Sensing result transmitting method and apparatus

Abstract

Provided in the embodiments of the present application are a sensing result transmitting method and apparatus, which are used for reducing the reporting latency of a sensing result. In the method, a terminal apparatus may transmit a sensing result upon determining that a first condition is met, rather than waiting for the occurrence of a communication requirement, thereby facilitating a reduction in the reporting latency of the sensing result. In addition, the sensing result is carried in a random access message for transmission, rather than being transmitted after the terminal apparatus enters a connected state by means of a random access message, thereby facilitating a further reduction in the reporting latency of the sensing result. The method comprises: acquiring a sensing result; and when a first condition is met, transmitting the sensing result, which is carried in a random access message, wherein the first condition is associated with at least one of the following: a data volume of the sensing result, or a sensing performance requirement of the sensing result.

Description

Method and apparatus for transmitting sensing results

[0001] This application claims priority to Chinese Patent Application No. 202411822690.9, filed on December 10, 2024, entitled "Method and Apparatus for Transmitting Sensing Results", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more particularly to a method and apparatus for transmitting sensing results. Background Technology

[0003] User equipment (UE) can acquire sensing results through a sensing process. This process can involve the base station (BS) sending a sensing reference signal and the UE receiving the echo signal (BS-UE sensing process). Alternatively, the sensing process can involve the UE sending a sensing reference signal and receiving the echo signal (UE self-transmitting and self-receiving sensing process). Another possibility is that one UE sends a sensing reference signal while another UE receives the echo signal (UE-UE bistatic sensing process).

[0004] The UE that acquires the sensing results can also be called the sensing UE. If the sensing UE is in a radio resource control (RRC) disconnected state, such as an idle or inactive state, the sensing UE can store the sensing results locally. When the sensing UE has communication needs, that is, when it needs to send uplink data other than the sensing results, the sensing UE can establish an RRC connection with the base station through random access messages and send the sensing results and other uplink data.

[0005] However, the reporting latency of the sensing results depends on whether the sensing UE has communication needs, which leads to uncontrollable reporting latency and makes it difficult to guarantee sensing performance. The reporting latency is the time from when the sensing UE obtains the sensing results to when the base station receives the sensing results from the sensing UE. Summary of the Invention

[0006] This application provides a method and apparatus for transmitting sensing results, which are used to reduce the reporting delay of sensing results.

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

[0008] Firstly, a method for transmitting sensing results is provided. The apparatus for executing the method can be a terminal device, or a module applied in the terminal device to implement its communication function, such as a chip, a chip system, a module, or a component. The method for transmitting sensing results includes: acquiring sensing results; and transmitting the sensing results in a random access message if a first condition is met. The first condition is associated with at least one of the following: the data volume of the sensing results, or the sensing performance requirements of the sensing results.

[0009] In the sensing result transmission method provided in this application embodiment, after acquiring the sensing result, the terminal device can determine whether a first condition is met, and if the first condition is met, transmit the sensing result. In this method, the terminal device can transmit the sensing result as long as the first condition is met, without waiting for a communication requirement, thereby reducing the reporting latency of the sensing result. Furthermore, the sensing result is transmitted along with a random access message, rather than after the terminal device enters the connected state via a random access message, which further reduces the reporting latency of the sensing result.

[0010] In conjunction with the first aspect mentioned above, in one possible implementation, the sensing result is carried in message Msg3 or MsgA. In a four-step random access procedure, the sensing result can be carried in Msg3. In a two-step random access procedure, the sensing result can be carried in MsgA.

[0011] In conjunction with the first aspect above, in one possible implementation, the first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0012] In this scheme, when the amount of sensing data is less than or equal to the first threshold, the sensing data is sent in a random access message without significantly increasing control signaling overhead. The sensing latency requirement for the sensing results is less than or equal to the second threshold, meaning the sensing results are expected to be sent to the network device as quickly as possible. Therefore, the sensing results are suitable for transmission in a random access message, without waiting for communication needs and the establishment of an RRC connection. The refresh rate requirement for the sensing results is less than or equal to the third threshold, indicating a low generation frequency of sensing results. Occasionally sending sensing results via a random access message will not significantly increase control signaling overhead. The false negative rate requirement for the sensing results is greater than or equal to the fourth threshold, indicating a high tolerance for network devices failing to successfully receive the sensing results, or a high tolerance for increased false negative rates due to transmission. Therefore, the sensing results are suitable for transmission in a random access message.

[0013] In conjunction with the first aspect described above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request. In this scheme, the terminal device does not request to establish an RRC connection, thereby alleviating network access congestion. Furthermore, this scheme does not involve the establishment and release of RRC connections, which helps reduce control signaling overhead.

[0014] In conjunction with the first aspect mentioned above, in one possible implementation, the method further includes: sending first information for identifying the sensing service.

[0015] In conjunction with the first aspect described above, in one possible implementation, the first information is carried in Msg1, Msg3, or MsgA. In a four-step random access procedure, the first information can be carried in Msg1 or Msg3. In a two-step random access procedure, the first information can be carried in MsgA.

[0016] In conjunction with the first aspect described above, in one possible implementation, when the first information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the first information, Msg2 includes more uplink resources. In this scheme, the network device can identify the sensing service based on the first information in Msg1 and allocate more uplink resources to the terminal device in Msg2 for the terminal device to send the sensing results in Msg3, thereby improving the success rate of sensing result transmission.

[0017] In conjunction with the first aspect described above, in one possible implementation, the method further includes: receiving second information, the second information indicating that the network device has received the sensing result, the second information including an identifier of the terminal device. For example, the second information may be sensing ACK information.

[0018] In conjunction with the first aspect described above, in one possible implementation, the second information is carried in Msg4 or MsgB. In a four-step random access procedure, the second information can be carried in Msg4. In a two-step random access procedure, the second information can be carried in MsgB.

[0019] Secondly, a method for transmitting sensing results is provided. The apparatus for executing the method can be a terminal device, or a module applied in the terminal device to implement its communication function, such as a chip, a chip system, a module, or a component. The method for transmitting sensing results includes: transmitting third information, the third information including at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result; receiving fourth information, the fourth information being generated based on the third information; and transmitting the sensing result in response to the fourth information, the sensing result being carried in a random access message.

[0020] In the perception result transmission method provided in this application embodiment, the terminal device can transmit the perception result in response to the fourth information. In this method, after obtaining the perception result, the terminal device can transmit the third information, then receive the fourth information generated based on the third information, and then transmit the perception result again, without waiting for a communication requirement to occur, thereby reducing the reporting latency of the perception result. Furthermore, the perception result is transmitted along with the random access message, rather than after the UE enters the connected state via the random access message, which further reduces the reporting latency of the perception result.

[0021] In conjunction with the second aspect described above, in one possible implementation, receiving the fourth information includes: receiving the fourth information when the third information satisfies a first condition; the first condition includes at least one of the following: the data volume of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold. A description of the first condition in this solution can be found in the relevant description in the first aspect described above, and will not be repeated here.

[0022] In conjunction with the second aspect above, in one possible implementation, the third information is carried in message Msg1, and the perception result is carried in Msg3.

[0023] In conjunction with the second aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request. The technical effects of this solution are described in the relevant section of the first aspect above and will not be repeated here.

[0024] In conjunction with the second aspect described above, in one possible implementation, the method further includes: receiving second information, the second information indicating that the network device has received the sensing result, the second information including an identifier of the terminal device. For example, the second information may be sensing ACK information.

[0025] In conjunction with the second aspect mentioned above, in one possible implementation, the second information is carried in Msg4.

[0026] Thirdly, a method for transmitting sensing results is provided. The apparatus for executing the method can be a network device, or a module applied in the network device to implement its communication function, such as a chip, a chip system, a module, or a component. The method for transmitting sensing results includes: receiving a sensing result carried in a random access message when a first condition is met, wherein the first condition is associated with at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result.

[0027] In conjunction with the third aspect mentioned above, in one possible implementation, the perception result is carried in message Msg3 or MsgA.

