

[0200] In the embodiments of this application, the multiplicative fusion method can be understood as follows: after transforming multiple sensing results (or sensing spectra) in the global coordinate system obtained from multiple sensing signals into power spectra respectively, the corresponding positions (or corresponding positions) in the multiple power spectra are multiplied together.

[0201] Implementation Method 3: In S910, the instruction information indicates the first fusion method and the identifier of the first communication device. The first fusion method includes: using a multiplicative fusion method for multiple sensing results corresponding to the same sensing area, and using an additive fusion method for multiple sensing results corresponding to different sensing areas. In this implementation method, by instructing the first terminal on the principles or rules for using the fusion method, on the one hand, the network device does not need to determine the specific fusion method used for each fusion area or fusion result, reducing the complexity of network device implementation; on the other hand, the first terminal can combine the situation of the fusion area and utilize the principles or rules for using the fusion method to perform fusion processing on the fusion results of each fusion area, improving the efficiency and accuracy of the first terminal in fusing multiple sensing results.

[0202] In one possible implementation, for the first implementation described above, after receiving the instruction information, the first terminal fuses multiple sensing results using an additive fusion method to obtain a fused sensing result (the first sensing result) and sends it to the first communication device, i.e., executing S920 and S930. After S930, the first communication device can determine the information of the target to be sensed (e.g., outline, type, location, etc.) and the sensing area of ​​the target to be sensed corresponding to each sensing result based on the fused sensing result. After determining the sensing area corresponding to each sensing result, the first communication device can further determine a more accurate fusion method. For example, it can determine that different sensing areas use different fusion methods. After determining that different sensing areas use different fusion methods, the first communication device can also send instruction information (referred to as the second instruction information for distinction) to the first terminal again. The second instruction information is used to indicate: the fusion method corresponding to at least one sensing area. The multiple sensing results determined by the first terminal correspond to at least one sensing area. Optionally, the second instruction information may also include the identifier of the first communication device.

[0203] For example, there can be a mapping relationship between sensing regions and their corresponding fusion methods. For instance, the fusion method corresponding to at least one sensing region can be represented by a table, which may include two columns. The first column contains the identifiers or location parameters corresponding to at least one sensing region, and the second column contains the fusion method corresponding to each sensing region.

[0204] For example, a network device can instruct a first terminal to indicate: "Identifiers or location information corresponding to multiple sensing areas that need to use additive fusion (or identifiers of multiple sensing results that need to use additive fusion), and / or, identifiers or location information corresponding to sensing areas that need to use multiplicative fusion (or identifiers of multiple sensing results that need to use multiplicative fusion)" to indicate to the first terminal: at least one fusion method corresponding to a sensing area.

[0205] In one possible implementation, the fusion method (or first fusion method) corresponding to at least one sensing region may include: multiple sensing results corresponding to the same sensing region using a multiplicative fusion method, and multiple sensing results corresponding to different sensing regions using an additive fusion method.

[0206] In one possible implementation, for the second implementation described above, after receiving the instruction information, the first terminal, knowing the information of the target to be perceived (e.g., outline, type, location, etc.) and the perception area of ​​the target corresponding to each perception result, can select or determine the fusion method to use from multiple different fusion methods based on different perception areas. For example, the first fusion method may include additive fusion and multiplicative fusion. The first terminal can use multiplicative fusion to fuse multiple perception results to obtain the fused first perception result. Alternatively, the first terminal can use additive fusion to fuse multiple perception results to obtain the fused first perception result. For another example, for some perception areas, the first terminal can use additive fusion to fuse the perception results corresponding to these perception areas; for other perception areas, the first terminal can use multiplicative fusion to fuse the perception results corresponding to these perception areas. For instance, for multiple perception results corresponding to the same perception area, the first terminal can choose to use multiplicative fusion; for multiple perception results corresponding to different perception areas, the first terminal can choose to use additive fusion.

[0207] In one possible implementation, for the above-mentioned implementation method three, after the first terminal receives the instruction information, since the first terminal knows the information of the target to be perceived (such as outline, type, location, etc.) and the perception area of ​​the target to be perceived corresponding to each perception result, the first terminal can use a multiplicative fusion method to fuse multiple perception results corresponding to the same perception area according to the instruction information, and use an additive fusion method to fuse multiple perception results corresponding to different perception areas according to the instruction information.

[0208] In one possible implementation, after determining the locations of multiple sensing devices, the location of the first terminal, and the information of the target to be sensed in S910, the network device sending the instruction information can further determine the sensing areas on the target to be sensed by the sensing signals sent by the multiple sensing devices respectively, since different sensing signals correspond to different sensing results. In other words, the network device sending the instruction information in S910 can determine the sensing areas corresponding to the multiple sensing results determined by the first terminal before fusion. Each multiple sensing result corresponds to at least one sensing area, and each sensing area can correspond to one or more sensing results. After determining the sensing areas corresponding to the multiple sensing results determined by the first terminal before fusion, the network device sending the instruction information in S910 can further determine the fusion method corresponding to at least one sensing area.

[0209] In other words, the network devices in S910 can also determine the sensing area of ​​the target to be sensed for each of the multiple sensing results, as well as the fusion method corresponding to at least one sensing area.

