Sensing method, apparatus and system

Abstract

The present application provides a sensing method, apparatus and system, which are applied to the field of sensing. The method comprises: a sensing network element sends a first request message to a second device for requesting execution of a first sensing task, and sends a second request message to a first device for requesting execution of a second sensing task. Correspondingly, the first device executes the second sensing task to obtain first sensing data, and the second device executes the first sensing task to obtain second sensing data. Then, the sensing network element or the second device performs fusion processing on the second sensing data and the first sensing data to obtain third sensing data. It can be understood that the first sensing task and the second sensing task are a joint sensing task. That is to say, the second device and the first device are instructed to execute the joint sensing task, and fusion processing is performed on a plurality of pieces of obtained sensing data, so that first data that meets a sensing requirement can be obtained, thereby improving sensing precision and sensing processing efficiency.

Description

Sensing methods, devices and systems

[0001] This application claims priority to Chinese Patent Application No. 202411932434.5, filed on December 24, 2024, entitled "Sensing Method, Apparatus and System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and more specifically, to a sensing method, apparatus, and system. Background Technology

[0003] With the increasing diversity of wireless communication applications, the demand for new sensing-based network capabilities is gradually emerging. In certain scenarios, such as smart cities and smart transportation, the need to acquire relative positions and angles between objects, as well as to perceive information such as the distance, speed, or shape of target objects, is becoming increasingly apparent.

[0004] For example, when a sensing requester requests a sensing service, a sensing network element can request one or more sensing devices (e.g., network devices and / or terminal devices) to detect the sensing area in order to execute the sensing service. However, how to process the sensing data acquired by different sensing devices to improve sensing accuracy is a problem that needs to be considered. Summary of the Invention

[0005] This application provides a sensing method, apparatus, and system that can improve sensing accuracy.

[0006] Firstly, a sensing method is provided. This method can be executed by a first sensing network element. Unless otherwise specified, the "first sensing network element" in this application can refer to the first sensing network element itself (e.g., a sensing function (SF) network element or a control plane network element (SF-control plain, SF-CP) of a sensing function network element), or a component in the first sensing network element (e.g., a communication module, processor, circuit, chip, or chip system, etc.), or a logic module or software that can implement all or part of the functions of the first sensing network element.

[0007] The method includes: sending a first request message, the first request message being used to request the execution of a first sensing task, the first request message being associated with a first identifier and a joint sensing task, the first identifier being used to identify a first device participating in the joint sensing task, the joint sensing task including a first sensing task and a second sensing task; and sending a second request message, the second request message being used to request the execution of a second sensing task, the second request message being associated with a second identifier and a joint sensing task, the second identifier being used to identify a second device participating in the joint sensing task.

[0008] Using the above method, the first sensing network element requests the second device to perform a first sensing task by sending a first request message, and requests the first device to perform a second sensing task by sending a second request message; that is, the first sensing network element requests the second device and the first device to perform a joint sensing task. This implementation improves sensing accuracy and the processing speed of sensing data in scenarios where the second and first devices use different architectures and both participate in joint sensing.

[0009] In one possible design, the method further includes: acquiring third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

[0010] Understandably, in this embodiment of the application, the first sensing network element can adopt a control plane-user plane separation architecture, that is, the first sensing network element can include a control plane and a user plane, namely, a control plane network element and a user plane network element of the first sensing network element. Specifically, the control plane network element of the first sensing network element is used to request the sensing device (e.g., a first device or a second device) to perform a sensing task (e.g., a first sensing task or a second sensing task), and the user plane network element of the first sensing network element is used to acquire the sensing data obtained after fusion processing (e.g., third sensing data).

[0011] In one possible design, acquiring the third sensing data includes: receiving the third sensing data; or, receiving the second sensing data and the first sensing data, and performing a fusion process on the second sensing data and the first sensing data to obtain the third sensing data.

[0012] Using the above method, the first sensing network element can acquire first sensing data that meets the sensing requirements. That is, the third sensing data is obtained by the fusion processing of sensing data after the second and first devices perform a joint sensing task. This application does not limit the executing entity for fusing the second and first sensing data to obtain the third sensing data.

[0013] In one possible design, the first request message includes first information, which instructs the second device to perform fusion processing on the second sensing data and the first sensing data.

[0014] By using the above method, by acquiring the first information, the second device can determine that after acquiring the second and first sensing data, it is necessary to fuse the second and first sensing data to obtain the third sensing data that meets the sensing requirements, which can improve the sensing accuracy and processing speed of the joint sensing task.

[0015] In one possible design, the method further includes receiving a third request message, which is used to request a sensing service, and the sensing service is associated with a joint sensing task.

[0016] Using the above method, before determining that the second and first devices need to perform a joint sensing task, the first sensing network element can receive a third request message from the sensing requester. Based on the third request message, it can determine that the sensing requester requests to obtain sensing services, thereby triggering a request for the second and first devices to perform a joint sensing task, thus improving sensing accuracy and sensing speed.

[0017] In one possible design, the method also includes receiving a first identifier from a mobility management network element.

[0018] In one possible design, the method further includes sending a fourth request message to the mobility management network element, the fourth request message being used to request the acquisition of the first identifier.

[0019] Using the above method, the mobility management network element can proactively send the first device participating in the joint sensing task to the first sensing network element, or the mobility management network element can send the first device participating in the joint sensing task to the first sensing network element based on the fourth request message of the first sensing network element, without limitation.

[0020] In one possible design, the method further includes: receiving second information from a mobility management network element, the second information including at least one identifier for identifying at least one candidate device; and determining a first device from the at least one candidate device.

[0021] For example, the second information may carry the sensing capability information and location information of at least one candidate device, so that the first sensing network element can select a suitable second device from at least one candidate device to participate in the joint sensing task based on the sensing capability information and location information of at least one candidate device, so as to improve the sensing accuracy.

[0022] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information and perception requirement of the second device, wherein the second perception data is obtained by the second device performing the first perception task; and sending the hierarchical information corresponding to the second perception data.

[0023] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information and perception requirement of the first device, wherein the second perception data is obtained by the second device performing the first perception task; and sending the hierarchical information corresponding to the second perception data.

[0024] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the second device, the perception capability information of the first device, and the perception requirement, wherein the second perception data is obtained by the second device performing the first perception task; and sending the hierarchical information corresponding to the second perception data.

[0025] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information and the perception requirement of the first device, wherein the first perception data is obtained by the first device performing a second perception task; and sending the hierarchical information corresponding to the first perception data.

[0026] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information and perception requirement of the second device, wherein the first perception data is obtained by the first device performing the second perception task; and sending the hierarchical information corresponding to the first perception data.

[0027] In one possible design, the third request message includes a perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information of the second device, the perception capability information of the first device, and the perception requirement, wherein the first perception data is obtained by the first device performing the second perception task; and sending the hierarchical information corresponding to the first perception data.

[0028] Using the above method, the first sensing network element can determine the hierarchical information of the sensing data of the second or first device, i.e. the degree of processing of the sensing data, based on the sensing capability information of the second device and / or the sensing capability information of the first device, as well as the sensing requirements, so as to improve the sensing accuracy and sensing processing speed.

[0029] In one possible design, the method further includes sending a third message to instruct the establishment of a first data radio bearer (DRB), which is used for transmitting first sensing data between the second device and the first device.

[0030] In one possible design, the first DRB is associated with the joint sensing task.

[0031] Using the above method, the first network element sends three pieces of information: one to request the second device to establish a first DRB, and the other to transmit sensing signaling and / or sensing data (e.g., first sensing data) related to the joint sensing task between the second device and the first device. This allows the second device to determine that the first sensing data is related to the joint sensing task after receiving it, and then fuse the second sensing data and the first sensing data to obtain third sensing data that meets the sensing requirements, thereby improving the sensing accuracy.

[0032] In one possible design, the method further includes: acquiring sensing capability information of the second device and / or sensing capability information of the first device.

[0033] In one possible design, the perception capability information of the second device is used to indicate the hierarchical information corresponding to the perception data supported by the second device when performing a joint perception task, and the perception capability information of the first device is used to indicate the hierarchical information corresponding to the perception data supported by the first device when performing a joint perception task.

[0034] Using the above method, the first sensing network element can use the sensing capability information of the second device and / or the sensing capability information of the first device to selectively choose appropriate second and first devices to participate in joint sensing tasks, thereby improving sensing accuracy.

[0035] Secondly, a sensing method is provided. This method can be executed by a second device. Unless otherwise specified, the "second device" in this application can refer to the second device itself (e.g., a network device or a terminal device), a component in the second device (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the second device.

[0036] The method includes: receiving a first request message, the first request message being used to request the execution of a first sensing task, the first request message being associated with a first identifier and a joint sensing task, the first identifier being used to identify a first device participating in the joint sensing task, the joint sensing task including a first sensing task and a second sensing task; receiving first sensing data, the first sensing data being obtained by the first device performing the second sensing task; and performing a fusion processing on the second sensing data and the first sensing data according to the first identifier and the joint sensing task identifier to obtain third sensing data, the second sensing data being obtained by the second device performing the first sensing task.

[0037] For example, third sensing data is sent to the second sensing network element.

[0038] Using the above method, after receiving the first request message, the second device executes the first sensing task to obtain the second sensing data. Simultaneously, the second device can determine that the first sensing task is part of a joint sensing task. After receiving the first sensing data from the first device, it can determine that the first sensing data is related to the joint sensing task. Therefore, it is determined that the second and first devices execute a joint sensing task, and then the second and first sensing data are fused to obtain the third sensing data that meets the sensing requirements. This implementation method improves sensing accuracy and the processing speed of sensing data in scenarios where the second and first devices use different architectures and both participate in joint sensing.

[0039] In one possible design, the first request message may also include first information, which instructs the second device to perform fusion processing on the second sensing data and the first sensing data.

[0040] In one possible design, the first request message includes a first perception requirement, and the method further includes: receiving hierarchical information corresponding to the second perception data; and performing a first perception task based on the first perception requirement and the hierarchical information corresponding to the second perception data to obtain the second perception data.

[0041] In one possible design, the first request message includes a first perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the second device and the first perception requirement; and performing a first perception task based on the first perception requirement and the first hierarchical information to obtain the second perception data.

[0042] In one possible design, the first request message includes a first perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the first device and the first perception requirement; performing a first perception task based on the first perception requirement and the first hierarchical information to obtain the second perception data.

[0043] In one possible design, the first request message includes a first perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the second device, the first perception requirement, and the perception capability information of the first device; and performing a first perception task based on the first perception requirement and the first hierarchical information to obtain the second perception data.

[0044] In one possible design, the first request message includes a first perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the second device, the first perception requirement, and the second perception requirement; and performing a first perception task based on the first perception requirement and the first hierarchical information to obtain the second perception data.

[0045] In one possible design, the first request message includes a first perception requirement, and the method further includes: determining the hierarchical information corresponding to the second perception data based on the perception capability information of the second device, the first perception requirement, the perception capability information of the first device, and the second perception requirement; and performing a first perception task based on the first perception requirement and the first hierarchical information to obtain the second perception data.

[0046] The acquisition of the second sensing requirement can be sent directly to the second device by the first sensing network element, or it can be sent to the second device by the first sensing network element through the mobility management network element; there is no limitation on this. The sensing capability information of the first device can be reported by the terminal device; there is no limitation on this.

[0047] In one possible design, the method further includes: receiving third information for instructing the establishment of a first DRB, the first DRB for transmitting first sensing data between the second device and the first device; and establishing the first DRB.

[0048] In one possible design, the method further includes: establishing a first DRB based on a first identifier and a joint sensing task identifier, wherein the first DRB is used for transmitting first sensing data between network devices and terminal devices.

[0049] In one possible design, the method further includes receiving a fifth request message for requesting the establishment of a first DRB, the first DRB for transmitting first sensing data between the second device and the first device, the fifth request message being associated with a joint sensing task; and establishing the first DRB based on the fifth request message.

[0050] In one possible design, the first DRB is associated with the joint sensing task.

[0051] In one possible design, the second request message includes a second perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information of the first device and the second perception requirement; and sending the second hierarchical information corresponding to the first perception data.

[0052] In one possible design, the second request message includes a second sensing requirement, and the method further includes: determining the hierarchical information corresponding to the first sensing data based on the sensing capability information of the second device and the second sensing requirement; and sending the second hierarchical information corresponding to the first sensing data.

[0053] In one possible design, the second request message includes a second perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information of the first device, the second perception requirement, and the perception capability information of the second device; and sending the second hierarchical information corresponding to the first perception data.

[0054] In one possible design, the second request message includes a second perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information of the first device, the second perception requirement, and the first perception requirement; and sending the second hierarchical information corresponding to the first perception data.

[0055] In one possible design, the second request message includes a second perception requirement, and the method further includes: determining the hierarchical information corresponding to the first perception data based on the perception capability information of the first device, the second perception requirement, the perception capability information of the second device, and the first perception requirement; and sending the second hierarchical information corresponding to the first perception data.

[0056] The acquisition of the second sensing requirement can be sent directly to the second device by the first sensing network element, or it can be sent to the second device by the first sensing network element through the mobility management network element; there is no limitation on this. The sensing capability information of the first device can be reported by the terminal device; there is no limitation on this.

[0057] In one possible design, the method further includes: receiving sensing capability information of the first device; and sending sensing capability information of the second device and sensing capability information of the first device.

[0058] In one possible design, the method further includes: receiving a session establishment request message, which is used to request the establishment of a first session, the first session being used for the transmission of first sensing data between the second device and the first device, and the session establishment request message being associated with a joint sensing task.

[0059] The second aspect and some of its implementations, as well as their corresponding beneficial effects, can be found in the description of the first aspect, and will not be elaborated upon here.

[0060] Thirdly, a sensing method is provided. This method can be executed by a first device. Unless otherwise specified, the "second device" in this application can refer to the first device itself (e.g., a terminal device or a network device), a component in the first device (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the first device.

[0061] The method includes: receiving a second request message, the second request message being used to request the execution of a second sensing task, the second request message being associated with a second identifier and a joint sensing task, the second identifier being used to identify a second device participating in the joint sensing task, the joint sensing task including a first sensing task and a second sensing task; and sending first sensing data, the first sensing data being obtained by a first device performing the second sensing task.

[0062] Using the above method, after receiving the second request message, the first device executes the second sensing task to obtain the first sensing data. It then reports the first sensing data to the second device, allowing the second device or the second sensing network element to fuse the second and first sensing data to obtain the third sensing data that meets the sensing requirements. This implementation method improves sensing accuracy and processing speed for scenarios where the second and first devices use different architectures and both participate in joint sensing.

[0063] In one possible design, the second request message includes a second perception requirement, and the method further includes: receiving hierarchical information corresponding to the first perception data; and performing a second perception task according to the second perception requirement and the hierarchical information corresponding to the first perception data to obtain the first perception data.

[0064] In one possible design, the method further includes: sending a fifth request message, the fifth request message including a joint sensing task identifier, the fifth request message being used to request the establishment of a first DRB, the first DRB being used for the transmission of first sensing data between the second device and the first device.

[0065] In one possible design, before sending the fourth information to the network device, the method further includes: sending a session establishment request message, which is used to request the establishment of a first session, the first session being used for the transmission of first sensing data between the second device and the first device, and the session establishment request message being associated with a joint sensing task.

[0066] The third aspect and some of its implementation methods, as well as their corresponding beneficial effects, can be found in the description of the first aspect, and will not be elaborated upon here.

[0067] Fourthly, a sensing method is provided. This method can be executed by a second sensing network element. Unless otherwise specified, the "second sensing network element" in this application can refer to the second sensing network element itself (e.g., a sensing function SF network element or a sensing function network element user plane network element (SF-user plain, SF-UP)), or a component in the second sensing network element (e.g., a communication module, processor, circuit, chip, or chip system, etc.), or a logic module or software that can implement all or part of the functions of the second sensing network element.

[0068] The method includes: acquiring third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

[0069] In one possible design, acquiring the third sensing data includes: receiving the third sensing data; or, receiving the second sensing data and the first sensing data, and performing a fusion process on the second sensing data and the first sensing data to obtain the third sensing data.