[0028] In conjunction with the third aspect above, in one possible implementation, the first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0029] In conjunction with the third aspect mentioned above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0030] In conjunction with the third aspect mentioned above, in one possible implementation, the method further includes: receiving first information for identifying the sensing service.

[0031] In conjunction with the third aspect mentioned above, in one possible implementation, the first information is carried in Msg1, Msg3, or MsgA.

[0032] In conjunction with the third aspect above, in one possible implementation, when the first information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the first information, Msg2 includes more uplink resources.

[0033] In conjunction with the third aspect above, in one possible implementation, the method further includes: sending second information, the second information being used to instruct the network device to receive the sensing result, the second information including the identifier of the terminal device.

[0034] In conjunction with the third aspect mentioned above, in one possible implementation, the second information is carried in Msg4 or MsgB.

[0035] The technical effects of any possible implementation of the third aspect can be found in the first aspect or the technical effects of different implementations of the first aspect, and will not be repeated here.

[0036] Fourthly, a method for transmitting sensing results is provided. The apparatus for executing the method can be a network device, or a module applied in the network device to implement its communication function, such as a chip, a chip system, a module, or a component. The method for transmitting sensing results includes: receiving third information, the third information including at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result; transmitting fourth information, the fourth information being generated based on the third information; and receiving the sensing result, the sensing result being carried in a random access message.

[0037] In conjunction with the fourth aspect above, in one possible implementation, sending the fourth information includes: sending the fourth information when the third information satisfies the first condition; the first condition includes at least one of the following: the data volume of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is lower than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0038] In conjunction with the fourth aspect mentioned above, in one possible implementation, the third information is carried in message Msg1, and the perception result is carried in Msg3.

[0039] In conjunction with the fourth aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0040] In conjunction with the fourth aspect above, in one possible implementation, the method further includes: sending second information, the second information being used to instruct the network device to receive the sensing result, the second information including the identifier of the terminal device.

[0041] In conjunction with the fourth aspect mentioned above, in one possible implementation, the second information is carried in Msg4.

[0042] The technical effects of any possible implementation of the fourth aspect can be found in the second aspect or the technical effects of different implementations of the second aspect, and will not be repeated here.

[0043] Fifthly, a communication device is provided for implementing the above-described method. The communication device includes modules, units, or means corresponding to the implementation of the above-described method. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0044] In conjunction with the fifth aspect above, in one possible implementation, the communication device includes: an acquisition module and a transmission module; the acquisition module is used to acquire a sensing result; the transmission module is used to transmit the sensing result in a random access message when a first condition is met, the sensing result being carried in a random access message, the first condition being associated with at least one of the following: the amount of data in the sensing result, or the sensing performance requirements of the sensing result.

[0045] In conjunction with the fifth aspect above, in one possible implementation, the perception result is carried in message Msg3 or MsgA.

[0046] In conjunction with the fifth aspect above, in one possible implementation, the first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0047] In conjunction with the fifth aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0048] In conjunction with the fifth aspect mentioned above, in one possible implementation, the sending module is also used to send first information for identifying the sensing service.

[0049] In conjunction with the fifth aspect above, in one possible implementation, the first information is carried in Msg1, Msg3, or MsgA.

[0050] In conjunction with the fifth aspect above, in one possible implementation, when the first information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the first information, Msg2 includes more uplink resources.

[0051] In conjunction with the fifth aspect above, in one possible implementation, the communication device includes: a receiving module; the receiving module is configured to receive second information, the second information being used to indicate that the network device has received the sensing result, the second information including the identifier of the terminal device.

[0052] In conjunction with the fifth aspect above, in one possible implementation, the second information is carried in Msg4 or MsgB.

[0053] The technical effects of any possible implementation of the fifth aspect can be found in the first aspect or the technical effects of different implementations of the first aspect, and will not be repeated here.

[0054] Sixthly, a communication device is provided for implementing the above-described method. The communication device includes modules, units, or means corresponding to the implementation of the above-described method. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0055] In conjunction with the sixth aspect above, in one possible implementation, the communication device includes: a sending module and a receiving module; the sending module is configured to send third information, the third information including at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result; the receiving module is configured to receive fourth information, the fourth information being generated based on the third information; the sending module is further configured to send the sensing result in response to the fourth information, the sensing result being carried in a random access message.

[0056] In conjunction with the sixth aspect above, in one possible implementation, the receiving module is configured to receive fourth information, including: receiving the fourth information when the third information satisfies a first condition; the first condition includes at least one of the following: the data volume of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is lower than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0057] In conjunction with the sixth aspect above, in one possible implementation, the third information is carried in message Msg1, and the perception result is carried in Msg3.

[0058] In conjunction with the sixth aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0059] In conjunction with the sixth aspect above, in one possible implementation, the receiving module is further configured to receive second information, which is used to indicate that the network device has received the sensing result, and the second information includes the identifier of the terminal device.

[0060] In conjunction with the sixth aspect mentioned above, in one possible implementation, the second information is carried in Msg4.

[0061] The technical effects of any possible implementation of the sixth aspect can be found in the second aspect or the technical effects of different implementations of the second aspect, and will not be repeated here.

[0062] In a seventh aspect, a communication apparatus is provided for implementing the above-described method. The communication apparatus includes modules, units, or means corresponding to the implementation of the above-described method. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0063] In conjunction with the seventh aspect above, in one possible implementation, the communication device includes: a receiving module; the receiving module is configured to receive a sensing result carried in a random access message when a first condition is met, the sensing result being associated with at least one of the following: the amount of data in the sensing result, or the sensing performance requirements of the sensing result.

[0064] In conjunction with the seventh aspect above, in one possible implementation, the perception result is carried in message Msg3 or MsgA.

[0065] In conjunction with the seventh aspect above, in one possible implementation, the first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0066] In conjunction with the seventh aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0067] In conjunction with the seventh aspect above, in one possible implementation, the receiving module is further configured to receive first information for identifying the sensing service.

[0068] In conjunction with the seventh aspect above, in one possible implementation, the first information is carried in Msg1, Msg3, or MsgA.

[0069] In conjunction with the seventh aspect above, in one possible implementation, when the first information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the first information, Msg2 includes more uplink resources.

[0070] In conjunction with the seventh aspect above, in one possible implementation, the communication device includes: a transmitting module; the transmitting module is configured to transmit second information, the second information being used to instruct the network device to receive the sensing result, the second information including the identifier of the terminal device.

[0071] In conjunction with the seventh aspect above, in one possible implementation, the second information is carried in Msg4 or MsgB.

[0072] The technical effects of any possible implementation of the seventh aspect can be found in the first aspect or the technical effects of different implementations of the first aspect, and will not be repeated here.

[0073] Eighthly, a communication device is provided for implementing the above-described method. The communication device includes modules, units, or means corresponding to the implementation of the above-described method. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0074] In conjunction with the eighth aspect above, in one possible implementation, the communication device includes: a transmitting module and a receiving module; the receiving module is configured to receive third information, the third information including at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result; the transmitting module is configured to transmit fourth information, the fourth information being generated based on the third information; the receiving module is further configured to receive the sensing result, the sensing result being carried in a random access message.

[0075] In conjunction with the eighth aspect above, in one possible implementation, the sending module is used to send fourth information, including: sending the fourth information when the third information satisfies a first condition; the first condition includes at least one of the following: the data volume of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is lower than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0076] In conjunction with the eighth aspect above, in one possible implementation, the third information is carried in message Msg1, and the perception result is carried in Msg3.

[0077] In conjunction with the eighth aspect above, in one possible implementation, the random access message does not include a Radio Resource Control (RRC) connection establishment request.

[0078] In conjunction with the eighth aspect above, in one possible implementation, the sending module is further configured to send second information, which is used to instruct the network device to receive the sensing result, and the second information includes the identifier of the terminal device.

[0079] In conjunction with the eighth aspect above, in one possible implementation, the second information is carried in Msg4.

[0080] The technical effects of any possible implementation of the eighth aspect can be found in the second aspect or the technical effects of different implementations of the second aspect, and will not be repeated here.