[0210] After the network device in S910 determines the sensing area of ​​the target to be sensed corresponding to each of the multiple sensing results and the fusion method corresponding to at least one sensing area, in one possible implementation (or implementation four), the indication information in S910 can indicate the fusion method corresponding to at least one sensing area and the identifier of the first communication device. Here, the multiple sensing results determined by the first terminal correspond to at least one sensing area. In other words, the first fusion method can include the fusion method corresponding to at least one sensing area.

[0211] For a detailed explanation of the implementation of the instruction "at least one fusion method corresponding to a sensing area", please refer to the above explanation of the second instruction information for the implementation method. For the sake of brevity, it will not be repeated here.

[0212] In one possible implementation, the fusion method (or first fusion method) corresponding to at least one sensing region may include: multiple sensing results corresponding to the same sensing region using a multiplicative fusion method, and multiple sensing results corresponding to different sensing regions using an additive fusion method.

[0213] Fusing multiple sensing results corresponding to the same sensing area using a multiplicative fusion method can improve the accuracy of the sensing result obtained after fusing multiple sensing results corresponding to the same sensing area, thereby improving the accuracy of the sensing result corresponding to that sensing area.

[0214] Of course, in other implementations of this application, the fusion method of multiple sensing results corresponding to the same sensing area may also include other fusion methods, and the embodiments of this application are not limited here.

[0215] By fusing multiple sensing results corresponding to different sensing regions using an additive fusion method, the accuracy of the sensing result obtained after fusing multiple sensing results corresponding to different sensing regions can be improved, thereby improving the accuracy of the sensing results corresponding to different sensing regions as a whole (e.g., different sensing regions included in the same target to be sensed or different sensing regions included in multiple targets to be sensed).

[0216] Of course, in other implementations of this application, the fusion method for multiple sensing results corresponding to different sensing regions may also include other fusion methods. For example, multiple sensing results corresponding to the same sensing region may use other fusion methods, and multiple sensing results corresponding to different sensing regions may use other fusion methods. This application does not impose limitations on these embodiments.

[0217] By instructing the first terminal to send the fused sensing results to the first communication device via an instruction message, the first terminal can clearly understand that it needs to send the fused sensing results to the first communication device. The first terminal only needs to send the fused sensing results to the first communication device, without having to send the fused sensing results to different sensing devices separately. This reduces the amount of communication resources required to transmit the sensing results, reduces communication resource overhead, and ensures that the sensing results can be transmitted accurately.

[0218] By instructing the first terminal with information indicating at least one fusion method corresponding to a sensing area, the first terminal can clearly understand the fusion method used for the sensing results corresponding to each sensing area or the fusion method used for the sensing results corresponding to different sensing areas. This can improve the efficiency and accuracy of the first terminal in fusing multiple sensing results, thereby improving the accuracy of the first sensing result obtained after fusion.

[0219] The above example illustrates how the network device sending the indication information in S910 determines the indication information. In other implementations of this application, the indication information can also be determined by a higher-layer sensing function network element. The specific determination process is similar to that of the network device sending the indication information, and will not be elaborated here for simplicity. In this case, the higher-layer sensing function network element can send the indication information to the network device in S910, and then the network device in S910 can send the indication information to the first terminal.

[0220] Of course, it should also be understood that in other implementations of this application, the fusion method of multiple sensing results corresponding to different sensing areas may also include other fusion methods, and the embodiments of this application are not limited here.

[0221] The following will use specific examples to illustrate the process by which the first terminal fuses multiple sensing results according to the instruction information to obtain the fused first sensing result.

[0222] For example, referring to the example shown in Figure 10, for the two perception results (perception result 2 and perception result 4) determined by terminal 2, the two perception results correspond to the same perception area of ​​the target to be perceived. Therefore, for perception result 2 and perception result 4, terminal 2 can use a multiplicative fusion method to fuse perception result 2 and perception result 4 to obtain a fused perception result. For the two perception results (perception result 1 and perception result 3) determined by terminal 1, the two perception results correspond to different perception areas of the same target to be perceived. Therefore, for perception result 1 and perception result 3, terminal 1 can use an additive fusion method to fuse perception result 1 and perception result 3 to obtain a fused perception result.

[0223] In the example shown in Figure 10, for terminal 1, the number of perception results before fusion is 2, and the number of perception results after fusion is 1. For terminal 2, the number of perception results before fusion is 2, and the number of perception results after fusion is 1.

[0224] In one possible implementation, terminal 1 and terminal 2 can send the fused perception results to network device 1 (first communication device) respectively. Network device 1 can further fuse the fused perception results sent by terminal 1 and terminal 2 respectively to further improve the accuracy of the perception results.

[0225] For example, referring to the example shown in Figure 11, perception result 2, perception result 3, and perception result 4 correspond to the same target to be perceived (target 1). Perception result 1 and perception result 5 correspond to the same target to be perceived (target 2).

[0226] In the example shown in Figure 11, perception result 2 and perception result 4 correspond to the same perception area (e.g., the right side of perception target 1) of the same target to be perceived. Therefore, for perception result 2 and perception result 4, terminal A can use a multiplicative fusion method to fuse perception result 2 and perception result 4 to obtain a fused perception result (referred to as the first fusion result for distinction). The first fusion result and perception result 3 correspond to different perception areas of the same target to be perceived. Therefore, an additive fusion method can be used to fuse the first fusion result and perception result 2 to obtain a fused perception result (referred to as the second fusion result for distinction). The second fusion result is the fusion result obtained by fusing multiple perception results corresponding to target 1.