[0070] Using the above scheme, the second sensing network element can acquire the sensing data corresponding to the joint sensing task. That is, the second device or the second sensing network element fuses the acquired second sensing data and the first sensing data to obtain the third sensing data that meets the sensing requirements. This implementation method can improve the sensing accuracy and the processing speed of sensing data in scenarios where the second and first devices use different architectures and both the second and first devices participate in joint sensing.

[0071] The fourth aspect and some of its implementation methods, as well as their corresponding beneficial effects, can be found in the description of the first aspect, and will not be elaborated upon here.

[0072] Fifthly, a communication device is provided. This communication device has the functions described in the first aspect above. For example, the communication device includes modules, units, or means corresponding to the operations involved in the first aspect. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware.

[0073] For example, the communication device may be the first sensing network element described above, such as a module or unit (e.g., a chip, a chip system, or a circuit) that corresponds to the method, operation, step, or action described in the first aspect above.

[0074] In one possible implementation, the communication device includes a transceiver unit (or communication module), and optionally, a processing unit (or processing module) connected to the transceiver unit.

[0075] For example, the transceiver unit is configured to send a first request message, which requests the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier is used to identify a first device participating in the joint sensing task. The joint sensing task includes a first sensing task and a second sensing task. The transceiver unit is also configured to send a second request message, which requests the execution of a second sensing task. The second request message is associated with a second identifier and a joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task.

[0076] Sixthly, a communication device is provided. This communication device has the functions described in the second aspect above. For example, the communication device includes modules, units, or means corresponding to the operations involved in the second aspect. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware.

[0077] For example, the communication device may be the second device described above, such as a module or unit (e.g., a chip, a chip system, or a circuit) that corresponds one-to-one with the method, operation, step, or action described in the second aspect above.

[0078] In one possible implementation, the communication device includes a transceiver unit (or communication module) and a processing unit (or processing module) connected to the transceiver unit.

[0079] For example, the transceiver unit is configured to receive a first request message, which requests the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier identifies a first device participating in the joint sensing task, which includes a first sensing task and a second sensing task. The transceiver unit is also configured to receive first sensing data, which is obtained by the first device performing the second sensing task. The processing unit is configured to perform fusion processing on the second sensing data and the first sensing data according to the first identifier and the joint sensing task identifier to obtain third sensing data, which is obtained by the second device performing the first sensing task.

[0080] In a seventh aspect, a communication device is provided. This communication device has the functions described in the third aspect above. For example, the communication device includes modules, units, or means corresponding to the operations involved in the third aspect. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware.

[0081] For example, the communication device may be the first device described above, such as a module or unit (e.g., a chip, a chip system, or a circuit) that corresponds one-to-one with the method, operation, step, or action described in the third aspect above.

[0082] In one possible implementation, the communication device includes a transceiver unit (or communication module), and optionally, a processing unit (or processing module) connected to the transceiver unit.

[0083] For example, the transceiver unit is configured to receive a second request message, which requests the execution of a second sensing task. The second request message is associated with a second identifier and a joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task. The joint sensing task includes a first sensing task and a second sensing task. The transceiver unit is also configured to send first sensing data, which is obtained by the first device performing the second sensing task.

[0084] Optionally, the processing unit is used to perform a second sensing task to obtain the first sensing data.

[0085] Eighthly, a communication device is provided. This communication device has the functions described in the fourth aspect above. For example, the communication device includes modules, units, or means corresponding to the operations involved in the fourth aspect. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware.

[0086] For example, the communication device can be the second sensing network element mentioned above, such as a module or unit (e.g., a chip, a chip system, or a circuit) that corresponds to the method, operation, step, or action described in the fourth aspect above.

[0087] In one possible implementation, the communication device includes a processing unit (or processing module), and optionally, a transceiver unit (or transceiver module) connected to the processing unit.

[0088] For example, the processing unit is used to acquire third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

[0089] A ninth aspect provides a communication device. The communication device may be the first sensing network element described above, or a second device, or both the first device and the second sensing network element. The communication device includes at least one of the following: a transceiver, a processor, or a memory, wherein the processor controls the transceiver to transmit and receive signals, the memory stores computer programs or instructions, and the processor retrieves and executes the computer program or instructions from the memory, causing the communication device to perform the method in any of the possible implementations of the first to fourth aspects described above.

[0090] Optionally, the processor may be one or more, the transceiver may be one or more, and the memory may be one or more.

[0091] Alternatively, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0092] Optionally, the transceiver includes a transmitter and a receiver.

[0093] A tenth aspect provides a communication device. The communication device includes one or more processors configured to execute computer programs or instructions, which, when executed, cause the communication device to implement the methods of any possible design or implementation of the first to fourth aspects described above.

[0094] Optionally, the communication device further includes a memory for storing part or all of the computer program or instructions that implement the functions involved in the first to fourth aspects described above.

[0095] Optionally, the communication device further includes an interface circuit, through which the processor communicates with other devices or components.

[0096] Eleventhly, a communication system is provided. The communication system includes at least one of a first sensing network element, a second device, a first device, or a second sensing network element, wherein the first sensing network element is used to execute the method in any possible implementation of the first aspect, the second device is used to execute the method in any possible implementation of the second aspect, the first device is used to execute the method in any possible implementation of the third aspect, and the second sensing network element is used to execute the method in any possible implementation of the fourth aspect.

[0097] In a twelfth aspect, a computer-readable storage medium is provided. This computer-readable storage medium stores computer program code or instructions to cause the methods in any of the possible implementations of the first to fourth aspects to be executed, for example, when a computer reads and executes the computer program code or instructions, causing the methods in any of the possible implementations of the first to fourth aspects to be implemented.

[0098] In a thirteenth aspect, a computer program product is provided. The computer program product includes computer program code or instructions that cause the methods in any of the possible implementations of the first to fourth aspects to be implemented. For example, when a computer reads and executes the computer program product, the methods in any of the possible implementations of the first to fourth aspects are implemented.

[0099] In a fourteenth aspect, a computer program is provided. When the computer program is run, it causes the methods in any of the possible implementations of the first to fourth aspects to be implemented.

[0100] It should be understood that the beneficial effects of aspects five through fourteen above can be referenced from aspects one through four above and any possible implementation thereof, and will not be elaborated here. Attached Figure Description

[0101] Figures 1 to 4 are schematic diagrams of a communication system applicable to embodiments of this application;

[0102] Figure 5 is a schematic diagram of a perception scenario applicable to an embodiment of this application;

[0103] Figures 6 to 12 are schematic flowcharts of the communication method provided in the embodiments of this application;

[0104] Figure 13 is a schematic diagram of the open radio access network (O-RAN) architecture applicable to this application;

[0105] Figure 14 is a possible exemplary block diagram of the communication device involved in the embodiments of this application;

[0106] Figure 15 is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0107] Figure 16 is a schematic diagram of the structure of the baseband processor in the terminal provided in the embodiment of this application. Detailed Implementation

[0108] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0109] To facilitate understanding of the embodiments of this application, the following points are explained.

[0110] First, in this application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0111] Second, in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "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 the following: a, b, or c can mean: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a, b, and c. Here, a, b, and c can each be single or multiple.

[0112] Third, in this application, the terms "first," "second," and various numerical designations are merely for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they are used to distinguish different messages, rather than to describe a specific order or sequence. It should be understood that such descriptions can be interchanged where appropriate to describe solutions other than those in the embodiments of this application.

[0113] Fourth, in this application, "instruction" or "for instruction" can include both direct and indirect instruction. When describing instruction information as being used to instruct A, it can include whether the instruction information directly or indirectly instructs A, but does not necessarily mean that the instruction information carries A.

[0114] The indication methods involved in the embodiments of this application should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated. The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. Moreover, the sending period and / or sending time of these sub-information can be the same or different. This application does not limit the sending method, for example.

[0115] The "instruction information" in the embodiments of this application can be an explicit instruction, that is, a direct instruction through signaling, or an instruction obtained by combining other rules or parameters with the parameters indicated by the signaling, or by deduction. It can also be an implicit instruction, that is, an instruction obtained based on rules or relationships, or based on other parameters, or by deduction. This application does not specifically limit it in this regard.

[0116] Fifth, in this application, "protocol" can refer to a standard protocol in the field of communications, for example, it may include (5) th This application does not limit the scope of protocols such as generation (5G), new radio (NR), and related protocols applied in future communication systems. "Predefined" may include predefined terms, such as protocol definitions. "Preconfiguration" can be achieved by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device; this application does not limit the implementation method.

[0117] Sixth, in this application, terms such as "message," "information," "signal," or "information element (IE)" can be used interchangeably. There are no restrictions on the name of the message or information, as long as it can achieve the corresponding function.

[0118] "Sending information to XX (device)" can be understood as the destination of the information being that device. This can include sending information directly or indirectly to that device. "Receiving information from XX (device), or receiving information from XX (device)" can be understood as the source of the information being that device. This can include receiving information directly or indirectly from that device. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be interpreted similarly and will not be elaborated upon here.

[0119] "Communication" can also be described as "communication," "information transmission," "data processing," etc. "Transmission" includes "sending" and "receiving." "Transmission" can be described as "output." "Sending" can also be understood as the "output" of a chip interface, and "receiving" can be understood as the "input" of a chip interface. In other words, "sending" or "receiving" can occur between devices, for example, between network devices and terminal devices via an air interface. "Sending" or "receiving" can also occur within a device, for example, between components, modules, chips, software modules, or hardware modules within a device via a bus, wiring, or interface.

[0120] Seventh, in this application, the words "exemplarily," "for example," etc., are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the word "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding, relevant," "corresponding," and "associate" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinctions are emphasized.

[0121] Eighth, in this application, configuration can be signaling configuration or can be described as configuration signaling. For example, signaling configuration includes configuration using signaling sent by the base station, which can be radio resource control (RRC) messages, downlink control information (DCI) messages, or system information blocks (SIBs). Optionally, signaling configuration can also be configured to the terminal device by pre-configured signaling, or configured to the terminal device through pre-configuration. Here, pre-configuration means defining or configuring the values ​​of corresponding parameters in advance in a protocol manner, and storing them in the terminal device during communication. The pre-configured messages can be modified or updated when the terminal device is connected to the network.

[0122] The technical solutions provided in this application can be applied to various communication systems, such as: New Radio (NR) systems, Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, and LTE Time Division Duplex (TDD) systems. The technical solutions provided in this application can also be applied to device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine (M2M) communication, machine-type communication (MTC), and Internet of Things (IoT) communication systems or other communication systems.

[0123] In communication systems, the portion operated by the operator can be called a public land mobile network (PLMN), or operator network, etc. A PLMN is a network established and operated to provide terrestrial mobile communication services to the public; it is primarily a public network where a mobile network operator (MNO) provides mobile broadband access services to users. The PLMN described in the embodiments of this application can specifically be a PLMN that conforms to the Third Generation Partnership Project (3GPP). rd Networks that meet the standards of the Generation Partnership Project (3GPP) are referred to as 3GPP networks. 3GPP networks typically include, but are not limited to, 5G networks and fourth-generation mobile communication (4G5) networks. th Generation 4G networks, and other future communication systems, etc.

[0124] For ease of description, this application will use PLMN or 5G networks as examples in its embodiments.

[0125] Figure 1 is a schematic diagram of a network architecture 100 according to an embodiment of this application, for example, a schematic diagram of a 5G network architecture based on a point-to-point interface. As shown in Figure 1, the network architecture may include, but is not limited to, the following network elements (or functional network elements, functional entities, nodes, devices, etc.): user equipment (UE), radio access network (R)AN, user plane function (UPF) network element, data network (DN), access and mobility management function (AMF) network element, session management function (SMF) network element, policy control function (PCF) network element, application function (AF) network element, network slice selection function (NSSF), authentication server function (AUSF), unified data management (UDM) network element, network exposure function (NEF) network element, unified data repository (UDR) network element, etc.

[0126] The following is a brief introduction to each network element shown in Figure 1:

[0127] 1. UE: A terminal that communicates with (R)AN, also known as a terminal device, access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user equipment. A terminal device can be a device that provides voice / data connectivity to a user, such as a handheld device with wireless connectivity, or an in-vehicle device. Currently, examples of terminals include: mobile phones, tablets, computers with wireless transceiver capabilities (such as laptops, PDAs, etc.), mobile internet devices (MIDs), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in autonomous driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in 5G networks, or terminal devices in future PLMNs, etc.

[0128] Furthermore, terminal devices can also be terminal devices within IoT systems. IoT is a crucial component of future information technology development, its main technological characteristic being the connection of objects to networks via communication technologies, thereby achieving intelligent networks that enable human-machine and machine-to-machine interconnection. IoT technology, for example, can achieve massive connectivity, deep coverage, and low power consumption at the terminal level through narrowband (NB) technology.

[0129] It should be understood that a terminal device can be any device capable of accessing a network. Terminal devices and access network devices can communicate with each other using some form of air interface technology.

[0130] Alternatively, the user equipment (UE) can be used to act as a base station. For example, the UE can act as a scheduling entity, providing sidelink signaling between UEs in V2X or D2D, etc. For instance, cellular phones and cars communicate with each other using sidelink signals. Cellular phones and smart home devices can communicate without relaying communication signals through a base station.

[0131] In the embodiments of this application, the UE or terminal device can act as a sensing requester or a sensing device. For example, when the UE or terminal device acts as a sensing requester, it is used to generate a sensing request and request a sensing service, or to request a sensing network element to provide a sensing service, or to request a sensing network element to provide sensing data related to the sensing service. As another example, when the UE or terminal device acts as a sensing device, it supports executing sensing services based on request messages from a sensing network element and providing sensing data related to the sensing service to the sensing network element.

[0132] 2. (R)AN: Used to provide network access functionality for authorized user equipment in a specific area, and can use transmission tunnels with different service qualities according to the user equipment level, service requirements, etc.

[0133] (R)AN manages radio resources, provides access services to user equipment (UEs), and forwards control signals and UE data between UEs and the core network. (R)AN can also be understood as a base station in a traditional network. In one example, RAN can be deployed on non-terrestrial equipment such as satellites or drones; or, in other words, RAN can establish communication connections with non-terrestrial equipment such as satellites or drones—this is not limited. Optionally, a satellite with access network capabilities can be called a satellite access network device, or a base station deployed on a satellite can be called a satellite base station, supporting communication services, navigation services, or positioning services for UEs.

[0134] For example, the access network device in this application embodiment can be any communication device with wireless transceiver function for communicating with user equipment. The access network equipment includes, but is not limited to: evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home evolved Node B (HeNB, or home Node B (HNB), baseband unit (BBU), access point (AP), wireless relay node, wireless backhaul node, transmission point (TP), or transmission and reception point (TRP) in a wireless fidelity (WIFI) system. It can also be a gNB in ​​a 5G system, such as NR, or a transmission point (TRP or TP), one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or transmission point, such as a BBU or distributed unit (DU).

[0135] In some deployments, a gNB may include a centralized unit (CU) and a distribution unit (DU). The gNB may also include an active antenna unit (AAU). The CU implements some of the gNB's functions, and the DU implements others. For example, the CU handles non-real-time protocols and services, implementing radio resource control (RRC) and packet data convergence protocol (PDCP) layer functions. The DU handles physical layer protocols and real-time services, implementing radio link control (RLC), medium access control (MAC), and physical (PHY) layer functions. The AAU implements some physical layer processing functions, radio frequency processing, and active antenna-related functions. Since RRC layer information ultimately becomes PHY layer information, or is derived from PHY layer information, in this architecture, higher-layer signaling, such as RRC layer signaling, can be considered to be sent by the DU, or by the DU+AAU. It is understood that access network equipment can be one or more of the following: CU nodes, DU nodes, and AAU nodes. In addition, the CU can be classified as an access network device in the radio access network (RAN) or as an access network device in the core network (CN), and this application does not limit this.

[0136] In this embodiment of the application, the RAN or base station can act as a sensing device, supporting the execution of sensing services based on request messages from sensing network elements, and providing sensing data related to sensing services to the sensing network elements.

[0137] 3. User plane network elements: used for packet routing and forwarding, as well as quality of service (QoS) processing of user plane data.