[0081] A ninth aspect provides a communication device comprising: a processor; the processor being configured to be coupled to a memory, and after reading computer instructions stored in the memory, to execute, according to the instructions, the method described in any one of the first to fourth aspects described above.

[0082] In conjunction with the ninth aspect above, in one possible implementation, the communication device further includes a memory for storing computer instructions.

[0083] In conjunction with the ninth aspect above, in one possible implementation, the communication device further includes a communication interface; this communication interface is used for the communication device to communicate with other devices. For example, the communication interface may be a transceiver, an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or related circuitry, etc.

[0084] In conjunction with the ninth aspect above, in one possible implementation, the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips or may include chips and other discrete components.

[0085] In conjunction with the ninth aspect above, in one possible implementation, when the communication device is a chip or chip system, the aforementioned communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The aforementioned processor can also be embodied as a processing circuit or logic circuit.

[0086] A tenth aspect provides a communication system, comprising: a terminal device and a network device; wherein the terminal device is configured to perform the method as described in the first aspect above, and the network device is configured to perform the method as described in the third aspect above; or, the terminal device is configured to perform the method as described in the second aspect above, and the network device is configured to perform the method as described in the fourth aspect above.

[0087] Eleventhly, a computer-readable storage medium is provided, which stores instructions that, when executed on a computer, enable the computer to perform the method described in any one of the first to fourth aspects.

[0088] In a twelfth aspect, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to perform the method described in any one of the first to fourth aspects.

[0089] In a thirteenth aspect, a chip is provided, the chip comprising: a processor configured to execute instructions that cause a device including the chip to perform the method described in any one of the first to fourth aspects.

[0090] In conjunction with the thirteenth aspect above, in one possible implementation, the chip also includes a memory for storing instructions.

[0091] The technical effects of any possible implementation of aspects nine through thirteen can be found in the first or second aspect above, as well as the technical effects of any possible implementation of aspect one or the second aspect, which will not be repeated here. Attached Figure Description

[0092] Figure 1 is a schematic diagram of four random access procedures;

[0093] Figure 2 is a schematic diagram of the perception process;

[0094] Figure 3 is a schematic diagram of the architecture of the communication system provided in an embodiment of this application;

[0095] Figure 4 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0096] Figure 5 is a flowchart of a sensing result sending method provided in an embodiment of this application;

[0097] Figure 6 is a flowchart of an example of a sensing result sending method provided in an embodiment of this application;

[0098] Figure 7 is a flowchart of an example of a sensing result sending method provided in an embodiment of this application;

[0099] Figure 8 is a flowchart of another sensing result sending method provided in an embodiment of this application;

[0100] Figure 9 is a flowchart of an example of another sensing result sending method provided in an embodiment of this application;

[0101] Figure 10 is a flowchart of another method for sending sensing results provided in an embodiment of this application;

[0102] Figure 11 is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0103] Before introducing the technical solution of this application, the relevant technical terms involved in this application are explained. It is understood that these explanations are intended to make this application easier to understand and should not be regarded as a limitation on the scope of protection claimed in this application.

[0104] 1. Random access process.

[0105] Based on the number of steps, random access procedures can be divided into four-step random access procedures and two-step random access procedures. In early Long Term Evolution (LTE) and New Radio (NR) systems, the UE access network used a four-step random access procedure. To simplify signaling procedures and reduce access latency, a two-step random access procedure was introduced in the 3rd Generation Partnership Project (3GPP) release R16 standard protocol.

[0106] Based on whether there is contention for random access resources, random access procedures can be divided into contention-based random access (CBRA) and contention-free random access (CFRA) procedures. In CFRA, since random access resources are reserved, no conflicts arise during the access process. The applicable scenarios for contention-based and CFRA procedures differ. For example, a UE can use a contention-based random access procedure for initial network access, while a CFRA procedure is preferred for handover scenarios. The various types of random access procedures are described below with reference to Figure 1. For detailed procedures, please refer to section 9.2.6 of technical specification (TS) 38300, version V, 18.3.0.

[0107] 1) Competition-based four-step random access process.

[0108] Figure 1(a) illustrates a contention-based four-step random access procedure, where the random access messages include messages (Msg)1 through Msg4.

[0109] For Msg1, the UE can send Msg1 to the next generation NodeB (gNB) via the physical random access channel (PRACH).

[0110] Msg1 includes a random access preamble. Accordingly, the gNB can receive Msg1 from the UE. The gNB can also determine the uplink timing advance (TA) required for the UE's uplink transmission based on Msg1.

[0111] For Msg2, if UE access is permitted, the gNB can send Msg2 to the UE via the physical downlink shared channel (PDSCH), which is the random access response (RAR).

[0112] Msg2 includes the random access preamble identifier (RAPID), uplink TA, and uplink grant (UL grant) information. Accordingly, the UE can receive Msg2 from the gNB.

[0113] For Msg3, if the RAPID included in Msg2 corresponds to the preamble included in Msg1, that is, if the UE successfully receives Msg2, the UE can send Msg3 to the gNB through the physical uplink shared channel (PUSCH).

[0114] Msg3 is carried on the uplink resources indicated by the uplink grant information. Msg3 is used for scheduled transmission. Msg3 includes an RRC Setup Request message and the UE's identifier. Accordingly, the gNB can receive Msg3 from the UE. When multiple UEs simultaneously request network access, the gNB may receive multiple Msg3 messages from multiple UEs.

[0115] Regarding Msg4, the gNB can select a UE from multiple UEs simultaneously requesting network access and send Msg4, which is the RRC connection establishment success message (RRCSsetup), to the selected UE. Msg4 is used for contention resolution, meaning it resolves potential contention issues. Msg4 includes the identifier of the UE selected by the gNB, which is carried in Msg3 sent by the selected UE.

[0116] A UE receiving Msg4 can compare the UE identifier included in Msg4 with the UE identifier included in Msg3 sent by the same UE. If they are the same, the UE considers the contention resolved and the random access procedure successful; if they are different, the UE considers the contention failed and then re-initiates the random access procedure.

[0117] 2) Competition-based two-step random access process.

[0118] Figure 1(b) illustrates a contention-based two-step random access procedure, where the random access messages include messages MsgA and MsgB.

[0119] For MsgA, the UE can send MsgA to the gNB. MsgA includes Msg1 and Msg3 as shown in heading 1). In other words, MsgA includes the random access preamble and the PUSCH payload. Correspondingly, the gNB can receive MsgA from the UE.

[0120] For MsgB, the gNB can send MsgB to the UE. MsgB includes Msg2 and Msg4 from header 1). In other words, MsgB includes RAR for contention resolution.

[0121] After a UE receiving MsgB determines that the RAR included in MsgB is a successful RAR, it can compare the UE identifier included in MsgB with the UE identifier included in MsgA sent by the UE. If they are the same, the UE considers the contention resolved and the random access procedure successful; if they are different, the UE considers the contention failed and then re-initiates the random access procedure.

[0122] 3) Based on a non-contested four-step random access process.

[0123] Figure 1(c) illustrates a non-contention-based four-step random access procedure, where the random access messages include Msg0 to Msg2.

[0124] The gNB can send Msg0 to the UE. Msg0 is used for random access preamble assignment. Msg0 includes the non-contention random access preamble assigned to the UE by the gNB. Accordingly, the UE can receive Msg0 from the gNB.

[0125] For Msg1, the UE can send Msg1 to the gNB. Msg1 includes the non-collision random access preamble from Msg0. Correspondingly, the gNB can receive Msg1 from the UE.

[0126] For a description of Msg2, please refer to the description of Msg2 in heading 1), which will not be repeated here.

[0127] Optionally, when the UE needs to send uplink control information, such as an RRC connection establishment request message, Msg3 and Msg4 can also be transmitted during the non-contention-based four-step random access procedure. Typically, Msg3 is used by the UE to request the establishment of an RRC connection, and Msg4 is used by the gNB to confirm permission for the UE to access.

[0128] 4) Based on a non-contested two-step random access process.

[0129] Figure 1(d) illustrates a two-step random access procedure based on non-contention, where the random access messages include Msg0, MsgA, and MsgB.