[0227] In the example shown in Figure 11, perception result 1 and perception result 5 correspond to different perception areas of the same target to be perceived (target 2). Therefore, an additive fusion method can be used to fuse perception result 1 and perception result 5 to obtain a fused perception result (referred to as the third fusion result for distinction). The third fusion result is the fusion result obtained by fusing multiple perception results corresponding to target 2.

[0228] In the example shown in Figure 11, in one possible implementation, terminal A can send the third fusion result and the second fusion result to the first communication device. In other words, after the first terminal uses the first fusion method to fuse multiple sensing results, it can obtain two sensing results (the third fusion result and the second fusion result), that is, the first sensing result includes the third fusion result and the second fusion result. Optionally, the first communication device (e.g., the network device in Figure 11) can also fuse the second fusion result and the third fusion result to further improve the accuracy of the sensing results.

[0229] In the example shown in Figure 11, in one possible implementation, terminal A can further fuse the second and third fusion results. Since the second and third fusion results correspond to different targets to be perceived, and therefore different sensing areas, an additive fusion method can be used to fuse the second and third fusion results, ultimately obtaining a fused sensing result (referred to as the fourth fusion result for distinction). The fourth fusion result is obtained by fusing the sensing results corresponding to target 1 and target 2 respectively. Terminal A can send the fourth fusion result to the first communication device. In other words, the first terminal can obtain a single sensing result (the fourth fusion result) after fusing multiple sensing results using the first fusion method; that is, the first sensing result includes the fourth fusion result.

[0230] For example, consider the example shown in Figure 12:

[0231] If the perception area is as shown in Figure 13a, perception area 1 includes the perception areas corresponding to perception results 1, 2, and 3 respectively. Since perception results 1, 2, and 3 are all partial perception results in the perception results corresponding to perception area 1, terminal A can use an additive fusion method to fuse the three perception results to obtain the fused perception result.

[0232] If the perception area is as shown in Figure 13b, comprising perception area 1 and perception area 2, for perception area 1, the partial perception results (or perception spectrum) corresponding to perception area 1 in perception result 1, the partial perception results (or perception spectrum) corresponding to perception area 1 in perception result 2, and perception result 3 (or perception spectrum 3) can be fused using an additive fusion method to obtain the fused perception result (referred to as the fifth fusion result for distinction), which corresponds to perception area 1 (or the target to be perceived 1). For perception area 2, the partial perception results (or perception spectrum) corresponding to perception area 2 in perception result 1, and the partial perception results (or perception spectrum) corresponding to perception area 2 in perception result 2 can be fused using an additive fusion method to obtain the fused perception result (referred to as the sixth fusion result for distinction), which corresponds to perception area 2 (or the target to be perceived 2).

[0233] In the example shown in Figure 13b, one possible implementation is that terminal A can send the fifth and sixth fusion results to the first communication device. In other words, after the first terminal uses the first fusion method to fuse multiple sensing results, it can obtain two sensing results (the fifth and sixth fusion results). Another possible implementation is that terminal A can further fuse the fifth and sixth fusion results. Since the fifth and sixth fusion results correspond to different sensing areas, an additive fusion method can be used to fuse the fifth and sixth fusion results, ultimately obtaining a fused sensing result (referred to as the seventh fusion result for distinction). The seventh fusion result corresponds to target 1 and target 2 to be sensed. Terminal A can send the seventh fusion result to the first communication device, meaning the first sensing result includes the seventh fusion result.

[0234] If the perception region is as shown in Figure 13c, the perception region includes perception regions 1 to 4. The perception result corresponding to perception region 1 includes perception result 3. For perception region 2, the partial perception result (or perception spectrum) corresponding to perception region 2 in perception result 1 and the partial perception result (or perception spectrum) corresponding to perception region 2 in perception result 2 can be fused using a multiplicative fusion method to obtain the fused perception result (for distinction, it is called the eighth fusion result). The perception result corresponding to perception region 2 includes the eighth fusion result. The perception result corresponding to perception region 3 includes: the partial perception result corresponding to perception region 3 in perception result 1. The perception result corresponding to perception region 4 includes: the partial perception result corresponding to perception region 4 in perception result 2.

[0235] One possible implementation is as follows: Terminal A can use additive fusion to fuse the perception results corresponding to perception area 1 and perception area 2 respectively to obtain a fused perception result (referred to as the ninth fusion result for distinction), and use additive fusion to fuse the perception results corresponding to perception area 3 and perception area 4 respectively to obtain a fused perception result (referred to as the tenth fusion result for distinction). Terminal A can send the ninth fusion result and the tenth fusion result to the first communication device.

[0236] Another possible implementation is as follows: Terminal A can further fuse the ninth and tenth fusion results using additive fusion to obtain a fused perception result (referred to as the eleventh fusion result for distinction). Terminal A can then send the eleventh fusion result to the first communication device. That is, the first perception result includes the eleventh fusion result.