[0138] In a 5G communication system, the user plane network element can be a UPF network element, which may include an intermediate user plane function (I-UPF) network element and an anchor user plane function (PDU session anchor user plane function, PSA-UPF) network element.

[0139] 4. Data network: A network used to provide data transmission.

[0140] In 5G communication systems, after a terminal device accesses the network, it can establish a Protocol Data Unit (PDU) session and access the Network Node (DN) through the PDU session. This allows it to interact with application function network elements (such as application servers) deployed within the DN. Depending on the DN accessed by the user, the network can select the UPF (User-Defined Node) accessing the DN as the PDU session anchor (PSA) according to network policies, and access the application function network elements through the N6 interface of the PSA.

[0141] 5. Mobility Management Entity (or Access and Mobility Management Entity): Primarily used for mobility management and access management, it can implement functions of the Mobility Management Entity (MME) other than session management, such as legality monitoring and access authorization / authentication. In 5G communication systems, this MME can be an AMF (Access and Mobility Function) element.

[0142] In this embodiment, the mobility management network element (MMI) can act as an intermediary network element to transmit information between the sensing network element and the sensing requester (e.g., UE or RAN). For example, the MMI can send sensing capability information from the sensing requester to the sensing network element, and / or send sensing data from the sensing requester to the sensing network element. As another example, the MMI can send a request message from the sensing network element to the sensing requester.

[0143] 6. Session Management Network Element: Primarily used for session management, allocation and management of Internet Protocol (IP) addresses for terminal devices, selection of manageable terminal device plane functions, policy control and charging function interface endpoints, and downlink data notification. In 5G communication systems, this session management network element can be an SMF network element, which may include intermediate session management function (I-SMF) network elements and anchor session management function (A-SMF) network elements.

[0144] 7. Policy Control Network Element: A unified policy framework used to guide network behavior, providing policy rule information to control plane function network elements (such as AMF, SMF, etc.). In 4G communication systems, this policy control network element can be a policy and charging rules function (PCF) network element. In 5G communication systems, this policy control network element can be a PCF network element.

[0145] 8. Application Function Network Element: Application function network elements can interact with the 5G system to access network open function network elements or interact with the policy framework for policy control, etc. In a 5G communication system, this application function network element can be an AF (Active Front-End) network element.

[0146] 9. Network Slice Selection Element: This mainly includes the following functions: selecting a set of network slice instances for the UE, determining the allowed network slice selection assistance information (NSSAI), and determining the AMF set that can serve the UE. In 5G communication systems, this network slice selection element can be an NSSF element.

[0147] 10. Authentication Service Network Element: Used for authentication services, generating keys to achieve two-way authentication of terminal devices, and supporting a unified authentication framework. In 5G communication systems, this authentication service network element can be an AUSF network element.

[0148] 11. Data Management Network Element: Used for handling terminal device identification, access authentication, registration, and mobility management. In a 5G communication system, this data management network element can be a UDM (User Device Management) network element or a UDR (User Data Registry). In this application embodiment, the UDM or UDR network element can refer to a user database. It can exist as a single logical repository for storing user data.

[0149] 12. Network Open Function (NEF) Element: Used to provide customized functions for network openness. In 5G communication systems, this NEF element can be a Network Open Function (NEF) element. 5G communication systems can also use NEF elements to expose the capabilities supported by the 5G core network to external application function elements, such as providing small data transmission capabilities.

[0150] In Figure 1, the interfaces between the various control plane network elements are point-to-point interfaces. The names and functions of the interfaces between the various network elements are as follows:

[0151] N1: The interface between AMF and the terminal, which can be used to transmit QoS control rules to the terminal.

[0152] N2: The interface between AMF and RAN, which can be used to transmit radio bearer control information from the core network side to the RAN.

[0153] N3: The interface between RAN and UPF, mainly used to transmit uplink and downlink user plane data between RAN and UPF.

[0154] N4: The interface between SMF and UPF, which can be used to transmit information between the control plane and the user plane, including the distribution of forwarding rules, QoS control rules, traffic statistics rules, etc. from the control plane to the user plane, as well as the reporting of information from the user plane.

[0155] N5: The interface between AF and PCF, which can be used for application service request distribution and network event reporting.

[0156] N6: The interface between UPF and DN, used to transmit uplink and downlink user data streams between UPF and DN.

[0157] N7: The interface between PCF and SMF, which can be used to issue PDU session granularity and business data flow granularity control policies.

[0158] N8: The interface between AMF and UDM, which can be used by AMF to obtain access and mobility management related subscription data and authentication data from UDM, as well as by AMF to register terminal current mobility management related information with UDM.

[0159] N9: User plane interface between UPFs, used to transmit uplink and downlink user data streams between UPFs.

[0160] N10: The interface between SMF and UDM, which can be used by SMF to obtain session management-related subscription data from UDM, and by SMF to register terminal current session-related information with UDM.

[0161] N11: The interface between SMF and AMF, which can be used to transmit PDU session tunnel information between RAN and UPF, transmit control messages sent to the terminal, and transmit radio resource control information sent to RAN, etc.

[0162] N12: The interface between AMF and AUSF, which can be used by AMF to initiate an authentication process to AUSF, and can carry a subscription concealed identifier (SUCI) as a subscription identifier;

[0163] N13: The interface between UDM and AUSF, which can be used by AUSF to obtain the user authentication vector from UDM in order to execute the authentication process.

[0164] Figure 2 is a schematic diagram of another network architecture 200 according to an embodiment of this application, such as a schematic diagram of a 5G network architecture based on a service-oriented interface. As shown in Figure 2, this network architecture may include three parts: a terminal equipment part, a data network (DN) part, and an operator network (PLMN) part. For example, it includes, but is not limited to, the following network elements (or functional network elements, functional entities, nodes, devices, etc.): UE, (R)AN, UPF network element, DN, AMF network element, SMF network element, PCF network element, AF network element, NSSF network element, AUSF network element, UDM network element, NEF network element, UDR network element, etc. The description of the functions of each network element can be referred to the description of the corresponding network element functions in Figure 1, and will not be repeated here.

[0165] Figure 2 shows Nnssf, Nnef, Nudr, Nausf, Namf, Npcf, Nsmf, Nudm, and Naf, which are the service interfaces provided by NSSF, NEF, UDR, AUSF, NEF, AMF, PCF, SMF, UDM, and AF, respectively, used to invoke the corresponding service operations. N1, N2, N3, N4, and N6 are interface sequence numbers. The meanings of these interface sequence numbers can be found in the definitions in the 3GPP standard protocols and are not limited here.

[0166] It should be understood that the AMF, SMF, UPF, PCF, NEF, etc. shown in Figure 1 or Figure 2 can be understood as network elements used to implement different functions, such as network slices that can be combined as needed. These network elements can be independent devices or integrated into the same device to implement different functions. They can be network components in hardware devices, software functions running on dedicated hardware, or virtualization functions instantiated on a platform (e.g., cloud platform). This application does not limit the specific form of the above network elements.

[0167] It should also be understood that the above naming is defined solely for the purpose of distinguishing different functions and should not constitute any limitation on this application. This application does not preclude the possibility of using other naming conventions in 5G networks and other future networks. For example, in future mobile communication networks, some or all of the above-mentioned network elements may use the terminology from 5G, or they may use other names, etc.

[0168] Optionally, the network architecture shown in Figure 1 or Figure 2 may also include a sensing function (SF) network element, which can be simply referred to as the sensing network element (SF). The SF can be deployed in the core network or in a non-core network, without restriction. The SF can utilize access network equipment and / or terminal equipment for sensing. The SF can be co-located with other network elements, or its functions can be implemented by other network elements, or the SF can be configured independently; this application does not limit this. Optionally, the SF may also be called a sensing control function (SCF) or other possible names.

[0169] For example, the SF can transmit sensing control signaling with access network devices and / or terminal devices via the AMF. Sensing measurement data acquired by the access network devices and / or terminal devices can be transmitted to the SF via the control plane or user plane. The user plane can be forwarded via the UPF or directly transmitted to the SF. For instance, the aforementioned communication interfaces (such as N1, N2, N5, or N8) can support the transmission of sensing service (or sensing task) related information, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing information.

[0170] Figure 3 is a schematic diagram of another network architecture according to an embodiment of this application. As shown in Figure 3(a), the SF can be connected to the access network device via the NS1 interface. Specifically, the SF is deployed in the core network, and the SF sends the sensing data to the NEF. Furthermore, the NEF sends the sensing data to the AF. As shown in Figure 3(b), in the architecture of the SF adopting the control plane-user plane separation, the SF includes the SF-CP network element and the SF-UP network element. Among them, the SF-CP network element can be abbreviated as SF-CP, and the SF-UP network element can be abbreviated as SF-UP. It can be understood that the SF-U can be used to perform sensing data processing, such as generating or obtaining sensing information based on the sensing data provided by the access network device. The SF-C can be used to perform other control plane signaling processing, such as obtaining sensing requests, or for the SF to perform signaling and data interaction and transmission with other network elements.

[0171] The SF establishes interfaces and interacts with network elements such as AMF, NEF, RAN, UE, or network data analysis function (NWDAF). The specific definitions are as follows:

[0172] NS1: An NS1 interface is set between SF and AMF. This interface can transmit sensing and control signaling. In scenarios where sensing measurement data is uploaded from the control plane, this interface can also transmit sensing measurement data.

[0173] NS2: An NS2 interface is set up between SF and NEF. This interface can transmit signaling messages between SF and AF on the service side via NEF, and at the same time expose perception information to AF.

[0174] NS3: An NS3 interface is set up between SF and UDM. Through this interface, authentication or authorization can be achieved, and terminal device perceived subscription information, service AMF information or other information can be obtained.

[0175] NS4: An NS4 interface is set up between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete artificial intelligence (AI) processing related to perception business.

[0176] NS5: An NS5 interface is set up between SF and PCF. Through this interface, SF can transmit messages or signaling such as sensing requirements, QoS requirements or sensing information of sensing services to PCF. PCF then makes decisions to generate policies and charging control (PCC) policies related to sensing services.

[0177] NS6: An NS6 interface is set up between SF and PCF. Through this interface, SF can transmit messages or signaling such as sensing requirements, QoS requirements or sensing information of sensing services to PCF. PCF then makes decisions to generate policies and charging control (PCC) policies related to sensing services.

[0178] Figure 4 is a schematic diagram of another network architecture according to an embodiment of this application. Exemplarily, there are two sensing architectures. For example, in the case where the UE performs sensing, i.e., the UE acts as the receiver, the SF or SF-CP can send relevant sensing signaling to the UE through the AMF; in the case where the RAN performs sensing, i.e., the RAN acts as the receiver, the SF or SF-CP can directly send relevant sensing signaling to the RAN without needing to forward it through the AMF. Specifically, as shown in Figure 4(a), the SF interacts with the UE through the AMF and RAN to exchange sensing signaling and / or sensing data; the SF can directly interact with the RAN to exchange sensing signaling and / or sensing data. As shown in Figure 4(b), UE1 acts as the receiver, the SF-CP sends sensing signals to the UE through the AMF and RAN, the UE receives the reflected signals, generates sensing data or sensing results, and reports the sensing data or sensing results to the SF-CP through the RAN and AMF; the RAN acts as the receiver, the SF-CP directly sends sensing signals to the RAN, the RAN receives the echo signals, generates sensing data or sensing results, and directly reports the sensing data or sensing results to the SF-CP. As shown in Figure 4(c), the hierarchical information corresponding to the sensing data includes at least one of the following: L1 - raw sensing data, L2 - range-velocity (RV) spectrum, L3 - point cloud data, or L4 - sensing data. It is understandable that different levels of sensing data correspond to different sensing requirements or sensing accuracies.

[0179] Below, based on the network architecture provided above, examples will be given to illustrate the specific implementation methods for triggering and executing perception tasks.

[0180] For example, the SF can obtain sensing requirements from a sensing requester (or demander, requester, sensing service requesting device, etc.). The sensing requester can be an AF network element, an external application server (AS), access network equipment, or terminal equipment. After obtaining the sensing requirements, the SF can control the execution object of the sensing service (i.e., the sensing device) to detect and / or collect sensing data. The execution object of the sensing service can include one or more access network devices, and / or one or more terminal devices. The sensing requirements of the AF or AS can be sent to the SF via the NEF, and the sensing requirements of the UE can be sent to the SF via the AMF.

[0181] Taking access network equipment as an example of the execution object of 3GPP sensing measurement, the access network equipment can perform 3GPP sensing operations to obtain sensing data. Sensing operations may include sending sensing signals and receiving echo signals. The sensing signal is used to sense (or detect) the target (or object) being sensed; it is also called a probe signal, linear frequency modulated signal, optical frequency division multiplexing (OFDM) wave, frequency-modulated continuous wave (FMCW), etc. The echo signal is the signal reflected by the target object from the sensing signal. For example, the access network equipment can process the echo signal to generate (or replace it with determined or obtained data, etc.) sensing data. After obtaining sensing data through detection, the access network equipment can send the sensing data to the SF (Sensing Provider). The SF processes the sensing data to obtain sensing information and provides it to the sensing requester; this sensing information can also be called the sensing result. For example, the SF can process the sensing data according to the sensing requester's sensing requirements to obtain sensing information.

[0182] The sensing data includes L1-raw sensing data, or L2-RV spectrum, or L3-point cloud data, or L4-sensing data collected / acquired / obtained by access network equipment and / or terminal equipment. The sensing data may contain at least one of the following information: velocity, distance, angle, coordinates, time, energy, etc. Specifically, the sensing data provided by the access network equipment to SF may be point cloud data, or the aforementioned velocity, distance, and other information obtained after processing the point cloud data by the access network equipment and / or terminal equipment. The coordinates in this application may include latitude and longitude and / or geographic coordinates. The time in this application may include the timestamp of each sampling point data. The energy in this application may include the echo energy contained in each sampling point data. Sensing information can be obtained based on point cloud information through data processing methods such as cluster analysis. Perception information may include the presence or absence of a target, target type, number of targets, target characteristics (such as shape), trajectory, position, speed, direction / angle, environment reconstruction or environment imaging, positional relationship of multiple targets, whether a target has entered a specific area, whether a target has deviated from a predetermined trajectory, whether the distance between targets is less than a specific threshold, and whether there is a risk of collision among multiple targets.

[0183] There are several ways for access network devices to provide sensing data to the SF. One implementation is that the SF can establish a sensing data transmission channel for the access network devices, allowing the access network devices to send sensing data to the SF through this channel. Further, the SF processes the sensing data according to sensing requirements to obtain sensing information and then sends this information to the sensing requester. For example, the sensing data transmission channel can include: a channel between the access network device and the UPF network element, a channel between the UPF network element and the SF, and a channel between the SF and the sensing requester; that is, the transmission path of the sensing data can be: the access network device sends the sensing data to the UPF network element, the SF obtains the sensing information based on the sensing data, and then sends the sensing information to the sensing requester. In the above transmission path, "channel" can also be replaced with "tunnel" or other possible names. In the above example transmission path, other network elements can also be included between network elements; for example, the SF and the sensing requester can also include other possible network elements such as the NEF, without specific limitations.

[0184] It is understandable that the SF in the above transmission path can be replaced by: a sensing data processing function network element or a sensing function network element. That is, the sensing data processing function network element can convert the sensing data into sensing information that can be sent to the sensing requester. Specifically, the SF can establish a sensing data transmission channel for the access network device, which can then send the sensing data to the SF. Further, the SF processes the sensing data according to the sensing requirements to obtain sensing information and sends it to the sensing requester. In other words, the sensing data transmission path can be: the access network device collects sensing data and sends it to the UPF; the UPF sends the sensing data to the SF; the SF obtains sensing information based on the sensing data and then sends the sensing information to the sensing requester.

[0185] It should be understood that Figures 1 to 4 are merely examples for ease of understanding and do not constitute a limitation on the scope of protection of this application. The communication method provided in the embodiments of this application may also involve devices not shown in Figures 1 to 4, such as wireless relay devices and / or wireless backhaul devices, etc. Of course, the communication method provided in the embodiments of this application may also include only some of the devices shown in Figures 1 to 4.

[0186] To facilitate understanding of the embodiments of this application, the terminology involved in this application will be briefly explained below.