[0130] The gNB can send Msg0 to the UE. Msg0 is used for random access preamble allocation and PUSCH allocation. Msg0 includes the non-collision random access preamble specified by the gNB to the UE. Accordingly, the UE can receive Msg0 from the gNB.

[0131] For MsgA, the UE can send MsgA to the gNB. MsgA includes Msg1 and Msg3 as defined in heading 3). In other words, MsgA includes a non-collision random access preamble and a PUSCH payload. Accordingly, the gNB can receive MsgA from the UE.

[0132] For MsgB, the gNB can send MsgB to the UE. MsgB includes Msg2 and Msg4 as described in heading 3). In other words, MsgB includes RAR, which the gNB uses to confirm permission for the UE to access the device.

[0133] 2. Method for RRC non-connected UE to send sensing results.

[0134] Method 1: After obtaining the sensing results, a UE in the RRC disconnected state can initiate the random access procedure described above to enter the RRC connected state. The UE in the RRC connected state can then send the sensing results to the base station. Afterwards, the RRC connection is released, and the UE re-enters the RRC disconnected state.

[0135] Method 1 involves the establishment and release of RRC connections, which increases control signaling overhead. Furthermore, UE requests to access the network or requests to establish an RRC connection increase network access congestion.

[0136] Method 2 and its technical problems are discussed in the background section and will not be elaborated upon here.

[0137] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application 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 alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0138] Figure 2 is a schematic diagram of the sensing process. In this diagram, the transmitter Tx is a wireless access network device or terminal device supporting sensing functionality, and the receiver Rx is a terminal device supporting sensing functionality. The sensing area may include one or more target objects. For example, in a scenario where the presence of a target object is detected within the sensing area, the sensing area may include one or more target objects; alternatively, the sensing area may not include any target objects. The transmitter Tx can send a sensing reference signal to the sensing area, and the receiver Rx can receive the echo signal from the sensing area.

[0139] Figure 3 is a schematic diagram of the architecture of the communication system 1000 used in this embodiment of the application. As shown in Figure 3, the communication system includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include a data network (DN) 300. The wireless access network 100 may include at least one wireless access network device (110a and 110b in Figure 3). At least one terminal device (120a-120j in Figure 3) is wirelessly connected to the wireless access network device, and the wireless access network device is connected to the core network wirelessly or via a wired connection. The core network device and the wireless access network device may be independent physical devices, or the functions of the core network device and the logical functions of the wireless access network device may be integrated on the same physical device, or a single physical device may integrate some of the functions of the core network device and some of the functions of the wireless access network device. Terminal devices and wireless access network devices may be interconnected via wired or wireless connections. Figure 3 is just a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 3.

[0140] Radio access network (RAN) equipment is the access device that enables terminal devices to access a communication system wirelessly. RAN equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a gNB in ​​a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a wireless fidelity (WiFi) system. In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with different RAN nodes performing some of the functions of the base station. For example, RAN nodes can be central units (CU), distributed units (DU), CU-control plane (CP), CU-user plane (UP), or radio units (RU), etc. CU and DU can be set up separately or included in the same network element, such as in a baseband unit (BBU). The RU can be included in radio frequency equipment or radio frequency units, such as in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0141] 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 open RAN (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 by a software module, a hardware module, or a combination of software and hardware modules. The embodiments of this application can be implemented by DU or RU.

[0142] Wireless access network equipment can be a macro base station (as shown in Figure 3, 110a), a micro base station or an indoor station (as shown in Figure 3, 110b), or a relay node or donor node, etc. The embodiments of this application do not limit the specific technology or equipment form used in the wireless access network equipment. For ease of description, the following description uses a base station as an example of wireless access network equipment.

[0143] The terminal device also has wireless transceiver capabilities, enabling it to send signals to or receive signals from a base station. The terminal device can also be referred to as a terminal, UE, mobile station, mobile terminal device, etc. Terminal devices can be widely used in various scenarios, such as the Internet of Things (IoT), device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminal devices can be radar, mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the specific technologies or device forms used in the terminal devices.

[0144] Base stations and terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminal equipment.

[0145] The roles of base stations and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 3 can be configured as a mobile base station. For terminal devices 120j that access the wireless access network 100 through 120i, terminal device 120i is a base station; however, for base station 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol. In this case, relative to 110a, 120i is also a base station. Therefore, both base stations and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 3 can be called communication devices with base station functions, and 120a-120j in Figure 3 can be called communication devices with terminal device functions.

[0146] Communication between base stations and terminal devices, between base stations, and between terminal devices can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0147] In the embodiments of this application, the functions of the base station can be executed by modules (such as chips) within the base station, or by a control subsystem that includes base station functions. This control subsystem, including base station functions, can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. Similarly, the functions of the terminal device can be executed by modules (such as chips or modems) within the terminal device, or by a device that includes terminal device functions.

[0148] Referring to Figure 2, the receiver Rx in Figure 2 can be any one of the 120a-120j in Figure 3 that supports the sensing function. The transmitter Tx in Figure 2 can be any one of the 120a-120j in Figure 3 that supports the sensing function, or the transmitter Tx in Figure 2 can be either 110a or 110b in Figure 3 that supports the sensing function.

[0149] For example, the network device provided in the embodiments of this application can be a wireless access network node, such as 110a or 110b in FIG3, and the terminal device provided in the embodiments of this application can be a terminal device, such as any one of 120a-120j in FIG3.

[0150] The functions of the network device or terminal device involved in this application can be implemented by one device, or by multiple devices, or by one or more functional modules within one device, or by one or more chips, or by a system on a chip (SOC) or chip system. A chip system can be composed of chips or include chips and other discrete devices. The embodiments of this application do not specifically limit this.

[0151] It is understood that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

[0152] For example, the functions of the network device or terminal device in the embodiments of this application can be implemented by the communication device 110 in FIG4.

[0153] Figure 4 illustrates a possible structural schematic of a communication device 110. It is understood that the communication device 110 includes means of the necessary form, such as modules, units, elements, circuits, or interfaces, to be appropriately configured together to perform this solution. The communication device 110 can be a transmitting device or a receiving device, or a component (e.g., a chip) within these devices, to implement the methods described in the following method embodiments. The communication device 110 includes one or more processors 111. The processor 111 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device (e.g., a transmitting device, a receiving device, or a chip), execute software programs, and process data from the software programs.

[0154] Optionally, in one design, the processor 111 may include a program 113 (sometimes also referred to as code or instructions) that can be executed on the processor 111 to cause the communication device 110 to perform the methods described in the embodiments below. In yet another possible design, the communication device 110 includes circuitry (not shown in FIG4).

[0155] Optionally, the communication device 110 may include one or more memories 112 storing a program 114 (sometimes referred to as code or instructions), which can be run on the processor 111 to cause the communication device 110 to perform the methods described in the following method embodiments.

[0156] Optionally, the processor 111 and / or memory 112 may include AI modules 117 and 118, which are used to implement AI-related functions. The AI ​​modules can be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a RAN intelligence controller (RIC) module. For example, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0157] Optionally, the processor 111 and / or memory 112 may also store data. The processor and memory may be configured separately or integrated together.

[0158] Optionally, the communication device 110 may further include a transceiver 115 and / or an antenna 116. The processor 111, sometimes referred to as a processing unit, controls the communication device (e.g., a transmitting or receiving device). The transceiver 115, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to realize the transmission and reception functions of the communication device through the antenna 116.

[0159] Furthermore, the composition shown in Figure 4 does not constitute a limitation on the communication device. In addition to the components shown in Figure 4, the communication device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0160] The method for sending perception results provided in the embodiments of this application will be described in detail below with reference to Figures 1 to 4.

[0161] Figure 5 shows a flowchart of a sensing result sending method provided in an embodiment of this application, including the following steps:

[0162] Step S501: The terminal device acquires the sensing results.

[0163] During the sensing process, the terminal device can obtain the sensing results by receiving echo signals, as shown in Figure 2.

[0164] The perception results can include indications of the presence or absence of a target object. If a target object is present, the perception results can also include descriptive information about the target object, such as its shape, material, or speed.