[0237] The above example illustrates the scenario where a network device sends an instruction to a first terminal, and the first terminal fuses multiple sensing results. In other possible implementations of this application, if multiple RAN nodes perform the functions of the network device, such as the communication scenarios shown in Figure 6 or Figure 8.

[0238] In one possible implementation, if the indication information is configured or carried via RRC signaling, the core network device can send the indication information to the CU via the backhaul link. The indication information indicates the first convergence mode and the identifier of the first communication device. Accordingly, the CU receives the request information.

[0239] Optionally, the CU can also generate this indication information itself. In other words, core network devices do not necessarily need to send indication information to the CU.

[0240] The CU can send this indication information to the DU via the midhaul link. The DU sends this indication information to the RU via the fronthaul link; the RU sends this indication information to the terminal via the air interface.

[0241] After receiving the instruction information, the terminal uses the first fusion method to fuse multiple sensing results and sends the fused first sensing result to the first communication device.

[0242] In one possible implementation, the first communication device can be a CU. For example, the terminal can send the first sensing result obtained after fusion to the RU, the RU sends the first sensing result to the DU via the fronthaul link, and the DU sends the first sensing result to the CU via the midhaul link.

[0243] Optionally, the CU can receive fused perception results sent by multiple terminals respectively. The CU can also further fuse the fused perception results sent by multiple terminals again to obtain the benefits of multiple perspectives and further improve the accuracy of the perception results.

[0244] In one possible implementation, the first communication device can be a core network device. For example, a terminal can send the fused first sensing result to an RU, the RU sends the first sensing result to a DU via a fronthaul link, the DU sends the first sensing result to a CU via a midhaul link, and the CU sends the first sensing result to the core network device via a backhaul link. Optionally, the core network device can receive the fused sensing results sent separately by multiple terminals, and the core network device can further fuse the fused sensing results sent separately by multiple terminals to further improve the accuracy of the sensing results.

[0245] Optionally, the core network equipment can also send the initial sensing results to the sensing function network elements at higher levels.

[0246] In one possible implementation, if the indication information is configured or carried by DCI, optionally, the DU can generate the indication information itself, and the DU sends the indication information to the RU through the fronthaul link, and the RU sends the indication information to the terminal through the air interface.

[0247] After receiving the instruction information, the terminal uses the first fusion method to fuse multiple sensing results and sends the fused first sensing result to the first communication device.

[0248] In one possible implementation, the first communication device can be a DU. For example, the terminal can send the fused first perception result to the RU, and the RU sends the first perception result to the DU via a fronthaul link. Optionally, the DU can receive the fused perception results sent by multiple terminals respectively, and the DU can further fuse the fused perception results sent by multiple terminals again to obtain the benefits of multiple perspectives and further improve the accuracy of the perception results.

[0249] In one possible implementation, the first communication device can be a CU. For example, the terminal can send the fused first sensing result to the RU, the RU sends the first sensing result to the DU via a fronthaul link, and the DU sends the first sensing result to the CU via a midhaul link. Optionally, the CU can receive the fused sensing results sent by multiple terminals respectively, and the CU can further fuse the fused sensing results sent by multiple terminals again to further improve the accuracy of the sensing results.

[0250] The communication method provided in this application embodiment allows a network device to send instruction information to a terminal that has obtained multiple sensing results. This instruction information instructs the multiple sensing results to be fused and the fused result sent to a first communication device. The terminal can then fuse the multiple sensing results according to the instruction information and send the fused result to the first communication device. The terminal does not need to send different sensing results to different sensing devices separately, thereby reducing the amount of communication resources required for the terminal to report or transmit sensing results and reducing communication resource overhead. Furthermore, the instruction information can also indicate the fusion method for different sensing areas (i.e., the fusion method for different sensing results), which can improve the efficiency and accuracy of fusing multiple sensing results, thereby improving the accuracy of the fused sensing result.

[0251] It should be understood that the above description is merely to help those skilled in the art better understand the embodiments of this application, and is not intended to limit the scope of the embodiments of this application. Based on the examples given above, those skilled in the art can obviously make various equivalent modifications or changes. For example, some steps in the above method embodiments may be unnecessary, or new steps may be added. Alternatively, any combination of two or more of the above embodiments may be used. Such modifications, changes, or combinations also fall within the scope of the embodiments of this application.

[0252] It should also be understood that the methods, situations, categories, and classifications of embodiments in this application are for the convenience of description only and should not constitute a special limitation. Various methods, categories, situations, and features in embodiments can be combined without contradiction.

[0253] It should also be understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above 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.

[0254] It should also be understood that the above description of the embodiments of this application focuses on highlighting the differences between the various embodiments. Any similarities or differences not mentioned can be referred to each other. For the sake of brevity, they will not be repeated here.

[0255] The methods of the embodiments of this application have been described in detail above with reference to Figures 1 to 13. The communication devices of the embodiments of this application will be described in detail below with reference to Figures 14 to 17.

[0256] This embodiment can divide the terminal (first terminal) and network-side device (e.g., network equipment) into functional modules according to the above method. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0257] It should be noted that the relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0258] The terminal and network-side device provided in this application embodiment are used to execute any of the communication methods provided in the above-described method embodiments, thus achieving the same effect as the above-described implementation method. When using integrated units, the terminal and network-side device may include a processing module, and optionally a storage module and a communication module. The processing module can be used to control and manage the actions of the terminal and network-side device. For example, it can be used to support the terminal and network-side device in executing the steps executed by the processing unit. The storage module can be used to support the storage of program code and data, etc. The communication module can be used to support communication between the terminal and network-side device and other devices.