[0187] 1. Perception;

[0188] Perception is the process of collecting, processing, and generating perception results from data. For example, data can be used to determine the distance, shape, and type of surrounding obstacles, or to determine the breathing rate and heart rate of a monitored object. The collected data can be obtained through sensors or through wireless signals.

[0189] Both wireless sensing and wireless communication are based on electromagnetic wave theory. The transmitting end modulates the electromagnetic wave signal, enabling it to carry source information. During propagation, the electromagnetic wave signal is affected by the wireless environment, meaning it can also carry environmental information. The receiving end analyzes the electromagnetic wave signal to obtain not only the carried source information but also sensing information reflecting the characteristics of the propagation environment. In other words, electromagnetic waves inherently possess both communication and sensing capabilities, making integrated sensing and communication (ISAC) possible. ISAC can also be called joint communications and sensing (JCAS) or simply integrated sensing and communication. Compared to systems where sensing and communication are separate, ISAC offers several advantages, such as cost savings, reduced equipment size, lower power consumption, improved frequency efficiency, and reduced mutual interference between communication and sensing.

[0190] 2. Perceive the scene;

[0191] The perception scenarios can include: perception scenarios based on network devices, perception scenarios based on both network devices and terminal devices, and perception scenarios based on terminal devices.

[0192] Figure 5 is a schematic diagram of the perception scene according to an embodiment of this application.

[0193] As shown in Figure 5(1), the sensing scenario is based on network devices, where the network devices act as both the transmitter (Tx) and receiver (Rx) of the sensing signals. For example, when the sensing signal 1 sent by the network device reaches the sensing target or object (e.g., a vehicle), the sensing signal 1 is scattered by the target object, and the network device can receive the sensing signal 2, which can then be processed to obtain the sensing result.

[0194] As shown in Figure 5(2), the sensing scenario is based on network devices, where one network device acts as the transmitter of the sensing signal and the other network device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by network device A reaches the sensing target or target object (e.g., a car). After the sensing signal 1 is scattered by the target object, network device B can receive the sensing signal 2. Then, network device B can perform sensing processing on the sensing signal 2 to obtain the sensing result.

[0195] As shown in Figure 5(3), the sensing scenario is based on network devices and terminal devices, where the network device acts as the transmitter of the sensing signal and the terminal device acts as the receiver of the sensing signal. For example, when the sensing signal 1 sent by the network device reaches the sensing target or target object (e.g., a vehicle), the sensing signal 1 is scattered by the target object, and the terminal device can receive the sensing signal 2. The terminal device can then perform sensing processing on the sensing signal 2 to obtain the sensing result.

[0196] As shown in Figure 5(4), the sensing scenario is based on network devices and terminal devices, where the terminal device acts as the transmitter of the sensing signal and the network device acts as the receiver of the sensing signal. For example, when the sensing signal 1 sent by the terminal device reaches the sensing target or target object (e.g., a vehicle), the sensing signal 1 is scattered by the target object, and the network device can receive the sensing signal 2. The network device can then perform sensing processing on the sensing signal 2 to obtain the sensing result.

[0197] As shown in Figure 5(5), the sensing scenario is based on the terminal device, which acts as both the transmitter and receiver of sensing signals. For example, when sensing signal 1 sent by the terminal device reaches the sensing target or object (e.g., a vehicle), the sensing signal 1 is scattered by the target object, and the terminal device can receive sensing signal 2. Then, sensing signal 2 can be processed to obtain the sensing result. In other words, the terminal device knows what it has sent; for example, the sensing data sent by the terminal device can also be used as a sensing signal.

[0198] As shown in Figure 5(6), the sensing scenario is based on terminal devices, where one terminal device acts as the transmitter of the sensing signal and the other terminal device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by terminal device A reaches the sensing target or target object (e.g., a car). After the sensing signal 1 is scattered by the target object, terminal device B can receive the sensing signal 2. Then, terminal device B can perform sensing processing on the sensing signal 2 to obtain the sensing result.

[0199] In the above scenario, sensing signal 2 can be understood as a scattered signal of sensing signal 1. Sensing signal 2 carries more information than sensing signal 1; for example, sensing signal 2 can carry source information and environmental information. Optionally, this application does not limit the number of sensing signals transmitted by the transmitting end.

[0200] The above description of the terminology is for ease of understanding only and does not limit the scope of protection of the embodiments of this application.

[0201] With the increasing diversity of wireless communication applications, the demand for new network capabilities based on sensing is gradually emerging. For example, in smart cities and smart transportation scenarios, the need to acquire relative positions and angles between objects, and to sense the distance, speed, and shape of target objects, is becoming increasingly apparent. To meet these business needs, integrated radar and communication base stations can be deployed to enhance the sensing capabilities of the base stations. The precise sensing capabilities of radar enable accurate communication, improving communication efficiency. Sensing functions can also be used in security scenarios where cameras cannot be installed. For instance, in specific industrial parks, it can detect the entry of flying objects such as drones. In traffic scenarios, roadside stations can perform functions such as traffic flow statistics and vehicle navigation, all of which require a certain level of sensing capability from the roadside base stations.

[0202] When a sensing requester requests sensing services from a sensing network element, the sensing network element can request one or more sensing devices (e.g., at least one UE and / or at least one RAN) to detect the sensing area in order to execute the sensing service. That is, for a single sensing service, both the RAN and the UE can participate in sensing. The RAN can perform overall sensing of a certain area, while the UE can sense a specific location or target. In this case, collaborative sensing by the RAN and UE can improve sensing accuracy. However, when the UE and RAN simultaneously sense a certain area and employ different sensing architectures, how to process the sensing data from the UE and RAN to improve sensing accuracy is a problem that needs to be considered.

[0203] To address the aforementioned technical problems, this application provides a sensing method and apparatus. A first sensing network element instructs a second device and a first device to perform a joint sensing task. For the second sensing data obtained by the second device performing the sensing task and the first sensing data obtained by the first device performing the sensing task, the second device or the second sensing network element can perform fusion processing on the second sensing data and the first sensing data to obtain third sensing data that meets the sensing requirements, thereby improving the sensing accuracy.

[0204] The sensing method provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings, and can be applied to the communication systems shown in Figures 1 to 4 above. It should be understood that the embodiments of this application can be applied to scenarios where the sending end and the receiving end communicate.

[0205] It should also be understood that the embodiments shown below do not specifically limit the structure of the execution subject of the method provided in the embodiments of this application. As long as communication can be performed according to the method provided in the embodiments of this application by running the code or program that records the method provided in the embodiments of this application. For example, the method provided in the embodiments of this application can be executed by a second device, a first device, a first sensing network element, and a second sensing network element. Unless otherwise specified, "second device, first device, first sensing network element, or second sensing network element" in this application can refer to the device / network element itself, or a component in the device / network element (e.g., a communication module, processor, circuit, chip (such as a modem chip, also known as a baseband chip, or a SoC chip or SIP chip containing a modem core), or a chip system, etc.), or it can be a logic module or software that can implement all or part of the functions of the device / network element. There is no limitation in this regard.

[0206] For example, the first sensing network element can be a sensing function SF network element (hereinafter referred to as SF) or a sensing function network element control plane SF-CP network element (hereinafter referred to as SF-CP), and the second sensing network element can be a sensing function SF network element (hereinafter referred to as SF) or a sensing function network element user plane SF-UP network element (hereinafter referred to as SF-UP). SF-CP and SF-UP can be co-located, in which case the first and second sensing network elements can be considered as the same sensing network element and can be collectively referred to as sensing network elements. Alternatively, SF-CP and SF-UP can be deployed independently; there is no limitation on this.

[0207] For example, the second device may be a network device, such as a RAN, and the first device may be a terminal device, such as a UE; or, the second device may be a terminal device and the first device may be a network device; or, both the second device and the first device may be network devices; or, both the second device and the first device may be terminal devices, without limitation. For ease of description and understanding, the following embodiments use the second device as a network device and the first device as a terminal device as an example for illustration, without limitation.

[0208] Optionally, this application does not limit the number of the second device or the first device; there may be one or more. For ease of description and understanding, the following embodiments use the example where both the second device and the first device are a single device, but this is not a limitation.

[0209] Figure 6 is a flowchart illustrating a sensing method 600 provided in an embodiment of this application. As shown in Figure 6, the method involves interaction between a second device, a first device, a first sensing network element, and a second sensing network element. The method includes several steps, and for parts not described in detail, please refer to existing related descriptions.

[0210] S610, the first sensing network element sends a first request message to the second device;

[0211] Correspondingly, the second device receives a first request message from the first sensing network element.

[0212] The first request message is used to request the execution of the first sensing task, or to request the provision of the first sensing task, or to request the provision of sensing data related to the first sensing task (e.g., the second sensing data mentioned below).

[0213] For example, the first request message is associated with a joint sensing task or a joint sensing task identifier, the joint sensing task identifier being used to identify the joint sensing task.

[0214] In the embodiments of this application, the joint sensing task includes a first sensing task and a second sensing task, which can also be understood as the joint sensing task being associated with the first sensing task and the second sensing task.

[0215] The relationship between the joint sensing task and the first and second sensing tasks is not specifically limited. For example, the first and second sensing tasks can be the same or different; the joint sensing task and the first sensing task can be completely the same, partially the same, or different; and the joint sensing task and the second sensing task can be completely the same, partially the same, or different—this is not limited. In one example, the joint sensing task could be sensing whether an obstacle exists in a first region, where the first region includes a second and a third region. In this case, the first sensing task could be sensing whether an obstacle exists in the second region, and the second sensing task could be sensing whether an obstacle exists in the third region. Optionally, the second and third regions can be completely different or partially the same—this is not limited. In another example, the joint sensing task could be sensing whether obstacles exist in both the first and second regions. In this case, the first sensing task could be sensing whether an obstacle exists in the first region, and the second sensing task could be sensing whether an obstacle exists in the second region. In yet another example, the joint sensing task could be sensing the motion state of a target object within the first region. In this case, the first sensing task could be sensing the speed of the target object within the first region, and the second sensing task could be sensing the direction of motion of the target object within the first region, etc. Understandably, the above are just examples for ease of understanding, and other possible solutions are not excluded.

[0216] It should be noted that a sensing service can correspond to multiple sensing tasks (collectively referred to as joint sensing tasks). Understandably, the sensing service is associated with joint sensing tasks, obtaining multiple sensing results by executing multiple sensing tasks. The sensing data obtained after processing these multiple sensing results and meeting the sensing requirements is the sensing data associated with the sensing service. For ease of description and understanding, this embodiment uses the association of a sensing service with a first and a second sensing task as an example. Optionally, the sensing service can be associated with a third or fourth sensing task; the specific implementation is similar and will not be described further for simplicity.

[0217] In this application, the first request message is associated with a joint sensing task or a joint sensing task identifier. This can be understood as follows: the first request message includes a joint sensing task identifier; or, the first request message can be transmitted through a specific interface or channel. Since this specific interface or channel is associated with the joint sensing task, the first request message is therefore associated with the joint sensing task or the joint sensing task identifier. Here, the association of the specific interface or channel with the joint sensing task can be understood as follows: this specific interface or channel is used by the first device to transmit signaling and / or data related to the joint sensing task, such as the first sensing data mentioned below. In other words, sending the first request message through this specific interface or channel implicitly indicates that the first sensing task belongs to the joint sensing task.

[0218] Optionally, the first request message is also associated with a first identifier, which can be used to identify a first device participating in the joint sensing task. For example, the first request message may also include a first identifier.

[0219] In other words, the joint sensing task can include a first sensing task and a second sensing task. The first sensing network element requests the second device to perform the first sensing task in the joint sensing task, and at the same time instructs the second device to participate in the joint sensing task. This can be understood as: the first device performs the second sensing task in the joint sensing task.

[0220] In one implementation, the first sensing network element can directly send a first request message to the second device; alternatively, the first sensing network element can send the first request message to the second device through a mobility management network element. For example, the first sensing network element sends message #1 to the mobility management network element, and the mobility management network element sends message #2 to the second device based on message #1. Message #1 includes a joint sensing task identifier and a first identifier, where the first identifier can be at least one of the following: the SUCI corresponding to the first device, a subscription permanent identifier (SUPI), a 5G globally unique temporary identifier (5G-GUTI), a permanent equipment identifier (PEI), or a generic public subscription identifier (GPSI). Message #2 includes a joint sensing task identifier and a first identifier, where the first identifier can be the RAN UE NG application protocol identity (RAN UE NGAP ID), where the RAN UE NGAP ID corresponds to SUPI, SUCI, PEI, 5G-GUTI, or GPSI.

[0221] For example, the first request message may also be associated with at least one of the following: a first perception request, or first information, or hierarchical information #1 (i.e., the hierarchical information corresponding to the second perception data, which may be referred to as the first hierarchical information).

[0222] The specific explanations of the parameters associated with the first request message are as follows.

[0223] (1) First identifier, for example, assuming the second device is a network device and the first device is a terminal device, the first identifier can be SUCI, or SUPI, or 5G-GUTI, or PEI, or GPSI, or RAN NGAP UE ID, where RAN NGAP UE ID means that the UE can be uniquely identified on the NG interface in the RAN; the specific name and form of the first identifier are just examples and are not limited.

[0224] (2) Joint sensing task identifier, such as service task ID or federation sensing task ID. The joint sensing task identifier is used to identify sensing tasks that require multiple sensing devices to cooperate in sensing. For example, if the first sensing network element determines that sensing area #1 and sensing area #2 need to be sensed, and assuming that candidate sensing device #1 only supports sensing area #1, then the first sensing network element determines that it needs to call one or more other sensing devices to sense the above-mentioned sensing areas to meet the requirements of the sensing service. It should be noted that multiple sensing devices may include multiple UEs, or multiple RANs, or at least one UE and at least one RAN;

[0225] (3) First sensing requirements, for example, the first sensing requirements may include at least one of the following: first sensing location, first sensing range, first sensing accuracy, first sensing delay, first sensing resolution, first level information corresponding to the sensing data, first sampling rate corresponding to the sensing data, or, first coordinate system corresponding to the sensing data, etc. For specific interpretations, please refer to the relevant description of step S601 below, which will not be explained here.

[0226] It is understandable that the first perception requirement is associated with the first perception task, which can be understood as: the second device performs the first perception task according to the first perception requirement; or, the second perception data obtained by the second device in performing the first perception task meets the first perception requirement.

[0227] (4) First information, used to instruct the second device to perform fusion processing on the second sensing data and the first sensing data.

[0228] It should be noted that fusion processing can be understood as performing time synchronization, data concatenation, data deduplication, or data alignment and supplementation on multiple data sets, aiming to obtain complete data that meets the perception requirements and improve perception accuracy. The specific implementation methods of fusion processing can be found in the descriptions of steps S640 or S670 below, and will not be explained here.

[0229] (5) First-level information, such as one of the following: L1-raw sensing data, L2-RV spectrum, L3-point cloud data, or L4-sensing data.

[0230] Optionally, the first-level information can be independent of the first-perception requirement, or the first-level information can be carried as part of the first-perception requirement, that is, the first-level information can belong to the first-perception requirement, without limitation.

[0231] S620, the first sensing network element sends a second request message to the first device;

[0232] Correspondingly, the first device receives a second request message from the first sensing network element.

[0233] The second request message is used to request the execution of the second sensing task, or to request the provision of the second sensing task, or to request the provision of sensing data (e.g., the first sensing data mentioned below) related to the second sensing task.

[0234] For example, the second request message is associated with a joint sensing task, or in other words, the second request message is associated with a joint sensing task identifier, which is used to identify the joint sensing task. In the embodiments of this application, the joint sensing task includes a first sensing task and a second sensing task, or it can be understood that the joint sensing task is associated with the first sensing task and the second sensing task.

[0235] In this application, the second request message is associated with a joint sensing task or a joint sensing task identifier. This can be understood as follows: the second request message includes a joint sensing task identifier; or, the second request message can be transmitted through a specific interface or channel. Since this specific interface or channel is associated with a joint sensing task, the second request message is therefore associated with the joint sensing task or the joint sensing task identifier. Here, the association of a specific interface or channel with a joint sensing task can be understood as follows: this specific interface or channel is used by the second device to transmit signaling and / or data related to the joint sensing task, such as the second sensing data mentioned below. In other words, sending a second request message through this specific interface or channel implicitly indicates that the second sensing task belongs to a joint sensing task.