[0165] Step S502: If the first condition is met, the terminal device sends the sensing result to the network device. Accordingly, the network device receives the sensing result from the terminal device.

[0166] The perception result is carried in the random access message, and the first condition is associated with at least one of the following: the amount of data in the perception result, or the perception performance requirements of the perception result.

[0167] The specific meaning of the performance requirement for wireless sensing can be found in TS22.137. For example, the performance requirement for wireless sensing includes at least one of the following: sensing latency requirement, refresh rate requirement, or missed detection rate requirement.

[0168] In this application embodiment, "reporting latency", "sensing latency", "service latency", "sensing service latency" and "maximum sensing service latency" can be interchanged. This is explained uniformly here and will not be repeated below.

[0169] In the sensing result transmission method provided in this application embodiment, after acquiring the sensing result, the terminal device can determine whether a first condition is met, and if the first condition is met, transmit the sensing result. In this method, the terminal device can transmit the sensing result as long as the first condition is met, without waiting for a communication requirement, thereby reducing the reporting latency of the sensing result. Furthermore, the sensing result is transmitted along with a random access message, rather than after the terminal device enters the connected state via a random access message, which further reduces the reporting latency of the sensing result.

[0170] Optionally, the sensing result can be carried in Msg3 or MsgA. In a four-step random access procedure, the sensing result can be carried in Msg3. In a two-step random access procedure, the sensing result can be carried in MsgA.

[0171] Optionally, the first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the false negative rate requirement of the sensing result is greater than or equal to a fourth threshold.

[0172] Typically, random access messages are carried on the control channel, which is used to transmit control signaling with small data volumes. When the data volume of the sensing result is less than or equal to a first threshold, the sensing data is sent in the random access message without significantly increasing the control signaling overhead. The unit for the data volume of the sensing result can be bits.

[0173] In standard protocols, sensing latency is defined as the time elapsed from when an event triggers and a sensing result is determined until the sensing result becomes available at the sensing system interface.

[0174] The perception latency requirement for the perception result is less than or equal to the second threshold, meaning that the perception result is expected to be sent to the network device as soon as possible. Therefore, the perception result is suitable to be sent in a random access message without waiting for communication needs and the establishment of an RRC connection.

[0175] In standard protocols, refresh rate is defined as the frequency at which a sensing system generates sensing results. The refresh rate is the reciprocal of the time interval between two consecutive sensing results.

[0176] The refresh rate requirement for sensing results is lower than or equal to the third threshold, meaning that the frequency of sensing result generation is low. Occasionally sending sensing results via random access messages will not lead to a significant increase in control signaling overhead. Conversely, if the terminal device needs to send a sensing result via an RRC connection, since there is still a long time before the next sensing result is generated, the terminal device also needs to release the RRC connection. The establishment and release process of the RRC connection will increase control signaling overhead.

[0177] In standard protocols, the false negative rate is defined as the conditional probability of failing to detect the presence of a target object / environment, given that the object / environment is actually present. This probability is expressed as the ratio of the number of events falsely identified as negative to the total number of events with positive states. It applies only to binary sensing results.

[0178] The requirement that the false negative rate of the sensing results is greater than or equal to the fourth threshold means that the network device has a high tolerance for not successfully receiving the sensing results, or a high tolerance for the false negative rate caused by transmission. Therefore, the sensing results are suitable for being sent in random access messages.

[0179] Optionally, the random access message does not include an RRC connection establishment request. In this scheme, the terminal device does not request to establish an RRC connection, thereby alleviating network access congestion. Furthermore, this scheme does not involve the establishment and release of RRC connections, which helps reduce control signaling overhead.

[0180] Optionally, the sensing result transmission method provided in this application embodiment further includes: the terminal device sending first information for identifying the sensing service to the network device. Accordingly, the network device receives the first information from the terminal device.

[0181] For example, the first information is sensing service identification information. The first information can be represented by 1 bit. For example, bit "1" is used to identify the sensing service and bit "0" is used to identify other services besides the sensing service; or, bit "0" is used to identify the sensing service and bit "1" is used to identify other services besides the sensing service.

[0182] Optionally, the first information is carried in Msg1, Msg3, or MsgA. In a four-step random access procedure, the first information can be carried in Msg1 or Msg3. In a two-step random access procedure, the first information can be carried in MsgA.

[0183] In one possible implementation, the first information and the perceived result are both carried in the same message, for example, Msg3 or MsgA.

[0184] In another possible implementation, the first information and the sensing result are carried in different messages. For example, the first information is carried in Msg1, and the sensing result is carried in Msg3. In this case, Msg2 includes more uplink resources than if Msg1 did not include the first information. In this implementation, the network device can identify the sensing service based on the first information in Msg1 and allocate more uplink resources to the terminal device in Msg2 for the terminal device to send the sensing result in Msg3, thereby improving the success rate of sensing result transmission.

[0185] Optionally, the sensing result transmission method provided in this application embodiment further includes: the network device sending second information to the terminal device. The second information is used to indicate that the network device has received the sensing result, and the second information includes the identifier of the terminal device. Accordingly, the terminal device receives the second information from the network device. For example, the second information may be a sensing acknowledgment (ACK) message.

[0186] Optionally, the second information is carried in Msg4 or MsgB. In a four-step random access procedure, the second information can be carried in Msg4. In a two-step random access procedure, the second information can be carried in MsgB.

[0187] Referring to Figure 5, taking the example where both the first information and the perception result are carried in Msg3, Figure 6 shows a flowchart of an example of a perception result transmission method provided by an embodiment of this application, including the following steps:

[0188] Step S601: The network device sends sensing capability indication information to the terminal device. The sensing capability indication information indicates whether the network device possesses sensing capability. In this embodiment, "sensing capability" can also be replaced with "the ability to execute the sensing result sending method provided in this embodiment." Accordingly, the terminal device receives the sensing capability indication information from the network device.

[0189] Step S601 is optional. For example, when the technology of sensor integration is widespread, that is, when network devices generally have sensing capabilities, step S601 may not be performed.

[0190] Step S602: The network device sends a first condition to the terminal device. Accordingly, the terminal device receives the first condition from the network device.

[0191] The relevant description of the first condition can be found in the relevant description in the embodiment shown in Figure 5, and will not be repeated here.

[0192] The first condition is configured by the network device. Besides the implementation of step S602, the first condition can also be predefined by the protocol or pre-configured in the terminal device. That is, step S602 may not be executed.

[0193] Alternatively, the perception capability indication information in step S601 and the first condition in step S602 can be carried in the same message.

[0194] Step S603: The terminal device acquires the sensing results.

[0195] The specific description of step S603 can be found in the specific description of step S501 above, and will not be repeated here.

[0196] Step S604: The terminal device determines that both the terminal device and the network device have sensing capabilities and meet the first condition.

[0197] If both the terminal device and the network device possess sensing capabilities, and the first condition is met, then the subsequent steps are executed. Otherwise, the method for the terminal device to send sensing results, as described in heading 2 of the preceding section, is executed.

[0198] Step S605: The terminal device sends a preamble to the network device. The preamble is carried in Msg1. Accordingly, the network device receives the preamble from the terminal device.

[0199] The relevant description of step S605 can be found in the relevant description of Msg1 in heading 1) of the preceding section, and will not be repeated here.

[0200] Step S606: The network device sends a random access response to the terminal device.

[0201] The relevant description of step S606 can be found in the relevant description of Msg2 in heading 1) of the preceding section, and will not be repeated here.

[0202] Step S607: Within a preset first time period, if the terminal device receives a random access response from the network device, the terminal device sends the sensing service identification information and sensing result to the network device. The start time of the first time period can be the time when the terminal device sends Msg1. The sensing service identification information and sensing result are carried in Msg3. Correspondingly, the network device receives the sensing service identification information and sensing result from the terminal device.

[0203] The relevant description of the perceived service identification information can be found in the relevant description of the first information in the embodiment shown in Figure 5, and will not be repeated here.

[0204] Msg3 may also include the identifier of the terminal device.

[0205] Optionally, Msg3 does not include the RRC connection establishment request message.