[0259] It should be understood that the network-side device provided in this application may be a network device, a component (chip, chip system, or processor) that supports the network device in implementing the method, or a logical node, logical module, or software that can implement all or part of the functions of the network device.

[0260] The processing module can be a processor or a controller. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory. The communication module can specifically be a radio frequency circuit, a Bluetooth chip, or a device that interacts with other electronic devices.

[0261] For example, FIG14 shows a schematic block diagram of a communication device 1400 according to an embodiment of the present application. As shown in FIG14, the communication device 1400 includes a processing unit 1410 and a transceiver unit 1420. The transceiver unit 1420 is used to perform operations related to information transmission and reception under the control of the processing unit 1410. The processing unit may also be referred to as a processing module, and the transceiver unit may also be referred to as a communication unit, communication module, or communication interface, etc.

[0262] In some embodiments, the communication device 1400 may correspond to the terminal described in method 900 (e.g., the first terminal described in method 900), or it may be a component applied to the terminal (chip, chip system, or processor), or it may be a logic module or software capable of implementing all or part of the terminal's functions. Furthermore, each module or unit in the communication device 1400 is used to execute the actions or processes performed by the first terminal in method 900.

[0263] The transceiver unit 1420 is used to: receive echo signals corresponding to multiple sensing signals respectively, and obtain multiple sensing results;

[0264] The transceiver unit 1420 is also configured to: receive indication information, which indicates: a first fusion mode and an identifier of the first communication device;

[0265] Processing unit 1410 is configured to: fuse the multiple perception results using a first fusion method;

[0266] The processing unit 1410 is further configured to: send the first sensing result obtained by fusing the multiple sensing results to the first communication device.

[0267] The communication device provided in this application embodiment can receive instruction information sent by a network device. The instruction information instructs that multiple sensing results be fused using a first fusion method and that the fused result be sent to a first communication device. The communication device can then fuse the multiple sensing results according to the instruction information and send the fused sensing result to the first communication device, thereby reducing the number of sensing results that the communication device needs to feed back. The communication device only needs to send the fused sensing result to the first communication device, without needing to send the different sensing results before fusion or the fused sensing result separately to different sensing devices, thus reducing the amount of communication resources required to transmit the sensing results and reducing communication resource overhead.

[0268] In some possible implementations, the multiple sensing results correspond to the same sensing area of ​​the same target to be sensed, and different sensing results correspond to different sensing signals; or, the multiple sensing results correspond to at least two different sensing areas, each sensing area corresponds to at least one sensing result, the at least two different sensing areas belong to the same target to be sensed, and different sensing results correspond to different sensing signals.

[0269] In some possible implementations, the indication information is used to indicate: a first fusion method corresponding to at least one sensing area, and an identifier of a first communication device.

[0270] In some possible implementations, the first fusion method for multiple sensing results corresponding to the same sensing region includes: multiplicative fusion method, and / or, the first fusion method for multiple sensing results corresponding to different sensing regions includes: additive fusion method.

[0271] In some possible implementations, the transceiver unit 1420 is further configured to: receive instruction information from the first communication device, wherein the plurality of sensing signals include sensing signals sent by the first communication device.

[0272] In some possible implementations, the transceiver unit 1420 is further configured to: receive instruction information from a second communication device, which is different from the first communication device, wherein the plurality of sensing signals include sensing signals sent by the second communication device.

[0273] In one possible implementation, the specific process by which each unit in the communication device 1400 performs the above-mentioned corresponding steps is described in the previous description of the first terminal related to the embodiment of method 900. For the sake of brevity, it will not be repeated here.

[0274] In other embodiments: the communication device 1400 may correspond to the network-side device described in method 900 (e.g., the network device or the first communication device described in method 900), or it may be a component (chip, chip system, or processor) applied to the network-side device, or it may be a logic module or software capable of implementing all or part of the functions of the network-side device. Furthermore, each module or unit in the communication device 1400 is used to execute the various actions or processes performed by the network-side device (e.g., the network device or the first communication device) in method 900.

[0275] Processing unit 1410 is configured to: determine indication information, the indication information being used to indicate: a first fusion method and an identifier of a first communication device;

[0276] The transceiver unit 1420 is used to send the instruction information to the first terminal.

[0277] The transceiver unit 1420 is further configured to: receive a first sensing result from a first terminal, wherein the first sensing result is obtained by fusing multiple sensing results using a first fusion method.

[0278] The communication device provided in this application embodiment can send instruction information to a terminal. The instruction information is used to instruct the fusion of multiple sensing results using a first fusion method and send the fused result to the first communication device. The terminal can then fuse multiple sensing results according to the instruction information and send the fused sensing result to the first communication device. This can reduce the number of sensing results that the terminal needs to feedback, thereby reducing the size of the communication resources required to transmit the sensing results and reducing the overhead of communication resources.

[0279] In some possible implementations, the processing unit 1410 is further configured to: determine the indication information based on the location of the sensing device corresponding to the multiple sensing results, the location of the first terminal, the location of the first communication device, and the information of the target to be sensed, wherein the sensing device is used to send a sensing signal.