[0236] Optionally, the second request message is also associated with a second identifier, which identifies the second device participating in the joint sensing task. For example, the second request message may also include the second identifier. If the second request message does not carry the second identifier, the terminal device, after acquiring the first sensing data, can send the first sensing data to its current serving RAN, which will then send it to the second device or the first sensing network element based on pre-configured information; this is not limited.

[0237] In other words, the joint sensing task can include a first sensing task and a second sensing task. The first sensing network element requests the first device to perform the second sensing task in the joint sensing task, and at the same time instructs the second device participating in the joint sensing task to the first device. This can be understood as: the second device performs the first sensing task in the joint sensing task.

[0238] In one implementation, the first sensing network element can send a second request message to the first device through the mobility management network element. For example, the first sensing network element sends message #a to the mobility management network element, and the mobility management network element sends message #b to the first device based on message #a. Message #a or message #b carries a joint sensing task identifier and a second identifier, where the second identifier can be the RAN ID or RAN address information corresponding to the second device.

[0239] For example, the second request message may also be associated with at least one of the following: a second perception request, or first information, or hierarchical information #2 (i.e., the hierarchical information corresponding to the first perception data, which may be referred to as the second hierarchical information). Specific interpretations of the parameters associated with the second request message are shown below.

[0240] (1) A second identifier, for example, the identifier of the second device can be a RAN ID or RAN address information;

[0241] (2) Joint sensing task identifier, such as service task ID or federation sensing task ID. The joint sensing task identifier is used to identify sensing tasks that require multiple sensing devices to work together. For specific examples, please refer to the relevant description of step S610 above.

[0242] (3) Second sensing requirements, such as the second sensing requirements may include at least one of the following: second sensing position, second sensing range, second sensing accuracy, second sensing delay, second sensing resolution, or the second level information, second sampling rate, or second coordinate system corresponding to the sensing data. For specific interpretations, please refer to the relevant description of step S601 below, which will not be explained here.

[0243] Understandably, the second sensing requirement is associated with the second sensing task, which can be understood as: the first device performs the second sensing task according to the second sensing requirement; or, the first sensing data obtained by the first device in performing the second sensing task satisfies the second sensing requirement.

[0244] (4) First information, used to instruct the second device to perform fusion processing on the second sensing data and the first sensing data.

[0245] (5) Second-level information, such as one of the following: L1-raw sensing data, L2-RV spectrum, L3-point cloud data, or L4-sensing data.

[0246] Optionally, the second-level information can be independent of the second-perception requirement, or the second-level information can be carried as part of the second-perception requirement, that is, the second-level information can belong to the second-perception requirement, without limitation.

[0247] It should be noted that the first perception requirement in step S610 and the second perception requirement in step S620 may be the same or different, and this is not limited. It is understood that both the first perception requirement and the second perception requirement belong to or are included in the perception requirements in step S601, or the first perception requirement and the second perception requirement may be determined based on the perception requirements. Similarly, the first level information in step S610 and the second level information in step S620 may be the same or different, and this is not limited. It is understood that both the first level information and the second level information belong to or are included in the level information indicated by the perception requirements in step S601, or the first level information and the second level information may be determined based on the level information indicated by the perception requirements.

[0248] For example, suppose the sensing requirements related to sensing services carry sensing location, sensing accuracy, and hierarchical information corresponding to the sensing data. Here, the sensing location is the first location, the sensing accuracy is 1 meter (m), and the hierarchical information corresponding to the sensing data is L4-sensing data. Then, the first sensing requirements related to the first sensing task may include: the first sensing location is the second location, the first sensing accuracy is 1m, and the first hierarchical information is L4-sensing data. The second sensing requirements related to the second sensing task may include: the second sensing location is the third location, the second sensing accuracy is 1m, and the second hierarchical information is L4-sensing data. That is, the first sensing requirements and the second sensing requirements are different, but the first hierarchical information and the second hierarchical information are the same. This is not limited.

[0249] This application does not limit the execution order of the above steps S610 and S620. For example, the first sensing network element may execute step S610 first and then step S620, or the first sensing network element may execute step S620 first and then step S610, or the first sensing network element may execute steps S610 and S620 simultaneously.

[0250] Optionally, before performing the above steps S610 and S620, the first sensing network element obtains a request for sensing services, that is, the method may include the following step S601 (not shown in the figure).

[0251] S601, the first sensing network element sends a third request message to the sensing request direction;

[0252] Correspondingly, the first sensing network element receives the third request message from the sensing requester.

[0253] The third request message is used to request sensing services, which are associated with joint sensing tasks.

[0254] In this application, the perception service is associated with the joint perception task, which can be understood as follows: the perception service requires joint perception by multiple devices, that is, each device can execute one or more perception tasks in the joint perception task, that is, multiple devices jointly execute the joint perception task to provide the perception service. For example, for a certain perception service, it can be divided into multiple perception tasks (e.g., the first perception task and the second perception task), and these multiple perception tasks constitute or belong to the joint perception task.

[0255] For example, a sensing service could be: sensing whether an obstacle exists in a certain area, or requesting obstacle location. Sensing data could include at least one of the following: indication that an obstacle exists at location A within the area, information about location A, or information about the shape or size of the obstacle, etc.

[0256] It is understood that the request perception service in the embodiments of this application refers to: for multiple perception tasks (i.e., joint perception tasks) corresponding to the perception service, requesting multiple perception devices (e.g., the first device and the second device) to perform perception tasks (e.g., the first perception task and the second perception task) respectively for the perception target in order to obtain perception data or perception results.

[0257] The perceived target can be a specific area, such as a geographical region like a residential area, a section of road, or a piece of land; or it can be a concrete object, such as a static object like an obstacle on a road or a building; or it can be a dynamic object, such as a flying bird or a walking person. The perceived data or results can include: the location information of the perceived target, the shape of the perceived target, the size of the perceived target, and information such as the speed, distance, direction of movement, relative position, and angle of the perceived target. Specifically, the location information of the perceived target can indicate whether an object exists at the target's location; the shape of the perceived target can be a cube, cuboid, irregular object, or other shape; and the size of the perceived target can be its dimensions, such as its length, width, thickness, and height.

[0258] For example, the sensing requester can be an AF, an AS, or a UE. For instance, a UE can send a third request message to the first sensing network element through an AMF; or, for another example, an AF or an AS can send a third request message to the first sensing network element through a NEF. Optionally, when the sensing requester is a UE (e.g., UE#2) and the first device is a UE (e.g., UE#1), UE#1 and UE#2 can be the same UE, or they can be different UEs, without limitation.

[0259] For example, the third request message may include perception requirements related to perception services. These perception requirements may include at least one of the following: perception location, perception range, perception accuracy, perception latency, perception resolution, or, the hierarchical information, sampling rate, or coordinate system corresponding to the perception data.

[0260] Specifically, the sensing location or sensing range can be the location or range of the sensing target (e.g., the absolute geographical location of the sensing target, or the relative position of the sensing target to a reference point). Sensing accuracy describes the error between the sensing result and the ideal, true result. Taking distance sensing as an example, if the distance between the sensing target and the sensing device is 6m, but the actual distance is 5m, then the sensing error is 1m, also called the sensing accuracy of 1m. Sensing resolution describes the minimum ability of sensing to distinguish two different targets. Taking distance sensing as an example, a distance resolution of 1m can be understood as the sensing device being able to distinguish two sensing targets when the distance between them is greater than or equal to 1m, and unable to distinguish them when the distance is less than 1m. The hierarchical information corresponding to the sensing data can include at least one of the following: L1 - raw sensing data, L2 - RV spectrum, L3 - point cloud data, or L4 - sensing data. The sampling rate corresponding to the sensing data can be understood as: the sampling accuracy of the sensing data, or the sampling time interval of the sensing data, or the refresh frequency of the sensing data. The coordinate system corresponding to the sensing data may include at least one of the following: a geodetic coordinate system, a target coordinate system, a ground coordinate system, or a camera coordinate system.

[0261] In this application, perception requirements (e.g., including first perception requirements and second perception requirements) can also be referred to as key performance indicators (KPIs) requirements, and their names are not limited. The hierarchical information corresponding to the perception data can be replaced with: perception data format, or perception data type, etc. Here, the hierarchical information corresponding to the perception data refers to the degree of processing of the perception data. It is understood that L1-raw perception data, after preliminary data processing, can obtain L2-RV spectrum; L2-RV spectrum, after further data processing, can obtain L3-point cloud data; and L3-point cloud data, after further data processing, can obtain L4-perception data. It is also understood that the higher the perception requirements related to perception services (e.g., perception accuracy), the higher the hierarchical information requirements corresponding to the perception data (e.g., the perception data reported by the second device or the first device is L1-raw perception data).

[0262] Optionally, the perception requirements can be determined by the core network. For example, when the core network has a need for network optimization, it determines the perception requirements and sends them to the perception requester or the first perception network element.

[0263] Optionally, before performing the above steps S610 and S620, the first sensing network element or the mobility management network element obtains the sensing capability information of the second device and / or the capability information of the second sensing device. That is, the method may include the following step S602 (not shown in the figure).

[0264] S602, the first sensing network element or the mobility management network element obtains the sensing capability information of the second device and / or the capability information of the second sensing device.

[0265] For example, the perception capability information of the second device or the perception capability information of the first device is used to indicate at least one of the following: whether perception is supported, whether collaborative perception is supported, the supported perception range (or perception area), the supported perception accuracy, the hierarchical information corresponding to the supported perception data, whether sampling rate conversion is supported, whether coordinate system conversion is supported, whether conversion of the hierarchical information corresponding to the perception data is supported, the supported sampling rate conversion, the supported coordinate system conversion, whether or not the hierarchical information corresponding to the perception data can be opened during collaborative perception, whether or not the hierarchical information corresponding to the perception data can be opened during collaborative perception (i.e., the hierarchical information corresponding to the perception data supported when the second device or the first device performs a joint perception task), or whether the fusion processing of perception data is supported.

[0266] As an example, the sensing capability information of the second device and / or the capability information of the second sensing device are proactively reported to the first sensing network element or the mobility management network element. For instance, assuming the second device is a network device and the first device is a terminal device, the second device can directly send its capability information to the first sensing network element or the mobility management network element; or, the second device can send its capability information to the first sensing network element through the mobility management network element, for example, the second device sends its capability information to the mobility management network element, and then the mobility management network element sends its capability information to the first sensing network element; or, the first device can send its capability information to the mobility management network element through the second device, for example, the first device sends its capability information to the second device, and then the first device sends its capability information to the mobility management network element, and further, the mobility management network element can send its capability information to the first sensing network element. Optionally, the capability information of the first device can be carried in the registration request message of the terminal device, without limitation.

[0267] As another example, the sensing capability information of the second device and / or the capability information of the second sensing device are reported based on a request message from the first sensing network element or mobility management network element. For example, assuming the second device is a network device and the first device is a terminal device, the first sensing network element or mobility management network element sends a request message to the second device or the first device to request the acquisition of the capability information of the second device or the second sensing device. Correspondingly, after receiving the request message, the second device or the first device sends its own capability information to the first sensing network element or the mobility management network element.

[0268] As another example, the sensing capability information of the second device and / or the capability information of the second sensing device are predefined or preconfigured. Predefinition can include pre-defined parameters, such as protocol definitions. Preconfiguration can be achieved by pre-saving corresponding codes, tables, functions, text, strings, or other methods that can indicate relevant information in the first sensing network element and / or mobility management network element. This application does not limit the specific implementation method. For example, the capability information of the second device includes: the second device supports collaborative sensing, the supported sensing data corresponds to L1-raw sensing data, the supported sampling rate is 15 frames / second, and the supported coordinate system is a ground coordinate system, etc. As another example, the capability information of the first device includes: the first device supports collaborative sensing, the supported sensing data corresponds to L3-point cloud data, the supported sampling rate is 20 frames / second, and the supported coordinate system is a geodetic coordinate system, etc.

[0269] It is understandable that the above examples are provided for ease of understanding only, and other solutions are not excluded.

[0270] The following provides examples illustrating the method for determining the first identifier carried in the first request message of step S610 above, and the method for determining the first device participating in the joint sensing task.

[0271] In one implementation, the mobility management network element (AMF) sends a first identifier to the first sensing network element (SFE), and correspondingly, the SFE receives the first identifier from the AMF. Optionally, before the AMF sends the first identifier to the SFE, the SFE sends a fourth request message to the AMF, which requests to obtain the first identifier. That is, the first identifier can be actively sent to the SFE by the AMF, or it can be sent to the SFE by the AMF based on a request from the SFE; there is no limitation on this.

[0272] Optionally, before the mobility management network element sends the first identifier to the first sensing network element, the mobility management network element or the first sensing network element determines the first device to participate in performing the joint sensing task.

[0273] In one implementation, the mobility management network element determines a first device to participate in performing a joint sensing task. For example, when the first sensing network element determines that multiple devices need to perform sensing jointly, it sends a request message to the mobility management network element to request sensing devices (e.g., terminal devices) within a specific sensing area. The mobility management network element determines the first device (e.g., UE#1) based on the sensing capability information of at least one sensing device (e.g., UE#1, UE#2, and UE#3).

[0274] In another implementation, the first sensing network element determines a first device to participate in the joint sensing task. For example, when the first sensing network element determines that multiple devices need to perform sensing jointly, it sends a request message to the mobility management network element to request sensing devices (e.g., terminal devices) within a specific sensing area. The mobility management network element sends at least one candidate device (e.g., UE#1, UE#2, and UE#3) to the first sensing network element and sends second information, which includes at least one identifier to identify the at least one candidate device. In other words, the second information includes information about the at least one candidate device (e.g., identification information, sensing capability information, or location information of the at least one candidate device). Correspondingly, after receiving the second information, the first sensing network element determines the first device from the at least one candidate device based on the sensing capability information and location information of the at least one candidate device.

[0275] Understandably, the first device supports sensing services and is located within the specific sensing area. Furthermore, the specific sensing area can be determined based on sensing requirements. For example, if the sensing location specified in the sensing requirements is a first area, then the specific sensing area can be part or all of the first area; there is no limitation on this.

[0276] The following is an example illustrating how to determine the first-level information (i.e., the level information corresponding to the second sensing data) carried in the first request message of step S610 and the second-level information (i.e., the level information corresponding to the first sensing data) carried in the second request message of step S620.

[0277] In one implementation, the first sensing element determines the first-level information and the second-level information.

[0278] For example, the first sensing network element determines the first-level information based on the sensing capability information and sensing requirements of the second device. For instance, the sensing requirements include the hierarchical information corresponding to the sensing data, such as requiring the sensing device to report L4-sensing data. The sensing capability information of the second device is used to indicate that the second device supports reporting L1-raw sensing data and L4-sensing data. In this case, the first-level information determined by the first sensing network element is: the second device reports L1-raw sensing data or L4-sensing data.

[0279] For example, the first sensing network element determines the first-level information based on the sensing capability information and sensing requirements of the first device. For instance, the sensing requirements include the following hierarchical information corresponding to the sensing data: requiring the sensing device to report L4-sensing data. The sensing capability information of the first device is used to indicate that the first device supports reporting L4-sensing data. In this case, the first-level information determined by the first sensing network element is: the second device reports L4-sensing data.

[0280] For example, the first sensing network element determines the second-level information based on the sensing capability information and sensing requirements of the first device. For instance, the sensing requirements include the hierarchical information corresponding to the sensing data, such as requiring the sensing device to report L3-point cloud data. The sensing capability information of the first device is used to indicate that the first device supports reporting L3-point cloud data and L4-sensing data. In this case, the second-level information determined by the first sensing network element is: the first device reports L3-point cloud data.

[0281] For example, the first sensing network element determines the second-level information based on the sensing capability information and sensing requirements of the second device. For instance, the sensing requirements include the hierarchical information corresponding to the sensing data, such as requiring the sensing device to report L3-point cloud data, and the sensing capability information of the second device is used to indicate that the second device supports reporting L4-sensing data. In this case, the second-level information determined by the first sensing network element is: the first device reports L4-point cloud data.