[0206] Step S608: The network device sends a sensing ACK message to the terminal device. The sensing ACK message is carried in Msg4.

[0207] The relevant description of the ACK information can be found in the description of the second information in the embodiment shown in Figure 5, and will not be repeated here.

[0208] Step S609: Within a preset second time period, the terminal device receives the sensing ACK information from the network device. The start time of the second time period can be the time when the terminal device sends Msg3. The terminal device confirms that the sensing result was successfully sent.

[0209] For example, if the terminal device can compare the identifier of the terminal device included in Msg4 with the identifier of the terminal device included in Msg3, and if they are the same, the terminal device considers the sensing result to have been successfully sent.

[0210] If, in step S607, the terminal device does not receive a random access response from the network device within the first time period, or if, in step S609, the terminal device does not receive a sensing ACK information from the network device within the second time period, then the technical solution shown in Figure 6 is re-executed starting from step S604.

[0211] Figure 6 illustrates a contention-based four-step random access procedure as an example. When a two-step random access procedure is used, steps S605 and S607 can be combined into one step. In other words, the content of MsgA can include the content of Msg1 and Msg3. Steps S606 and S608 can be combined into one step. In other words, the content of MsgB can include the content of Msg2 and Msg4.

[0212] When a non-contention-based random access procedure is used, step S605 may include a step where the network device allocates a random access preamble, i.e., a step of transmitting Msg0. For details, please refer to the relevant descriptions of Msg0 in headings 3) and 4) of the preceding section, which will not be repeated here. In step S605, Msg1 includes the non-conflicting random access preamble from Msg0.

[0213] Referring to Figure 5, and taking the example of the first information being carried in Msg1 and the perception result being carried in Msg3, Figure 7 shows a flowchart of an example of a perception result transmission method provided by an embodiment of this application. The descriptions of steps S701 to S704 can be found in the descriptions of steps S601 to S604, and the descriptions of steps S708 and S709 can be found in the descriptions of steps S608 and S609, and will not be repeated here. The flowchart shown in Figure 7 also includes the following steps:

[0214] Step S705: The terminal device sends a preamble and sensing service identification information to the network device. The preamble and sensing service identification information are carried in Msg1. Correspondingly, the network device receives the preamble and sensing service identification information from the terminal device.

[0215] The relevant description of the perceived service identification information can be found in the relevant description of the first information in the embodiment shown in Figure 5, and will not be repeated here.

[0216] Step S706: The network device sends a random access response, namely Msg2, to the terminal device.

[0217] Optionally, after receiving the preamble and sensing service identification information from the terminal device, the network device can identify the sensing service through the sensing service identification information, and thus allocate more uplink resources to the terminal device through a random access response. More uplink resources can be used by the terminal device to send sensing results, thereby improving the success rate of sensing result transmission.

[0218] Step S707: Within a preset first time period, if the terminal device receives a random access response from the network device, the terminal device sends a sensing result to the network device. The start time of the first time period can be the time when the terminal device sends Msg1. The sensing result is carried in Msg3. Correspondingly, the network device receives the sensing result from the terminal device.

[0219] Msg3 may also include the identifier of the terminal device.

[0220] Optionally, Msg3 does not include the RRC connection establishment request message.

[0221] If, in step S707, the terminal device does not receive a random access response from the network device within the first time period, or if, in step S709, the terminal device does not receive a sensing ACK information from the network device within the second time period, then the technical solution shown in Figure 7 is re-executed starting from step S704.

[0222] Figure 7 illustrates a competition-based four-step random access procedure as an example. When a two-step random access procedure is used, steps S705 and S707 can be combined into one step. In other words, the content of MsgA can include the content of Msg1 and Msg3. Steps S706 and S708 can be combined into one step. In other words, the content of MsgB can include the content of Msg2 and Msg4. That is, when a two-step random access procedure is used, the first information and the perception result are both carried in the same message, namely MsgA.

[0223] When a non-contention-based random access procedure is used, step S705 may include a step where the network device allocates a random access preamble, i.e., a step of transmitting Msg0. For details, please refer to the relevant descriptions of Msg0 in headings 3) and 4) of the preceding section, which will not be repeated here. In step S705, Msg1 includes the non-conflicting random access preamble from Msg0.

[0224] In the embodiments shown in Figures 5 to 7 above, the terminal device can determine whether a first condition is met, and send the sensing result if the first condition is met. In another possible implementation, whether the first condition is met can be determined by the network device. If the first condition is met, the network device can instruct the terminal device to send the sensing result. Figure 8 shows a flowchart of another sensing result sending method provided by an embodiment of this application, including the following steps:

[0225] Step S801: The terminal device sends third information to the network device, the third information including at least one of the following: the data volume of the sensing result, or the sensing performance requirements of the sensing result. Accordingly, the network device receives the third information from the terminal device.

[0226] For example, the third information can be the perceived data status report information.

[0227] For a description of the perception results, the amount of data in the perception results, and the perception performance requirements of the perception results, please refer to the relevant descriptions in the embodiment shown in Figure 5, which will not be repeated here.

[0228] Step S802: The network device sends fourth information to the terminal device, the fourth information being generated based on the third information. Accordingly, the terminal device receives the fourth information from the network device.

[0229] The fourth piece of information is used by the network device to instruct the terminal device to send the sensing results.

[0230] Optionally, the network device sends fourth information to the terminal device, and the terminal device receives the fourth information from the network device, including: if the third information satisfies the first condition, the network device sends the fourth information to the terminal device, and the terminal device receives the fourth information from the network device. A description of the first condition in this scheme can be found in the embodiment shown in Figure 5, and will not be repeated here.

[0231] For example, the third information can be carried in Msg1, and the fourth information can be carried in Msg2.

[0232] Optionally, when the third information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the third information. In this implementation, the network device can identify the possible subsequent transmission of sensing results based on the third information in Msg1, thus allowing the network device to allocate more uplink resources to the terminal device in Msg2 for the terminal device to send the sensing results in Msg3, thereby improving the success rate of sensing result transmission.

[0233] In step S803, the terminal device responds to the fourth information by sending the sensing result to the network device, the sensing result being carried in the random access message. Accordingly, the network device receives the sensing result from the terminal device.

[0234] In the perception result transmission method provided in this application embodiment, the terminal device can transmit the perception result in response to the fourth information. In this method, after obtaining the perception result, the terminal device can transmit the third information, then receive the fourth information generated based on the third information, and then transmit the perception result again, without waiting for a communication requirement to occur, thereby reducing the reporting latency of the perception result. Furthermore, the perception result is transmitted along with the random access message, rather than after the UE enters the connected state via the random access message, which further reduces the reporting latency of the perception result.

[0235] Optionally, the random access message does not include an RRC connection establishment request. A detailed description of this scheme can be found in the embodiment shown in Figure 5, and will not be repeated here.

[0236] Optionally, the sensing result transmission method provided in this application embodiment further includes: the network device sending second information to the terminal device. The second information is used to indicate that the network device has received the sensing result, and the second information includes the identifier of the terminal device. Accordingly, the terminal device receives the second information from the network device. For a related description of the second information, please refer to the relevant description in the embodiment shown in Figure 5, and it will not be repeated here.

[0237] Optionally, the second information is carried in Msg4.

[0238] Referring to Figure 8, taking the example of carrying third information (e.g., sensing data status report information) in Msg1 and sensing results in Msg3, Figure 9 shows a flowchart of another example of a sensing result transmission method provided by an embodiment of this application, including the following steps:

[0239] Step S901: The network device sends sensing capability indication information to the terminal device. Correspondingly, the terminal device receives the sensing capability indication information from the network device.

[0240] For a detailed description of step S901, please refer to the detailed description of step S601, which will not be repeated here.

[0241] Step S902: The terminal device acquires the sensing results.

[0242] The specific description of step S902 can be found in the specific description of step S501 above, and will not be repeated here.

[0243] Step S903: The terminal device determines that both the terminal device and the network device have sensing capabilities.

[0244] If the terminal device determines that the terminal device or network device does not have sensing capabilities, then the method for sending sensing results by the terminal device as described in heading 2 of the preamble is executed.