[0280] For an explanation of the sensing areas, indication information, and fusion methods of multiple sensing results, please refer to the above explanation. For the sake of brevity, it will not be repeated here.

[0281] In one possible implementation, the specific process by which each unit in the communication device 1400 performs the above-mentioned corresponding steps is described in the previous description of the network device or the first communication device in conjunction with the relevant embodiments of method 900. For the sake of brevity, it will not be repeated here.

[0282] Furthermore, the communication device 1400 may also include a storage unit, and the transceiver unit 1420 may be a transceiver, an input / output interface, pins, or interface circuitry. The storage unit is used to store instructions executed by the transceiver unit 1420 and the processing unit 1410. The transceiver unit 1420, the processing unit 1410, and the storage unit are coupled to each other. The storage unit stores instructions, the processing unit 1410 executes the instructions stored in the storage unit, and the transceiver unit 1420 performs specific signal transmission and reception under the control of the processing unit 1410.

[0283] It should be understood that the transceiver unit 1420 may be a transceiver, an input / output interface, or an interface circuit. The storage unit may be a memory. The processing unit 1410 may be implemented by a processor.

[0284] As shown in Figure 15, the communication device 1500 may include a processor 1510. Optionally, the communication device 1500 may also include a memory 1520 and a transceiver 1530. The dashed lines in Figure 15 indicate that this unit or module is optional. The communication device 1500 can be used to implement the methods described in the above method embodiments.

[0285] In one possible implementation, the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15 can implement the steps performed by the first terminal in the aforementioned method 900. Similar descriptions can be found in the descriptions of the corresponding methods described above. To avoid repetition, further details are omitted here.

[0286] In one possible implementation, the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15 can implement the steps performed by the network device or the first communication device in the aforementioned method 900. Similar descriptions can be found in the descriptions of the corresponding methods described above. To avoid repetition, further details are omitted here.

[0287] In one possible implementation, the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15 can be a terminal. The terminal may include the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15.

[0288] In one possible implementation, the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15 can be a network-side device, or the network-side device can include the communication device 1400 shown in FIG. 14 or the communication device 1500 shown in FIG. 15.

[0289] It should also be understood that the division of units or modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, all units in the device can be implemented entirely through software calls from processing elements; all units can be implemented entirely in hardware; or some units can be implemented through software calls from processing elements, while others are implemented in hardware. For example, each unit can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as a program in memory, and its function can be called and executed by a processing element within the device. Here, the processing element can also be called a processor, which can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above units can be implemented through integrated logic circuits in the processor element or through software calls from processing elements.

[0290] In one example, a unit in any of the above devices can be one or more integrated circuits configured to implement the methods described above, such as one or more application-specific integrated circuits (ASICs), or one or more DSPs, or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these forms of integrated circuits. As another example, when a unit in the device can be implemented in the form of a processing element scheduler, the processing element can be a general-purpose processor, such as a CPU or other processor capable of calling programs. Furthermore, these units can be integrated together to implement a system-on-a-chip (SOC).

[0291] Figure 16 is a schematic diagram of the structure of a terminal 1600 provided in this application. The aforementioned communication device 1400 or communication device 1500 can be configured in the terminal 1600. Alternatively, the communication device 1400 or communication device 1500 itself can be the terminal 1600. In other words, the terminal 1600 can perform the actions performed by the terminal (first terminal) in the aforementioned method 900. Optionally, for ease of explanation, Figure 16 only shows the main components of the terminal. As shown in Figure 16, the terminal 1600 includes a processor, memory, control circuitry, antenna, and input / output devices.

[0292] The processor is primarily used to process communication protocols and data, control the entire terminal, execute software programs, and process software program data, such as supporting the terminal in performing the actions described in the above embodiments. The memory is primarily used to store software programs and data, such as storing multiple sensing results and indication information described in the above embodiments. The control circuit is primarily used for converting baseband signals to radio frequency signals and processing radio frequency signals. The control circuit and antenna together can also be called a transceiver, primarily used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. For example, receiving the indication information described in the above embodiments, echo signals corresponding to multiple sensing signals, etc. Input / output devices, such as touchscreens, displays, and keyboards, are primarily used to receive user input data and output data to the user.

[0293] When the terminal is powered on, the processor can read the software program from the storage unit, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit then processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When signaling (such as the aforementioned indication information, echo signals corresponding to multiple sensing signals, etc.) is sent to the terminal, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data.

[0294] Those skilled in the art will understand that, for ease of explanation, Figure 16 only shows one memory and processor. In a real terminal, multiple processors and memories may exist. Memory may also be referred to as storage medium or storage device, etc., and the embodiments of this application do not impose such limitations.

[0295] For example, a processor may include a baseband processor and a central processing unit (CPU). The baseband processor is mainly used for processing communication protocols and communication data, while the CPU is mainly used for controlling the entire terminal, executing software programs, and processing the data in those programs. The processor in Figure 16 integrates the functions of both a baseband processor and a CPU. Alternatively, the baseband processor and CPU can be independent processors interconnected via technologies such as buses. A terminal may include multiple baseband processors to adapt to different network standards, and multiple CPUs to enhance its processing capabilities. The various components of the terminal can be connected via various buses. The baseband processor can also be described as a baseband processing circuit or a baseband processing chip. The CPU can also be described as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor or stored as software programs in a storage unit, with the processor executing the software programs to implement the baseband processing function.