[0282] For example, the first sensing network element determines first-level information and / or second-level information based on the sensing capability information of the second device, the sensing capability information of the first device, and the sensing requirements. For instance, the sensing requirements include the hierarchical information corresponding to the sensing data: requiring the sensing device to report L4-sensing data indicates that the sensing requirements are low or the sensing KPI accuracy is low. If the sensing capability information of the second device is used to indicate that the second device supports reporting L2-RV spectrum and L4-sensing data, and the sensing capability information of the first device is used to indicate that the first device supports reporting L1-raw sensing data and L3-point cloud data, then the first-level information determined by the first sensing network element can be: the second device reports L4-sensing data, and the second-level information can be: the first device reports L1-raw sensing data or L3-point cloud data. Furthermore, the first sensing network element can process the L1-raw sensing data or L3-point cloud data to obtain L4-sensing data that meets the sensing requirements.

[0283] For example, if the perception requirements are high or the perception KPI accuracy is high, it can be understood that the perception devices (e.g., the second device and the first device) are required to report relatively raw perception data. For example, the second device and the first device are required to report L2-RV spectrum. In this case, if the first device (e.g., UE) only supports reporting L2-RV spectrum (e.g., determined based on the perception capability information of the first device), then the first perception network element determines that the L2-RV spectrum reported by the first device is sufficient to meet the perception requirements. Alternatively, if the first device (e.g., UE) does not support data processing between L1-raw perception data and L2-RV spectrum, and the first device (e.g., UE) only supports reporting L1-raw perception data, then the first perception network element determines that the first device should report L1-raw perception data. Furthermore, the first perception network element can process the L1-raw perception data to obtain the L2-RV spectrum that meets the perception requirements.

[0284] It is understandable that the above examples are provided for ease of understanding only, and other solutions are not excluded.

[0285] Optionally, the first-level information may not be carried in the first request message; that is, the first-level information can be sent independently. Optionally, assuming the second device is a network device, the first sensing network element can directly send the first-level information to the second device, or it can forward the first-level information to the second device through the mobility management network element; there is no limitation in this regard. Similarly, the second-level information may not be carried in the second request message; that is, the second-level information can be sent independently. Optionally, assuming the first device is a terminal device, the first sensing network element can forward the second-level information to the first device through the mobility management network element; there is no limitation in this regard.

[0286] In one implementation, a second device (e.g., a network device) determines first-level information and second-level information. Further, the second device may indicate the second-level information to the first device so that the first sensing data acquired by the first device satisfies the second-level information.

[0287] For example, the second device determines the first-level information based on its sensing capability information and sensing requirements. For instance, the sensing requirements include the following: the sensing device is required to report L4-sensing data. The second device's sensing capability information is used to indicate that the second device supports reporting L3-point cloud data. In this case, the first-level information determined by the second device is: the second device acquires or reports L3-point cloud data.

[0288] For example, the second device determines the first-level information based on the sensing capability information and sensing requirements of the first device. For instance, the sensing requirements include the level information corresponding to the sensing data, such as: requiring the sensing device to report L4-sensing data. The sensing capability information of the first device is used to indicate that the first device supports reporting L4-sensing data. In this case, the first-level information determined by the second device is: the second device reports L4-sensing data.

[0289] For example, the second device determines the second-level information based on the sensing capability information and sensing requirements of the first device. For instance, the sensing requirements include the hierarchical information corresponding to the sensing data, such as requiring the sensing device to report L3-point cloud data. The sensing capability information of the first device is used to indicate that the first device supports reporting L1-raw sensing data and L3-point cloud data. In this case, the second-level information determined by the second device is: the first device reports either L1-raw sensing data or L3-point cloud data.

[0290] For example, the second device determines the second-level information based on its sensing capability information and sensing requirements. For instance, the sensing requirements include the following: the sensing device is required to report L3-point cloud data. The second device's sensing capability information is used to indicate that the second device supports reporting L4-sensing data. In this case, the second-level information determined by the first sensing network element is: the first device reports L4-point cloud data.

[0291] For example, the second device determines first-level information and / or second-level information based on its own perception capability information, the first device's perception capability information, and perception requirements. For instance, perception requirements may include the following hierarchical information corresponding to the perception data: requiring the perception device to report L3-point cloud data indicates a low perception requirement or low perception KPI accuracy. If the second device's perception capability information indicates that it supports reporting L2-RV spectrum and L4-perception data, and the first device's perception capability information indicates that it supports reporting L3-point cloud data, then the first-level information determined by the second device could be: the second device reports L2-RV spectrum or L4-perception data. Furthermore, the second device can process the L2-RV spectrum or L4-perception data to obtain L3-point cloud data that meets the perception requirements. The second-level information could then be: the first device reports L3-point cloud data; this is not limited.

[0292] It is understandable that the above examples are provided for ease of understanding only, and other solutions are not excluded.

[0293] Based on the above implementation, the second device performs a first sensing task according to the acquired first sensing requirements and first-level information to obtain second sensing data, and the first device performs a second sensing task according to the acquired second sensing requirements and second-level information to obtain first sensing data. Specifically, the second sensing data satisfies both the first sensing requirements and the first-level information, and the first sensing data satisfies both the second sensing requirements and the second-level information.

[0294] S630, the first device sends the first sensing data to the second device;

[0295] Correspondingly, the second device receives the first sensing data from the first device.

[0296] In one implementation, the first device determines, based on the first information carried in the second request message, the fusion processing of the sensing data corresponding to the joint sensing task to be performed by the second device, and then sends the first sensing data to the second device.

[0297] For example, the first device may also send a joint sensing task identifier and / or a first identifier to the second device, so that the second device can determine that the first sensing data is the sensing data corresponding to the joint sensing task, and determine to perform fusion processing on the first sensing data.

[0298] For example, the first device can use a specific DRB (e.g., the first DRB) to report first sensing data to the second device. In this case, the second device can receive the first sensing data from the second device through the specific DRB. Since the specific DRB is associated with the joint sensing task, the second device can determine to perform fusion processing on the first sensing data.

[0299] Optionally, before performing step S630 above, a specific DRB (e.g., a first DRB) is established between the second device and the first device to transmit sensing signaling and / or sensing data related to the joint sensing task. That is, the method may include step S603 as shown in the figure.

[0300] S603, A first DRB is established between the second device and the first device.

[0301] The first DRB is used for transmitting the first sensing data between the second device and the first device. In other words, after the first device obtains the first sensing data by performing the second sensing task, it can report the first sensing data to the second device through the first DRB. This application does not limit the specific implementation method for establishing the first DRB.

[0302] In one implementation, the first sensing network element or mobility management network element can explicitly instruct the second device to establish a first DRB. For example, the first sensing network element or mobility management network element sends third information to the second device, which instructs the establishment of the first DRB. Correspondingly, the second device triggers the establishment of the first DRB after receiving the third information. For instance, the first sensing network element or mobility management network element can directly send the third information to the second device, or it can send the third information to the second device through the mobility management network element; there is no limitation on this.

[0303] In another implementation, the first device may explicitly instruct the second device to establish a first DRB. For example, the first device sends a fifth request message to the second device, which requests the establishment of the first DRB. Correspondingly, upon receiving the fifth request message, the second device triggers the establishment of the first DRB. Optionally, the fifth request message includes a joint sensing task identifier.

[0304] In another implementation, the first sensing network element may implicitly instruct the second device to establish a first DRB. For example, the second device determines to establish the first DRB based on the first identifier associated with the first request message received in step S610 and the joint sensing task identifier.

[0305] In another implementation, the first device can instruct the second device to establish a first DRB by triggering a session establishment process. For example, assuming the second device is a network device and the first device is a terminal device, the first device sends a session establishment request message to the second device. This message requests the establishment of a first session or a first DRB, which is used to transmit first sensing data between the second and first devices. The session establishment request message is associated with a joint sensing task. Correspondingly, after receiving the session establishment request message, the second device triggers the establishment of the first session or the first DRB. Optionally, before sending the session establishment request message to the second device, the first device determines whether to trigger the establishment of the first DRB. For example, the first device can determine itself that it needs to establish the first DRB, or the first sensing network element can instruct the first device to trigger the establishment of the first DRB through a mobility management network element; or the second device can instruct the first device to trigger the establishment of the first DRB. This is not limited.

[0306] It should be noted that the first session can be regarded as an uplink and downlink data channel between the terminal device, the network device, and the sensing network element (e.g., SF-UP). In this implementation, the terminal device sends the first sensing data to the network device. The network device does not process the first sensing data received from the terminal device, but can report it to the sensing network element, which then processes the first sensing data. The first DRB can be regarded as an uplink data channel between the terminal device, the network device, and the sensing network element (e.g., SF-UP). In this implementation, the terminal device sends the first sensing data to the network device. The network device processes the first sensing data received from the terminal device and then sends the processed sensing data (i.e., the third sensing data) to the sensing network element (e.g., SF-UP) through the uplink channel.

[0307] It is understandable that the above implementation is only an example for ease of understanding, and other solutions are not excluded.

[0308] Based on the above implementation, the second device performs a first sensing task to acquire second sensing data, and the first device performs a second sensing task to acquire first sensing data. Furthermore, the second sensing network element can acquire third sensing data. The third sensing data is obtained through the fusion processing of the second and first sensing data.

[0309] Below, examples are provided to illustrate the specific implementation methods for the second sensing network element to acquire third sensing data, using either Method 1 or Method 2.

[0310] Method 1:

[0311] S640, the second device performs fusion processing on the second sensing data and the first sensing data based on the first identifier and the joint sensing task identifier to obtain the third sensing data.

[0312] S650, the second device sends third sensing data to the second sensing network element;

[0313] Correspondingly, the second sensing network element receives third sensing data from the second device.

[0314] Method 2: The second sensing element determines the third sensing data.

[0315] S660, the second device sends the second sensing data and the first sensing data to the second sensing network element;

[0316] Correspondingly, the second sensing network element receives the second sensing data and the first sensing data from the second device.

[0317] S670, the second sensing network element performs fusion processing on the second sensing data and the first sensing data according to the first identifier and the joint sensing task identifier to obtain the third sensing data.

[0318] Understandably, the third sensing data satisfies the sensing requirements carried in the third request message of step S601 above, the second sensing data satisfies the first sensing requirements carried in the first request message of step S610 above, and the first sensing data satisfies the second sensing requirements carried in the second request message of step S620 above.

[0319] The following describes the specific implementation method of the second device or the second sensing network element in the above example for processing the acquired second sensing data and first sensing data (e.g., time synchronization and / or data fusion).

[0320] For example, suppose the sensing requirements include: sensing data between 10:00 and 10:10; sensing at a frequency of 10 frames per minute; acquiring the first sensing data at 10:00:00; and the sensing device reporting L4-sensing data. The first sensing device supports a sampling rate of 10 frames per minute (10 frames / min). The second device supports reporting L1-raw sensing data, with a sampling rate of 20 frames per minute (20 frames / min). The first device supports reporting L4-raw sensing data.

[0321] In one example, when the first sensing network element requests the first and second devices to perform sensing services, it can specify the sampling rate, the start and end times of sampling, and the hierarchical information corresponding to the requested sensing data in the sensing request. Correspondingly, the second and first devices can perform sensing services according to this sensing request, obtaining second sensing data and first sensing data respectively. The first device can then feed back the first sensing data to the second device, or the second sensing network element can feed back both the second and first sensing data to itself. After obtaining the second and first sensing data, the second device or the second sensing network element can synchronize the second and first sensing data from 10:00:00 according to the sensing request, convert the hierarchical information of the second sensing data from L1 (original sensing data) to L4 (sensing data), and fuse the second and first sensing data to obtain third sensing data. This can be done by taking the average of the second and first sensing data, concatenating the second and first sensing data, or deduplicating the second and first sensing data from the same moment. As an example, suppose the second device collects sensing data #1 at 10:00:00 and sensing data #3 at 10:00:06, and the first device collects sensing data #2 at 10:00:00 and sensing data #4 at 10:00:06. Then the second device or the second sensing network element can deduplicate or complement the sensing data #1 and sensing data #2 acquired at 10:00:00, and deduplicate or complement the sensing data #3 and sensing data #4 acquired at 10:00:06. Specifically, perception data #1 corresponds to data in regions #1, #2, and #3, while perception data #2 corresponds to data in regions #2, #3, and #4. In this case, duplicate perception data #1 and perception data #2 in regions #2 and #3 can be removed. Alternatively, if perception data #1 and perception data #2 are not completely identical, they need to be complementary. For example, perception data #1 may contain information about targets A and B detected in region #2, but perception data #2 may not detect information about targets A and B in region #2. In this case, information about targets A and B can be added to the perception data #2 corresponding to region #2. That is, if perception data #1 and perception data #2 in regions #2 and #3 are completely identical, either perception data #1 or perception data #2 can be selected. The perception data in regions #1 and #4 can be considered complementary, resulting in more complete perception data, encompassing the perception data from regions #1, #2, #3, and #4.

[0322] Understandably, the second device or the second sensing network element can share and fuse multiple sensing data, thereby aligning and enhancing the multiple sensing data in the time dimension, which is beneficial to improving the accuracy of the sensing data and enhancing the overall sensing performance.

[0323] In summary, in Method 1, the second device (e.g., RAN) performs fusion processing on the acquired second sensing data and first sensing data, and sends the resulting third sensing data to the second sensing network element (e.g., SF-UP). In Method 2, the second sensing network element performs fusion processing on the received second sensing data and first sensing data to obtain the third sensing data. That is, this application does not limit the entity performing the fusion processing of the second and first sensing data; it can be either the second device or the second sensing network element.

[0324] Based on the above scheme, when the first sensing network element determines that the sensing service requires multiple sensing devices (e.g., the second device and the first device) to perform sensing simultaneously, and the multiple sensing devices adopt different sensing architectures, the first sensing network element can assign a joint sensing task identifier to the second device and the first device to instruct the second device and the first device to jointly execute the joint sensing task. That is, the first sensing network element instructs the second device and the first device to perform the joint sensing task respectively. At the same time, the first sensing network element or the second device determines and instructs the processing degree of the sensing data of the second device and the first device, and performs fusion processing on the acquired second sensing data and first sensing data to obtain third sensing data that meets the sensing requirements. By having multiple sensing devices perform the joint sensing task, the sensing accuracy and the processing efficiency of sensing data can be improved.

[0325] To facilitate understanding, the specific processes applicable to the embodiments of this application are described below in conjunction with different scenarios. In the examples below, the sensing requester is UE#2 / AF / AS, the sensing devices performing the sensing service are UE#1 (e.g., the first device) and RAN (e.g., the second device), the first sensing network element is SF-CP, and the second sensing network element is SF-UP. Optionally, in the embodiments of this application, UE#1 and UE#2 can be the same UE or different UEs, without limitation. Optionally, in this application, the sensing requester requesting the sensing service can be one or more, and the sensing devices performing the sensing service (e.g., UE#1 or RAN) can be one or more, without limitation. It is understood that the processes described below are only illustrative examples, and the embodiments of this application are not limited thereto. The contents not described in detail below can be referred to the description in the method shown in Figure 6, and will not be repeated below.

[0326] Figure 7 is a schematic diagram of a communication method 700 provided in an embodiment of this application. As shown in Figure 7, the method may include the following steps; for details not covered herein, please refer to the relevant description in Figure 6 above, which will not be repeated here.

[0327] S701, the RAN sends the RAN's capability information (i.e., the sensing capability information of the second device) to the SF-CP;

[0328] Correspondingly, SF-CP receives RAN capability information.

[0329] Among them, the RAN capability information is used to indicate the sensing capabilities corresponding to the RAN identifier or RAN address, such as whether the RAN supports sensing, whether the RAN supports collaborative sensing, the sensing range (or sensing area) supported by the RAN, the sensing accuracy supported by the RAN, the hierarchical information corresponding to the sensing data supported by the RAN, whether the RAN supports sampling rate conversion, whether the RAN supports coordinate system conversion, whether the RAN supports conversion of the hierarchical information corresponding to the sensing data, the sampling rate conversion supported by the RAN, the coordinate system conversion supported by the RAN, whether the RAN can or is willing to open up the hierarchical information corresponding to the sensing data during collaborative sensing, or whether the RAN supports the fusion processing of sensing data.