[0245] Step S904: The terminal device sends a preamble and a sensing data status report to the network device. The preamble and sensing data status report are carried in Msg1. Correspondingly, the network device receives the preamble and sensing data status report from the terminal device.

[0246] Step S905: The network device determines that the sensing data status report information meets the first condition.

[0247] The relevant description of the first condition can be found in the relevant description in the embodiment shown in Figure 5 above, and will not be repeated here.

[0248] If the data status report information does not meet the first condition, the network device can instruct the UE to perform the method described in heading 2 of the preamble by sending the sensing results. This instruction information is carried, for example, in downlink control information (DCI) or media access control (MAC) control element (CE).

[0249] Step S906: The network device sends a random access response to the terminal device.

[0250] The random access response (Msg2) includes fourth information, which is used by the network device to instruct the terminal device to send the sensing result. Msg2 may also include uplink TA and uplink authorization information. Optionally, based on step S904, that is, when Msg1 includes data status report information, the uplink resources included in Msg2 are more than when Msg1 does not include data status report information.

[0251] Step S907: Within a preset first time period, if the terminal device receives a random access response from the network device, the terminal device sends a sensing result to the network device. The start time of the first time period can be the time when the terminal device sends Msg1. The sensing result is carried in Msg3. Correspondingly, the network device receives the sensing result from the terminal device.

[0252] Msg3 may also include the identifier of the terminal device.

[0253] Optionally, Msg3 does not include the RRC connection establishment request message.

[0254] Step S908: The network device sends a sensing ACK message to the terminal device. The sensing ACK message is carried in Msg4.

[0255] For a detailed description of step S908, please refer to the relevant description of step S608, which will not be repeated here.

[0256] Step S909: Within a preset second time period, the terminal device receives sensing ACK information from the network device. The start time of the second time period can be the time when the terminal device sends Msg3. The terminal device confirms that the sensing result was successfully sent.

[0257] For a detailed description of step S909, please refer to the relevant description of step S609, which will not be repeated here.

[0258] If, in step S907, the terminal device does not receive a random access response from the network device within the first time period, or if, in step S909, the terminal device does not receive a sensing ACK information from the network device within the second time period, then the technical solution shown in Figure 9 is re-executed starting from step S903.

[0259] Figure 9 illustrates a contention-based four-step random access procedure as an example. When a non-contention-based four-step random access procedure is used, step S904 may include a step where the network device allocates a random access preamble, i.e., the step of transmitting Msg0. For details, please refer to the relevant description of Msg0 in heading 3) of the preceding section, which will not be repeated here. In step S904, Msg1 includes the non-collision random access preamble from Msg0.

[0260] In the embodiments shown in Figures 5 to 9 above, the perception result is carried in the random access message. In another possible implementation, the perception result may not be carried in the random access message. Taking the network device determining whether a first condition is met as an example, Figure 10 shows a flowchart of another perception result transmission method provided by an embodiment of this application, including the following steps:

[0261] Step S1001: The network device sends sensing capability indication information to the terminal device. Correspondingly, the terminal device receives the sensing capability indication information from the network device.

[0262] For a detailed description of step S1001, please refer to the detailed description of step S901, which will not be repeated here.

[0263] Step S1002: The terminal device acquires the sensing results.

[0264] The specific description of step S1002 can be found in the specific description of step S902 above, and will not be repeated here.

[0265] Step S1003: The terminal device determines that both the terminal device and the network device have sensing capabilities.

[0266] The relevant description of step S1003 can be found in the relevant description of step S903 above, and will not be repeated here.

[0267] Step S1004: The terminal device sends a preamble to the network device. The preamble is carried in Msg1. Accordingly, the network device receives the preamble from the terminal device.

[0268] The relevant description of step S1004 can be found in the relevant description of Msg1 in heading 1) of the preceding section, and will not be repeated here.

[0269] Step S1005: The network device sends a random access response to the terminal device. Accordingly, the terminal device receives the random access response from the network device.

[0270] The relevant description of step S1005 can be found in the relevant description of Msg2 in heading 1) of the preceding section, and will not be repeated here.

[0271] Step S1006: The terminal device sends a sensing data status report to the network device. The sensing data status report is carried in Msg3. Correspondingly, the network device receives the sensing data status report from the terminal device.

[0272] The relevant description of the perception data status report information can be found in the relevant description of the third information in the embodiment shown in Figure 8, and will not be repeated here.

[0273] Optionally, Msg3 does not include the RRC connection establishment request message.

[0274] Step S1007: The network device determines that the sensing data status report information meets the first condition.

[0275] The relevant description of step S1007 can be found in the relevant description of step S905 above, and will not be repeated here.

[0276] Step S1008: The network device sends uplink authorization information to the terminal device. The uplink authorization information is carried in Msg4.

[0277] Among them, the uplink resources indicated by the uplink authorization information are allocated by the network device for transmitting sensing results.

[0278] Step S1009: Within a preset second time period, if the terminal device receives uplink authorization information from the network device, the terminal device sends the sensing result and its identifier to the network device. The start time of the second time period can be the time when the terminal device sends Msg3.

[0279] Accordingly, the network device receives the sensing results and the identifier of the terminal device from the terminal device.

[0280] Step S1010: The network device sends a sensing ACK message to the terminal device.

[0281] Step S1011: Within a preset third time period, the terminal device receives sensing ACK information from the network device. The start time of the third time period can be the time when the terminal device sends the sensing result. The terminal device determines that the sensing result was successfully sent.

[0282] For a detailed description of step S1011, please refer to the relevant description of step S909, which will not be repeated here.

[0283] If, in step S1009, the terminal device does not receive uplink authorization information from the network device within the second time period, or if, in step S1011, the terminal device does not receive sensing ACK information from the network device within the third time period, then the technical solution shown in Figure 10 is re-executed starting from step S1003.

[0284] Figure 10 illustrates a contention-based four-step random access procedure as an example. When a two-step random access procedure is used, steps S1004 and S1006 can be combined into one step. In other words, the content of MsgA can include the content of Msg1 and Msg3. After receiving MsgA, the network device can determine that the perceived data status report information meets the first condition and send MsgB to the terminal device. The content of MsgB can include the content of Msg2 and Msg4. That is, steps S1005 and S1008 can be combined into one step.

[0285] When a non-contention-based random access procedure is used, step S1004 may include a step where the network device allocates a random access preamble, i.e., a step of transmitting Msg0. For details, please refer to the relevant descriptions of Msg0 in headings 3) and 4) of the preceding section, which will not be repeated here. In step S1004, Msg1 includes the non-conflicting random access preamble from Msg0.

[0286] It should be understood that the terminal device can execute the sensing result transmission method provided in the embodiments of this application. The terminal device can be a terminal equipment, or a module applied in the terminal equipment to realize its communication function, such as a chip, chip system, module, or component. In the above description of the sensing result transmission method and its corresponding technical effects, the terminal device is used as an example of the executing subject, but this does not constitute any limitation on the executing subject.

[0287] It should be understood that a network device can execute the sensing result transmission method provided in the embodiments of this application. The network device can be a network device, or a module applied in a network device to realize its communication function, such as a chip, a chip system, a module, or a component. In the above description of the sensing result transmission method and its corresponding technical effects, the execution subject is illustrated by an example of a network device, but this does not constitute any limitation on the execution subject.

[0288] It is understood that, in order to achieve the above-mentioned functions, network devices or terminal devices include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0289] This application embodiment can divide the network device or terminal device into functional modules according to the above method embodiments. 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 module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0290] For example, the terminal device in this application embodiment can be implemented in the form of the communication device 1100 shown in FIG11(a). The communication device 1100 may include a transmitting module 1101. Optionally, the communication device 1100 may also include an acquiring module 1102 and a receiving module 1103. The communication device 1100 is used to implement the functions of the terminal device in the method embodiments shown in FIG5 to FIG10 above.