[0296] For example, in this embodiment, the antenna and control circuit with transceiver functions can be regarded as the transceiver unit 1601 of the terminal 1600, and the processor with processing functions can be regarded as the processing unit 1602 of the terminal 1600. As shown in FIG16, the terminal 1600 includes the transceiver unit 1601 and the processing unit 1602. The transceiver unit can also be referred to as a transceiver, transceiver device, transceiver apparatus, etc. Optionally, the device in the transceiver unit 1601 used to implement the receiving function can be regarded as the receiving unit, and the device in the transceiver unit 1601 used to implement the transmitting function can be regarded as the transmitting unit, that is, the transceiver unit 1601 includes a receiving unit and a transmitting unit. For example, the receiving unit can also be referred to as a receiver, receiver circuit, etc., and the transmitting unit can be referred to as a transmitter, transmitter, or transmitting circuit, etc.

[0297] Figure 17 is a schematic diagram of the structure of a network device 1700 provided in an embodiment of this application, which can be used to implement the functions of the network device in the above method. The network device 1700 includes one or more radio frequency (RF) units 1701 and one or more processing units 1702. The RF unit 1701 can be referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, etc., and may include at least one antenna 17011 and an RF unit 17012. The RF unit 1701 is mainly used for transmitting and receiving RF signals and converting RF signals to baseband signals, such as sending indication information to the terminal as described in the above embodiment. The processing unit 1702 is mainly used for baseband processing and controlling the network device. The RF unit 1701 and the processing unit 1702 can be physically arranged together or physically separated, i.e., a distributed network device.

[0298] The processing unit 1702 is the control center of the network device, and can also be called the baseband unit. It is mainly used to complete baseband processing functions, such as channel coding, multiplexing, modulation, spreading, etc. For example, the processing unit 1702 can be used to control the network device to execute the operation process of the network device in the above method embodiment.

[0299] In one example, the processing unit 1702 may consist of one or more single boards. Multiple single boards can collectively support a single access standard wireless access network (such as an LTE system or a 5G system), or they can each support wireless access networks with different access standards. The processing unit 1702 also includes a memory 17021 and a processor 17022. The memory 17021 is used to store necessary instructions and data. For example, the memory 17021 stores instruction information, the first sensing result after fusion, etc., as described in the above embodiments. The processor 17022 is used to control the network device to perform necessary actions, such as controlling the network device to execute the operation procedures related to the network device in the above method embodiments. The memory 17021 and the processor 17022 can serve one or more single boards. That is, each single board can have its own memory and processor, or multiple single boards can share the same memory and processor. Furthermore, each single board can also have necessary circuitry.

[0300] In one possible implementation, with the development of SoC technology, all or part of the functions of the 1702 and 1701 parts can be implemented by SoC technology, for example, by a network device function chip. This network device function chip integrates a processor, memory, antenna interface, and other devices. The program for the network device-related functions is stored in the memory, and the processor executes the program to implement the relevant functions of the network device. Optionally, the network device function chip can also read external memory to implement the relevant functions of the network device.

[0301] It should be understood that the network-side device structure illustrated in Figure 17 is only one possible configuration and should not be construed as limiting the embodiments of this application. This application does not exclude the possibility of other network-side device structures that may appear in the future.

[0302] It should be understood that in the embodiments of this application, the processor can be a CPU, but it can also be other general-purpose processors, DSPs, ASICs, FPGAs, microprocessors (MPUs), microcontroller units (MCUs), graphics processing units (GPUs), artificial intelligence processors (AI processors), neural processing units (NPUs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0303] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), EPROM, electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be cache or random access memory (RAM) (which serves as an external cache). By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0304] This application also provides a communication system, which includes the network device and the first terminal described above.

[0305] Optionally, the communication may further include the first communication device described above.

[0306] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means.

[0307] This application also provides a computer-readable medium for storing computer program code, the computer program including instructions for executing any of the communication methods provided in the embodiments of this application. The readable medium may be the memory described in the examples above, and this application does not limit this to such methods.

[0308] This application also provides a computer program product including instructions that, when executed, cause a terminal to perform an operation corresponding to the first terminal operation in the above method, or cause a network device to perform an operation corresponding to the network device or the first communication device in the above method.

[0309] This application also provides a chip comprising a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, pins, or circuitry. The processing unit can execute computer instructions to cause the chip within the communication device to perform any of the communication methods provided in the embodiments of this application.

[0310] Optionally, any of the communication devices provided in the above embodiments of this application may include the chip.

[0311] Optionally, the computer instructions are stored in a storage unit.

[0312] Optionally, the storage unit can be an internal storage unit within the chip, such as a register or cache. Alternatively, it can be an external storage unit within the communication device, such as ROM or other types of static storage devices capable of storing static information and instructions, like RAM. The processing unit and the storage unit can be decoupled and located on different physical devices, connected via wired or wireless means to implement their respective functions, thus supporting the chip in performing the various functions described in the above embodiments. Alternatively, the processing unit and the memory can also be coupled to the same device.