[0330] Furthermore, after receiving the RAN's capability information, SF-CP sends an acknowledgment (ACK) message to the RAN.

[0331] It should be noted that information between the RAN and SF-CP (e.g., capability information or ACK information) can be forwarded through the AMF. In one implementation, the RAN sends its capability information to the AMF, and then the AMF forwards the RAN's capability information to the SF-CP. Optionally, the RAN can also register its capability information with a network element, such as the network resource management (NRM), from which the SF-CP can obtain the RAN's capability information.

[0332] S702, UE#1 sends a registration request message #1 to the RAN, and correspondingly, the RAN receives the registration request message #1 from UE#1.

[0333] The registration request message #1 is used to request registration with the network.

[0334] For example, the registration request message #1 includes at least one of the following: the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT, the specific form of which is not limited), and the capability information of UE#1 (i.e., the sensing capability information of the first device). The capability information of UE#1 includes at least one of the following: whether UE#1 supports sensing, whether UE#1 supports collaborative sensing, the sensing range (or sensing area) supported by UE#1, the sensing accuracy supported by UE#1, the hierarchical information corresponding to the sensing data supported by UE#1, whether UE#1 supports sampling rate conversion, whether UE#1 supports coordinate system conversion, whether UE#1 supports conversion of hierarchical information corresponding to sensing data, the sampling rate conversion supported by UE#1, the coordinate system conversion supported by UE#1, whether UE#1 can or is willing to open the hierarchical information corresponding to sensing data during collaborative sensing, or whether UE#1 can or is willing to open the hierarchical information corresponding to sensing data during collaborative sensing.

[0335] S703, the RAN sends a registration request message #2 to the AMF, and correspondingly, the AMF receives the registration request message #2 from the RAN.

[0336] The registration request message #2 is used to request registration with the network. The registration request message #2 carries the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT, the specific form of which is not limited) and the capability information of UE#1 (i.e., the perception capability information of the first device).

[0337] Optionally, the registration request message #1 or registration request message #2 in steps S702 or S703 above can be carried in other messages, and there is no limitation on this.

[0338] S704, UE#2 sends Sensing Service Request Message #1 (i.e., the third request message) to SF-CP;

[0339] Correspondingly, SF-CP receives Sensing Service Request Message #1 from UE#2.

[0340] Among them, the perception service request message #1 is used to request the execution of perception services.

[0341] For example, the perception service request message #1 includes perception requirements associated with the perception service, such as perception accuracy, hierarchical information corresponding to the perception data, or perception area.

[0342] It should be noted that the sensing service request message #1 can be sent directly by UE#2 to the SF-CP, or it can be forwarded by UE#2 to the SF-CP through the AMF; there is no limitation on this. In one implementation, when UE#2 has a sensing requirement, UE#2 sends the sensing service request message #1 to the AMF, and then the AMF forwards the sensing service request message to the SF-CP.

[0343] S705, SF-CP determines that the RAN and UE need to simultaneously perceive the sensing area, and determines the joint sensing task identifier.

[0344] The joint sensing task identifier is used to identify sensing services, which means that the sensing service requires multiple sensing devices (e.g., multiple RANs, or multiple UEs, or at least one RAN and at least one UE) to perform joint sensing.

[0345] Regarding the specific implementation method by which SF-CP determines that a joint sensing task requires multiple sensing devices (e.g., RAN and UE#1), such as requiring RAN and UE#1 to simultaneously sense the sensing area, this application does not limit this. For example, if SF-CP determines that sensing areas #1 and #2 need to be sensed, and assuming that candidate sensing device #1 only supports sensing area #1, then SF-CP determines that it needs to call one or more other sensing devices to sense the aforementioned sensing areas to meet the requirements of the sensing service.

[0346] S706, the SF-CP sends a request message (i.e., the fourth request message) to the AMF, and correspondingly, the AMF receives the request message from the SF-CP.

[0347] The request message includes a perception request. This request message is used to request UEs within the perception area indicated by the perception request, that is, to request information about UEs that can participate in perception.

[0348] S707, AMF selects UE#1 to participate in perception.

[0349] In one implementation, the AMF determines UE#1 from at least one UE to participate in sensing based on at least one of the following: sensing requirements, location information of at least one UE, or capability information of at least one UE. That is, when selecting UE#1, the AMF needs to consider the hierarchical information corresponding to the sensing data indicated by the sensing requirements, as well as the hierarchical information corresponding to the sensing data supported by UE#1, to ensure that UE#1 can provide the hierarchical information corresponding to the sensing data that meets the sensing requirements. For example, if the hierarchical information corresponding to the sensing data indicated by the sensing requirements related to the sensing service is L2, and at least one UE includes UE#1, UE#3, and UE#4, where the hierarchical information corresponding to the sensing data supported by UE#1 is L1, the hierarchical information corresponding to the sensing data supported by UE#3 is L1, and the hierarchical information corresponding to the sensing data supported by UE#4 is L3 and L4, then the AMF can select UE#1 to participate in joint sensing. Optionally, if UE#3, RAN, or SF supports the conversion of hierarchical information corresponding to the sensing data, AMF can also select UE#3 to participate in joint sensing. Subsequently, UE#3, RAN, or SF will convert the original L1 sensing data into the L2 RV spectrum to obtain sensing data that meets the sensing requirements. This is not limited.

[0350] It should be noted that when selecting UEs to participate in the sensing process, the AMF can choose UEs in the connected state, or if it selects UEs in the idle state, the AMF will trigger the paging process.

[0351] S708, AMF sends the UE identifier for participating in sensing to SF-CP;

[0352] Correspondingly, the SF-CP receives the participation-aware UE identifier from the AMF, such as the RAN NGAP UE ID.

[0353] S709, SF-CP sends Sensing Service Request Message #2 (i.e., First Request Message) to RAN;

[0354] Correspondingly, the RAN receives the Sensing Service Request Message #2 from the SF-CP.

[0355] Among them, the perception service request message #2 is used to instruct the RAN to execute perception task #1. Perception task #1 belongs to perception service, or in other words, perception task #1 belongs to joint perception task.

[0356] For example, the perception service request message #2 includes at least one of the following: perception requirement #1, joint perception task identifier, UE identifier participating in perception (e.g., RAN NGAP UE ID), or indication information. The perception requirement #1 is a perception requirement, and the indication information is used to instruct the RAN to perform data fusion.

[0357] S710, SF-CP sends Sensing Service Request Message #3 (i.e., the second request message) to UE#1;

[0358] Correspondingly, UE#1 receives the Sensing Service Request Message #3 from SF-CP.

[0359] Among them, the perception service request message #3 is used to instruct UE#1 to perform perception task #2. Perception task #2 belongs to perception service, or in other words, perception task #2 belongs to joint perception task.

[0360] For example, the perception service request message #3 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, or, indication information. Wherein, perception requirement #2 is a perception requirement, and the indication information is used to instruct the RAN to perform data fusion.

[0361] It is understandable that perception task #1 and perception task #2 may be the same or different. Perception task #1 and perception task #2 belong to perception services. It is understandable that perception services include joint perception tasks, and joint perception tasks include perception task #1 and perception task #2. Perception requirement #1 and perception requirement #2 may be the same or different. Perception requirement #1 and perception requirement #2 belong to perception requirements, or in other words, perception requirements include perception requirement #1 and perception requirement #2.

[0362] In one implementation, the SF-CP can forward the Sensing Service Request Message #3 to UE#1 through the AMF. Specifically, the SF-CP sends the Sensing Service Request Message #3 to the AMF, and then the AMF forwards the Sensing Service Request Message #3 to UE#1.

[0363] S711, the RAN determines hierarchical information #1 (i.e., the hierarchical information corresponding to the second sensing data) and hierarchical information #2 (i.e., the hierarchical information corresponding to the first sensing data) based on the sensing requirement #1, the RAN's capability information and the UE's capability information. For specific implementation details, please refer to the relevant description of method 600 above.

[0364] Among them, hierarchical information #1 indicates the level of processing of the sensing data that the RAN needs to acquire, and hierarchical information #2 indicates the level of processing of the sensing data that the UE#1 needs to report.

[0365] Optionally, hierarchical information #1 and hierarchical information #2 may be the same or different, and there is no limitation on this.

[0366] S712, the RAN sends hierarchical information #2 to UE#1, and correspondingly, UE#1 receives hierarchical information #2 from the RAN.

[0367] S713, UE#1 performs perception task#2 according to perception requirement#2 and hierarchical information#2 to obtain perception data#3 (i.e., first perception data).

[0368] It should be noted that this application does not limit the specific sensing mode in which UE#1 performs sensing task #2. For example, UE#1 can perform sensing task #2 independently, that is, it can transmit and receive sensing signals and sensing measurements on its own, and then obtain sensing data #3; or, UE#1 can also perform sensing task #2 jointly with other UEs. For example, UE#1 can act as a receiver to obtain sensing signals sent by other UEs, generate sensing measurements, and then obtain sensing data #3. There is no limitation on this. Specifically, after obtaining the sensing measurements, UE#1 can generate sensing data #3 according to the hierarchical information #2 indicated in step S712.

[0369] S714, UE#1 sends sensing data #3 and joint sensing task identifier to RAN; correspondingly, RAN receives sensing data #3 and joint sensing task identifier from UE#1.

[0370] S715, the RAN performs sensing task #1 according to sensing requirement #1 and hierarchical information #1 to obtain sensing data #2 (i.e., second sensing data).

[0371] It should be noted that this application does not limit the specific sensing mode in which the RAN performs sensing task #1. For example, the RAN can independently perform sensing task #1 and obtain sensing data #2, which is a self-initiated and self-received sensing mode; or, the RAN can also jointly perform sensing task #1 with other RANs and obtain sensing data #2, which is a self-initiated and other-received sensing mode or a other-initiated and self-received sensing mode. There is no limitation on this.

[0372] S716, the RAN performs fusion processing on sensing data #2 and sensing data #3 based on the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data). The specific method of sensing data fusion processing is not limited, but for example, the relevant description of step S640 of method 600 above can be referred to.

[0373] S717, the RAN sends sensing data #1 to the SF-UP, and correspondingly, the SF-UP receives sensing data #1 from the RAN.

[0374] Understandably, steps S716-S717 above involve the RAN fusing sensing data #2 and sensing data #3, and then sending the resulting sensing data #1 to the SF-UP. Optionally, steps S716-S717 can be replaced by: the RAN sending sensing data #2 and sensing data #3 to the SF-UP, and then the SF-UP fusing the sensing data #2 and sensing data #3 to obtain sensing data #1. That is, the SF-UP performs the sensing data fusion process, as described in step S670 of method 600 above. Therefore, this application does not limit the entity performing the fusion process of sensing data #2 and sensing data #3; it can be either the RAN or the SF-UP.

[0375] Based on the above scheme, when the SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and the multiple sensing devices adopt different sensing architectures, the SF-CP assigns a joint sensing task identifier to the RAN and UE#1 to instruct the RAN and UE#1 to jointly perform the sensing service. At the same time, the RAN determines and instructs the UE#1 on the degree of processing of the sensing data, and the RAN or SF-UP fuses the sensing data #2 obtained by the RAN in performing the sensing task and the sensing data #3 obtained by the UE#1 in performing the sensing task to obtain the sensing data #1 that meets the sensing requirements, thereby improving the sensing accuracy and the efficiency of sensing data processing.

[0376] Figure 8 is a schematic diagram of a communication method 800 provided in an embodiment of this application. As shown in Figure 8, the method may include the following steps. The difference from Figure 7 is that in this implementation, the SF-CP selects the UE#1 for the joint sensing task. Other details not described herein can be found in the relevant descriptions in Figures 6 or 7 above, and will not be repeated here.

[0377] S801, the RAN sends the RAN's capability information (i.e., the sensing capability information of the second device) to the SF-CP;

[0378] Correspondingly, SF-CP receives RAN capability information.

[0379] The RAN capability information is used to indicate the sensing capability corresponding to the RAN identifier or RAN address. For a specific interpretation, please refer to the relevant description of step S701 of method 700 above.

[0380] S802, UE#1 sends a registration request message #1 to the RAN, and correspondingly, the RAN receives the registration request message #1 from UE#1.

[0381] The registration request message #1 is used to request registration with the network. For example, the registration request message #1 includes at least one of the following: the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT, the specific form of which is not limited), and the capability information of UE#1 (i.e., the sensing capability information of the first device). For a specific interpretation, please refer to the relevant description of step S702 of the method 700 above.

[0382] S803, the RAN sends a registration request message #2 to the AMF, and correspondingly, the AMF receives the registration request message #2 from the RAN.

[0383] The registration request message #2 is used to request registration with the network. The registration request message #2 carries the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT) and the capability information of UE#1 (i.e., the sensing capability information of the first device).

[0384] S804, UE#2 sends Sensing Service Request Message #1 (i.e., the third request message) to SF-CP;

[0385] Correspondingly, SF-CP receives Sensing Service Request Message #1 from UE#2.

[0386] Among them, the perception service request message #1 is used to request the execution of perception services. The perception service request message #1 includes the perception requirements associated with the perception service, such as perception accuracy, the hierarchical information corresponding to the perception data, or the perception area.

[0387] S805, SF-CP determines that the RAN and UE need to simultaneously perceive the sensing area, and determines the joint sensing task identifier.

[0388] The joint sensing task identifier is used to identify the sensing service, that is, the sensing service requires joint sensing by the RAN and UE. For the specific implementation method, please refer to the relevant description of step S705 of the above method 700.

[0389] For the specific implementation of steps S801-S805 above, please refer to the relevant description of steps S701-S705 in method 700 above. For the sake of brevity, it will not be described here again.

[0390] S806, SF-CP sends a request message (i.e., the fourth request message) to AMF, and correspondingly, AMF receives the request message from SF-CP.

[0391] The request message includes a perception request. This request message is used to request UEs within the perception area indicated by the perception request, that is, to request information about UEs that can participate in perception.

[0392] S807, AMF determines the candidate UE list for participation in perception.

[0393] In one implementation, the AMF determines a list of candidate UEs to participate in sensing based on at least one of the following: sensing requirements, location information of at least one UE, or capability information of at least one UE. It is understood that this list of candidate UEs includes at least one UE, such as UE#1.

[0394] S808, the AMF sends a candidate UE list to the SF-CP, and correspondingly, the SF-CP receives the candidate UE list from the AMF.

[0395] Optionally, the AMF sends at least one of the following to the SF-CP: the identifier of the candidate UE in the candidate UE list, or the capability information of the candidate UE in the candidate UE list, or the location information of the candidate UE in the candidate UE list.

[0396] S809, SF-CP identifies UE#1 participating in perception.

[0397] In one implementation, if the candidate UEs in the candidate UE list sent by the AMF in step S807 support perception or joint perception, the SF-CP can select UE#1 to participate in the joint perception task from the candidate UE list. If at least one candidate UE in the candidate UE list sent by the AMF does not support perception or joint perception, the SF-CP can select UE#1 to participate in the joint perception task from the candidate UE list based on the perception requirements, the location information of the candidate UEs in the candidate UE list, or the capability information of the candidate UEs in the candidate UE list, without specific limitations.

[0398] For example, when selecting UE#1, SF-CP needs to consider the hierarchical information corresponding to the perception data indicated by the perception requirements, as well as the hierarchical information corresponding to the perception data supported by UE#1, to ensure that UE#1 can provide the hierarchical information corresponding to the perception data that meets the perception requirements. For instance, if the hierarchical information corresponding to the perception data indicated by the perception requirements related to the perception service is L2, and the candidate UE list includes UE#1 and UE#4, where the hierarchical information corresponding to the perception data supported by UE#1 is L1, L2, and L3, and the hierarchical information corresponding to the perception data supported by UE#4 is L3 and L4, then SF-CP selects UE#1 to participate in joint perception.

[0399] It should be noted that when selecting UEs to participate in sensing, SF-CP can choose UEs in the connected state, or if it selects UEs in the idle state, SF-CP will trigger the paging process.

[0400] S810, SF-CP requests the identifier of UE#1 participating in the awareness process from AMF.