[0291] For example, when the communication device 1100 is used to implement the function of the terminal device in the method embodiment shown in FIG5, the communication device 1100 further includes an acquisition module 1102. The acquisition module 1102 is used to acquire the perception result; the sending module 1101 is used to send the perception result in a random access message when a first condition is met.

[0292] For example, when the communication device 1100 is used to implement the function of the terminal device in the method embodiment shown in FIG8, the communication device 1100 further includes a receiving module 1103. The sending module 1101 is used to send third information; the receiving module 1103 is used to receive fourth information; the sending module 1101 is also used to send a sensing result in a random access message in response to the fourth information.

[0293] For example, the network device in this application embodiment can be implemented in the form of the communication device 1100 shown in FIG11(b). The communication device 1100 may include a receiving module 1103. Optionally, the communication device 1100 may also include a transmitting module 1101.

[0294] For example, when the communication device 1100 is used to implement the function of the network device in the method embodiment shown in FIG5, the receiving module 1103 is used to receive the sensing result in the random access message when the first condition is met.

[0295] For example, when the communication device 1100 is used to implement the function of the network device in the method embodiment shown in FIG8, the communication device 1100 further includes a sending module 1101. The receiving module 1103 is used to receive third information; the sending module 1101 is used to send fourth information; the receiving module 1103 is also used to receive sensing results in a random access message.

[0296] For a more detailed description of the above-mentioned sending module 1101, acquiring module 1102 and receiving module 1103, please refer to the relevant descriptions in the method embodiments shown in Figures 5 to 10.

[0297] In this embodiment, the communication device 1100 is presented in an integrated manner, divided into various functional modules. Here, "module" can refer to a specific ASIC, circuit, processor and memory executing one or more software or firmware programs, integrated logic circuit, and / or other devices that can provide the above-mentioned functions.

[0298] In a simple embodiment, those skilled in the art will realize that the communication device 110 can take the form of the communication device 110 shown in FIG4.

[0299] For example, the processor 111 in the communication device 110 shown in Figure 4 can call the computer execution instructions stored in the memory 112 to cause the communication device 110 to execute the sensing result transmission method in the above method embodiment. Specifically, some functions / implementation processes of the transmission module 1101, acquisition module 1102 and receiving module 1103 in Figure 11 can be implemented via the transceiver 115 in Figure 4.

[0300] Since the communication device 1100 provided in this embodiment can execute the above-described sensing result transmission method, the technical effects it can achieve can be referred to the above-described method embodiment, and will not be repeated here.

[0301] It should be noted that one or more of the above modules or units can be implemented by software, hardware, or a combination of both. When any of the above modules or units are implemented by software, the software exists as computer program instructions and is stored in memory. The processor can be used to execute the program instructions and implement the above method flow. The processor can be built into a SoC or ASIC, or it can be a separate semiconductor chip. In addition to the core that executes the software instructions for computation or processing, the processor may further include necessary hardware accelerators, such as field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), or logic circuits that implement dedicated logic operations.

[0302] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, microprocessor, digital signal processing (DSP) chip, microcontroller unit (MCU), artificial intelligence processor, ASIC, SoC, FPGA, PLD, application-specific digital circuit, hardware accelerator, or non-integrated discrete device, which can run the necessary software or perform the above method flow independently of software.

[0303] Optionally, embodiments of this application also provide a chip system, including: at least one processor and an interface, wherein the at least one processor is coupled to a memory via the interface, and when the at least one processor executes a computer program or instructions in the memory, the method in any of the above method embodiments is executed. In one possible implementation, the communication device further includes a memory. Optionally, the chip system may be composed of chips, or may include chips and other discrete devices; embodiments of this application do not specifically limit this.

[0304] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in 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 via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0305] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0306] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A method for sending sensing results, characterized in that, include: Obtain the perception results; If a first condition is met, the sensing result is sent, which is carried in a random access message. The first condition is associated with at least one of the following: the amount of data in the sensing result, or the sensing performance requirements of the sensing result.

2. The method according to claim 1, characterized in that, The perception results are carried in messages Msg3 or MsgA.

3. The method according to claim 1 or 2, characterized in that, The first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

4. The method according to any one of claims 1-3, characterized in that, The random access message does not include a Radio Resource Control (RRC) connection establishment request.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Send the first information used to identify the sensing service.

6. The method according to claim 5, characterized in that, The first information is carried in Msg1, Msg3 or MsgA.

7. The method according to claim 5, characterized in that, When the first information is carried in Msg1, Msg2 includes more uplink resources than when Msg1 does not include the first information, Msg2 includes more uplink resources.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Receive second information, which indicates that the network device has received the sensing result, and the second information includes the identifier of the terminal device.

9. The method according to claim 8, characterized in that, The second information is carried in Msg4 or MsgB.

10. A method for transmitting sensing results, characterized in that, include: Send a third message, which includes at least one of the following: the amount of data in the perception result, or the perception performance requirements of the perception result; Receive fourth information, which is generated based on the third information; In response to the fourth information, the perception result is sent, and the perception result is carried in the random access message.

11. The method according to claim 10, characterized in that, The receipt of the fourth information includes: If the third information satisfies the first condition, the fourth information is received; The first condition includes at least one of the following: the amount of data of the sensing result is less than or equal to a first threshold, the sensing latency requirement of the sensing result is less than or equal to a second threshold, the refresh rate requirement of the sensing result is less than or equal to a third threshold, or the missed detection rate requirement of the sensing result is greater than or equal to a fourth threshold.

12. The method according to claim 10 or 11, characterized in that, The third information is carried in message Msg1, and the perception result is carried in Msg3.

13. The method according to any one of claims 10-12, characterized in that, The random access message does not include a Radio Resource Control (RRC) connection establishment request.

14. The method according to any one of claims 10-13, characterized in that, The method further includes: Receive second information, which indicates that the network device has received the sensing result, and the second information includes the identifier of the terminal device.

15. The method according to claim 14, characterized in that, The second information is carried in Msg4.

16. A method for transmitting sensing results, characterized in that, include: If a first condition is met, a sensing result is received, which is carried in a random access message. The first condition is associated with at least one of the following: the amount of data in the sensing result, or the sensing performance requirements of the sensing result.

17. A method for transmitting sensing results, characterized in that, include: Receive third information, the third information including at least one of the following: the amount of data of the perception result, or the perception performance requirements of the perception result; Send a fourth message, which is generated based on the third message; The sensing result is received and carried in a random access message.

18. A communication device, characterized in that, The communication device includes: a module or unit for implementing the method of any one of claims 1-9; or a module or unit for implementing the method of any one of claims 10-15; or a module or unit for implementing the method of claim 16; or a module or unit for implementing the method of claim 17.

19. A communication device, characterized in that, include: A processor for executing a program stored in memory; When the communication device is running, the processor runs the program, causing the communication device to perform the method described in any one of claims 1-9; or, causing the communication device to perform the method described in any one of claims 10-15; or, causing the communication device to perform the method described in claim 16; or, causing the communication device to perform the method described in claim 17.

20. The communication device according to claim 19, characterized in that, The device also includes a memory for storing the program.

21. A computer-readable storage medium, characterized in that, It contains a computer program that, when executed by a computer, causes the computer to perform the method according to any one of claims 1-9; or causes the computer to perform the method according to any one of claims 10-15; or causes the computer to perform the method according to claim 16; or causes the computer to perform the method according to claim 17.

22. A computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the method according to any one of claims 1-9; or, the method according to any one of claims 10-15; or, the method according to claim 16; or, the method according to claim 17.

23. A chip, characterized in that, The chip includes: a processor and a memory, the memory for storing instructions, and the processor for executing the instructions, such that a device including the chip performs the method as claimed in any one of claims 1-9; or, such that a device including the chip performs the method as claimed in any one of claims 10-15; or, such that a device including the chip performs the method as claimed in claim 16; or, such that a device including the chip performs the method as claimed in claim 17.

24. A communication system, characterized in that, include: A terminal device and a network device; wherein the terminal device is used to perform the method according to any one of claims 1-9, and the network device is used to perform the method according to claim 16; or, the terminal device is used to perform the method according to any one of claims 10-15, and the network device is used to perform the method according to claim 17.

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