[0313] In this application, various objects such as messages / information / devices / systems / apparatus / actions / operations / processes may be named. It is understood that these specific names do not constitute a limitation on the relevant objects. The names may be changed depending on the scenario, context, or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from their functions and technical effects embodied / performed in the technical solution.

[0314] 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.

[0315] 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.

[0316] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, The method includes: Receive the echo signals corresponding to multiple sensing signals to obtain multiple sensing results; Receive instruction information, the instruction information being used to indicate: a first fusion method and an identifier of a first communication device; The multiple perception results are fused using the first fusion method; The first perception result obtained by fusing the multiple perception results is sent to the first communication device.

2. The method according to claim 1, characterized in that, The multiple sensing results correspond to the same sensing area of ​​the same target to be sensed, and different sensing results correspond to different sensing signals; or, The multiple perception results correspond to at least two different perception areas, each perception area corresponds to at least one perception result, the at least two different perception areas belong to the same target to be perceived, and different perception results correspond to different perception signals.

3. The method according to claim 1 or 2, characterized in that, The indication information is used to indicate: the first fusion method corresponding to at least one sensing area, and the identifier of the first communication device.

4. The method according to claim 3, characterized in that, The first fusion method for multiple perception results corresponding to the same perception area includes: multiplicative fusion method, and / or the first fusion method for multiple perception results corresponding to different perception areas includes: additive fusion method.

5. The method according to any one of claims 1 to 4, characterized in that, The receiving indication information includes: Receive instruction information from the first communication device, wherein the plurality of sensing signals include sensing signals sent by the first communication device.

6. The method according to any one of claims 1 to 4, characterized in that, The receiving indication information includes: The system receives instruction information from a second communication device, which is different from the first communication device. The plurality of sensing signals include sensing signals sent by the second communication device.

7. A communication method, characterized in that, The method includes: Determine indication information, the indication information being used to indicate: a first fusion method and an identifier of a first communication device; Send the instruction information to the first terminal; The system receives a first perception result from the first terminal, wherein the first perception result is obtained by fusing multiple perception results using the first fusion method.

8. The method according to claim 7, characterized in that, The multiple sensing results correspond to the same sensing area of ​​the same target to be sensed, and different sensing results correspond to different sensing signals; or, The multiple perception results correspond to at least two different perception areas, each perception area corresponds to at least one perception result, the at least two different perception areas belong to the same target to be perceived, and different perception results correspond to different perception signals.

9. The method according to claim 7 or 8, characterized in that, The indication information is used to indicate: the first fusion method corresponding to at least one sensing area, and the identifier of the first communication device.

10. The method according to claim 9, characterized in that, The first fusion method for multiple perception results corresponding to the same perception area includes: multiplicative fusion method, and / or the first fusion method for multiple perception results corresponding to different perception areas includes: additive fusion method.

11. The method according to any one of claims 7 to 10, characterized in that, The determination indication information includes: The indication information is determined based on the location of the sensing device corresponding to the multiple sensing results, the location of the first terminal, the location of the first communication device, and the information of the target to be sensed, wherein the sensing device is used to send a sensing signal.

12. A communication method, characterized in that, The method includes: The network device sends indication information to the first terminal, the indication information being used to indicate: a first fusion method and the identifier of the first communication device; The first terminal uses the first fusion method to fuse multiple sensing results; The first terminal sends the first sensing result obtained by fusing the multiple sensing results to the first communication device.

13. The method according to claim 12, characterized in that, The multiple sensing results correspond to the same sensing area of ​​the same target to be sensed, and different sensing results correspond to different sensing signals; or, The multiple perception results correspond to at least two different perception areas, each perception area corresponds to at least one perception result, the at least two different perception areas belong to the same target to be perceived, and different perception results correspond to different perception signals.

14. The method according to claim 12 or 13, characterized in that, The indication information is used to indicate: the first fusion method corresponding to at least one sensing area, and the identifier of the first communication device.

15. The method according to claim 14, characterized in that, The first fusion method for multiple perception results corresponding to the same perception area includes: multiplicative fusion method, and / or the first fusion method for multiple perception results corresponding to different perception areas includes: additive fusion method.

16. The method according to any one of claims 12 to 15, characterized in that, The method further includes: The first terminal receives echo signals corresponding to sensing signals sent by multiple sensing devices, and obtains the multiple sensing results. The multiple sensing devices include the first communication device.

17. The method according to any one of claims 13 to 16, characterized in that, The method further includes: The network device determines the indication information based on the location of the sensing device corresponding to the multiple sensing results, the location of the first terminal, the location of the first communication device, and the information of the target to be sensed, wherein the sensing device is used to send sensing signals.

18. A communication device, characterized in that, include: A unit for performing the steps of the method as described in any one of claims 1 to 6, or a unit for performing the steps of the method as described in any one of claims 7 to 11.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform: the method as claimed in any one of claims 1 to 6, or the method as claimed in any one of claims 7 to 11.

20. A computer program product, characterized in that, include: A computer program, when run on a computer, causes the computer to perform: the method as described in any one of claims 1 to 6, or the method as described in any one of claims 7 to 11.

21. A chip, characterized in that, Includes: a processor for retrieving and running a computer program from memory, causing a communication device on which the chip is mounted to perform: the method as claimed in any one of claims 1 to 6, or the method as claimed in any one of claims 7 to 11.

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