[0401] S811, AMF sends the UE identifier for participating in sensing to SF-CP;

[0402] Correspondingly, the SF-CP receives the participation-aware UE identifier from the AMF, such as the RAN NGAP UE ID.

[0403] S812, SF-CP sends Sensing Service Request Message #2 (i.e., First Request Message) to RAN;

[0404] Correspondingly, the RAN receives the Sensing Service Request Message #2 from the SF-CP.

[0405] Among them, the perception service request message #2 is used to instruct the RAN to execute perception task #1, and perception task #1 belongs to the perception service.

[0406] For example, the perception service request message #2 includes at least one of the following: perception requirement #1, joint perception task identifier, UE identifier participating in perception (e.g., RAN NGAP UE ID), or indication information. The perception requirement #1 is a perception requirement, and the indication information is used to instruct the RAN to perform data fusion.

[0407] S813, SF-CP sends Sensing Service Request Message #3 (i.e., the second request message) to UE#1;

[0408] Correspondingly, UE#1 receives the Sensing Service Request Message #3 from SF-CP.

[0409] Among them, the perception service request message #3 is used to instruct UE#1 to perform perception task #2, and perception task #2 belongs to the perception service.

[0410] For example, the perception service request message #3 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, or, indication information. Wherein, perception requirement #2 is a perception requirement, and the indication information is used to instruct the RAN to perform data fusion.

[0411] Understandably, perception task #1 and perception task #2 may be the same or different. Perception task #1 and perception task #2 belong to perception services, or in other words, perception services include perception task #1 and perception task #2. Perception requirement #1 and perception requirement #2 may be the same or different. Perception requirement #1 and perception requirement #2 belong to perception requirements, or in other words, perception requirements include perception requirement #1 and perception requirement #2.

[0412] S814, the RAN determines hierarchical information #1 (i.e., the hierarchical information corresponding to the second sensing data) and hierarchical information #2 (i.e., the hierarchical information corresponding to the first sensing data) based on the sensing requirement #1, the RAN's capability information and the UE's capability information. For specific implementation details, please refer to the relevant description of method 600 above.

[0413] Among them, hierarchical information #1 indicates the level of processing of the sensing data that the RAN needs to acquire, and hierarchical information #2 indicates the level of processing of the sensing data that the UE#1 needs to report.

[0414] Optionally, hierarchical information #1 and hierarchical information #2 may be the same or different, and there is no limitation on this.

[0415] S815, RAN sends hierarchical information #2 to UE#1, and correspondingly, UE#1 receives hierarchical information #2 from RAN.

[0416] S816, UE#1 performs perception task#2 according to perception requirements#2 and hierarchical information#2, and obtains perception data#3 (i.e., first perception data).

[0417] S817, UE#1 sends sensing data #3 and joint sensing task identifier to RAN;

[0418] Correspondingly, the RAN receives sensing data #3 and the joint sensing task identifier from UE#1.

[0419] S818, the RAN performs sensing task #1 according to sensing requirement #1 and hierarchical information #1 to obtain sensing data #2 (i.e., second sensing data).

[0420] S819, the RAN performs fusion processing on sensing data #2 and sensing data #3 based on the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data). For the specific implementation method, please refer to the relevant description of step S640 of the above method 600.

[0421] S820, RAN sends sensing data #1 to SF-UP, and correspondingly, SF-UP receives sensing data #1 from RAN.

[0422] Understandably, steps S816-S817 above involve the RAN fusing sensing data #2 and sensing data #3, and then sending the resulting sensing data #1 to the SF-UP. Optionally, steps S816-S817 can be replaced by the RAN sending sensing data #2 and sensing data #3 to the SF-UP, and then the SF-UP fusing the sensing data #2 and sensing data #3 to obtain sensing data #1. That is, the SF-UP performs the sensing data fusion process, as described in step S670 of method 600 above. Therefore, this application does not limit the entity performing the fusion process of sensing data #2 and sensing data #3; it can be either the RAN or the SF-UP.

[0423] For details on the specific implementation of steps S812-S820 above, please refer to the relevant descriptions of steps S709-S717 of method 700 above. For the sake of brevity, they will not be described here again.

[0424] Based on the above scheme, when the SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and the multiple sensing devices adopt different sensing architectures, the SF-CP assigns a joint sensing task identifier to the RAN and UE#1 to instruct the RAN and UE#1 to jointly perform the sensing service. At the same time, the RAN determines and instructs the UE#1 on the degree of processing of the sensing data, and the RAN or SF-UP fuses the sensing data #2 obtained by the RAN in performing the sensing task and the sensing data #3 obtained by the UE#1 in performing the sensing task to obtain the sensing data #1 that meets the sensing requirements, thereby improving the sensing accuracy and the efficiency of sensing data processing.

[0425] Figure 9 is a schematic diagram of a communication method 900 provided in an embodiment of this application. As shown in Figure 9, the method may include the following steps. The difference from Figure 8 is that in this implementation, the RAN does not need to determine the hierarchical information corresponding to the sensing data reported by UE#1. The hierarchical information corresponding to the sensing data reported by the RAN or UE#1 is determined by the SF-CP, and the SF-CP instructs the RAN to establish a DRB for UE#1 to transmit sensing data associated with the joint sensing task. Other details not covered herein can be found in the descriptions of Figures 6 to 8 above, and will not be elaborated here.

[0426] S901, the RAN sends the RAN's capability information (i.e., the sensing capability information of the second device) to the SF-CP;

[0427] Correspondingly, SF-CP receives RAN capability information.

[0428] The RAN capability information is used to indicate the sensing capability corresponding to the RAN identifier or RAN address. For a specific interpretation, please refer to the relevant description of step S701 of method 700 above.

[0429] S902, UE#1 sends a registration request message #1 to the RAN, and correspondingly, the RAN receives the registration request message #1 from UE#1.

[0430] The registration request message #1 is used to request registration with the network. For example, the registration request message #1 includes at least one of the following: the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT, the specific form of which is not limited), and the capability information of UE#1 (i.e., the sensing capability information of the first device).

[0431] S903, the RAN sends a registration request message #2 to the AMF, and correspondingly, the AMF receives the registration request message #2 from the RAN.

[0432] The registration request message #2 is used to request registration with the network. The registration request message #2 carries the identifier of UE#1 (i.e., UE#1ID, such as SUCI, SUPI, or 5G-GUIT) and the capability information of UE#1 (i.e., the sensing capability information of the first device).

[0433] S904, UE#2 sends Sensing Service Request Message #1 (i.e., the third request message) to SF-CP;

[0434] Correspondingly, SF-CP receives Sensing Service Request Message #1 from UE#2.

[0435] The perception service request message #1 is used to request the execution of perception services. For example, the perception service request message #1 includes perception requirements associated with the perception service, such as perception accuracy, hierarchical information corresponding to the perception data, or perception area.

[0436] S905, SF-CP determines that the RAN and UE need to simultaneously perceive the sensing area, and determines the joint sensing task identifier.

[0437] The joint sensing task identifier is used to identify sensing services, which means that the sensing service requires multiple sensing devices (e.g., multiple RANs, or multiple UEs, or at least one RAN and at least one UE) to perform joint sensing.

[0438] For the specific implementation of steps S901-S905 above, please refer to the relevant description of steps S701-S705 in method 700 above. For the sake of brevity, it will not be described here again.

[0439] S906, SF-CP obtains the UE#1 identifier for participating in awareness from AMF.

[0440] Among them, the execution entity of UE#1 participating in perception can be AMF or SF-CP. For specific implementation methods, please refer to the relevant descriptions of steps S706-S708 of method 700 above, or refer to the relevant descriptions of steps S806-S811 of method 800 above. For the sake of brevity, it will not be described here.

[0441] S907, SF-CP sends Sensing Service Request Message #2 (i.e., First Request Message) to RAN;

[0442] Correspondingly, the RAN receives the Sensing Service Request Message #2 from the SF-CP.

[0443] Among them, the perception service request message #2 is used to instruct the RAN to execute perception task #1, and perception task #1 belongs to the perception service.

[0444] For example, the perception service request message #2 includes at least one of the following: perception requirement #1, joint perception task identifier, UE identifier participating in perception (e.g., RAN NGAP UE ID), indication information #1, indication information #2, or, hierarchical information #1 (i.e., hierarchical information corresponding to the second perception data). The indication information #1 is used to instruct the RAN to perform data fusion, the indication information #2 is used to instruct the RAN to establish a DRB (i.e., a first DRB) for UE #1, and the hierarchical information #1 indicates the level of processing of the perception data that the RAN needs to acquire.

[0445] S908, SF-CP sends Sensing Service Request Message #3 (i.e., the second request message) to UE#1;

[0446] Correspondingly, UE#1 receives the Sensing Service Request Message #3 from SF-CP.

[0447] Among them, the perception service request message #3 is used to instruct UE#1 to perform perception task #2, and perception task #2 belongs to the perception service.

[0448] For example, the perception service request message #3 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, indication information #1, or, hierarchical information #2 (i.e., hierarchical information corresponding to the first perception data), wherein the indication information #1 is used to instruct the RAN to perform data fusion, and the hierarchical information #2 indicates the degree of processing of the perception data that the UE #1 needs to report.

[0449] Optionally, the aforementioned hierarchical information #1 and hierarchical information #2 are determined by the SF-CP. For specific determination methods, please refer to the relevant description of the above method 600. For example, the SF-CP determines hierarchical information #1 and / or hierarchical information #2 based on at least one of the following: perception requirements, hierarchical information corresponding to the perception data supported by UE #1, or hierarchical information corresponding to the perception data supported by RAN. For the sake of brevity, this will not be described here.

[0450] Optionally, hierarchical information #1 and hierarchical information #2 may be the same or different, and there is no limitation on this.

[0451] Understandably, perception task #1 and perception task #2 may be the same or different. Perception task #1 and perception task #2 belong to perception services, or in other words, perception services include perception task #1 and perception task #2. Perception requirement #1 and perception requirement #2 may be the same or different. Perception requirement #1 and perception requirement #2 belong to perception requirements, or in other words, perception requirements include perception requirement #1 and perception requirement #2.

[0452] S909, RAN determines to establish DRB based on instruction information #2.

[0453] In one implementation, the RAN determines the establishment of a specific DRB based on instruction information #2 and hierarchical information #2, without needing to allocate AN tunnel info.

[0454] S910, RAN establishes DRB with UE#1. The specific implementation method for establishing DRB is not limited.

[0455] The RAN determines to establish a specific DRB based on the indication information and the sense data layer information, without needing to allocate AN tunnel info. For example, the RAN sends RRCReconfiguration to the UE to negotiate the parameters corresponding to the RRC; the UE sends RRCReconfigurationcomplete to the RAN to indicate that the RRC configuration is complete.

[0456] S911, UE#1 performs perception task#2 according to perception requirements#2 and hierarchical information#2, and obtains perception data#3 (i.e., first perception data).

[0457] S912, UE#1 sends sensing data #3 and joint sensing task identifier to RAN;

[0458] Correspondingly, the RAN receives sensing data #3 and the joint sensing task identifier from UE#1.

[0459] S913, the RAN performs sensing task #1 according to sensing requirement #1 and hierarchical information #1 to obtain sensing data #2 (i.e., second sensing data).

[0460] S914, the RAN performs fusion processing on sensing data #2 and sensing data #3 based on the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data). For example, refer to the relevant description of step S640 of the above method 600.

[0461] S915, RAN sends sensing data #1 to SF-UP, and correspondingly, SF-UP receives sensing data #1 from RAN.

[0462] Understandably, steps S913-S914 above involve the RAN fusing sensing data #2 and sensing data #3, and then sending the resulting sensing data #1 to the SF-UP. Optionally, steps S913-S914 can be replaced by the RAN sending sensing data #2 and sensing data #3 to the SF-UP, and then the SF-UP fusing the sensing data #2 and sensing data #3 to obtain sensing data #1. That is, the SF-UP performs the sensing data fusion process, as described in step S670 of method 600 above. Therefore, this application does not limit the entity performing the fusion process of sensing data #2 and sensing data #3; it can be either the RAN or the SF-UP.

[0463] Based on the above scheme, when SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and the multiple sensing devices adopt different sensing architectures, SF-CP assigns a joint sensing task identifier to RAN and UE#1 to instruct RAN and UE#1 to jointly perform the sensing service. At the same time, SF-CP determines and instructs RAN or UE#1 on the degree of processing of sensing data, and RAN or SF-UP fuses the sensing data #2 obtained by RAN in performing the sensing task and the sensing data #3 obtained by UE#1 in performing the sensing task to obtain sensing data #1 that meets the sensing requirements, thereby improving the sensing accuracy and the efficiency of sensing data processing.

[0464] Figure 10 is a schematic diagram of a communication method 1000 provided in an embodiment of this application. As shown in Figure 10, the method may include the following steps. The difference from Figure 9 is that this implementation is determined by the SF-CP, and the hierarchical information corresponding to the sensing data is indicated to the RAN or UE#1 through the AMF. In addition, the AMF instructs the RAN to establish a DRB for UE#1 to transmit the sensing data associated with the joint sensing task. Other parts not detailed here can be referred to the relevant descriptions in Figures 6 to 9 above, and will not be described here.

[0465] S1001, the RAN sends its capability information (i.e., the sensing capability information of the second device) to the SF-CP;

[0466] Correspondingly, SF-CP receives RAN capability information.

[0467] S1002, UE#1 sends a registration request message #1 to RAN, and correspondingly, RAN receives the registration request message #1 from UE#1.

[0468] S1003, RAN sends registration request message #2 to AMF, and AMF receives registration request message #2 from RAN.

[0469] S1004, UE#2 sends Sensing Service Request Message #1 (i.e., the third request message) to SF-CP;

[0470] Correspondingly, SF-CP receives Sensing Service Request Message #1 from UE#2.

[0471] S1005, SF-CP determines that the RAN and UE need to simultaneously perceive the sensing area, and determines the joint sensing task identifier.

[0472] S1006, SF-CP obtains the UE#1 identifier participating in perception from AMF.

[0473] For the specific implementation of steps S1001-S1006 above, please refer to the relevant description of steps S901-S906 in method 900 above. For the sake of brevity, it will not be described here again.

[0474] S1007, SF-CP sends Sensing Service Request Message #2 (i.e., First Request Message) to RAN;

[0475] Correspondingly, the RAN receives the Sensing Service Request Message #2 from the SF-CP.

[0476] The perception service request message #2 is used to instruct the RAN to perform perception task #1. For example, the perception service request message #2 includes at least one of the following: perception requirement #1, joint perception task identifier, UE identifier participating in perception (e.g., RAN NGAP UE ID), or indication information #1. The indication information #1 is used to instruct the RAN to perform data fusion.

[0477] S1008, SF-CP sends Sensing Service Request Message #3 (i.e., the second request message) to AMF;

[0478] Correspondingly, the AMF receives the perception service request message #3 from the SF-CP.

[0479] The perception service request message #3 is used to instruct UE #1 to perform perception task #2. For example, the perception service request message #3 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, instruction information #1, or instruction information #2. Instruction information #1 instructs the RAN to perform data fusion, and instruction information #2 instructs hierarchical information #1 (i.e., the hierarchical information corresponding to the second perception data) and hierarchical information #2 (i.e., the hierarchical information corresponding to the first perception data). Hierarchical information #1 indicates the level of processing of the perception data that the RAN needs to acquire, and hierarchical information #2 indicates the level of processing of the perception data that UE #1 needs to report.

[0480] Optionally, the aforementioned hierarchical information #1 and hierarchical information #2 are determined by the SF-CP. For specific determination methods, please refer to the relevant description of the above method 600. For example, the SF-CP determines hierarchical information #1 and / or hierarchical information #2 based on at least one of the following: perception requirements, hierarchical information corresponding to the perception data supported by UE #1, or hierarchical information corresponding to the perception data supported by RAN. For the sake of brevity, this will not be described here.

[0481] Optionally, hierarchical information #1 and hierarchical information #2 may be the same or different, and there is no limitation on this.

[0482] Understandably, perception task #1 and perception task #2 may be the same or different. Perception task #1 and perception task #2 belong to perception services, or in other words, perception services include perception task #1 and perception task #2. Perception requirement #1 and perception requirement #2 may be the same or different. Perception requirement #1 and perception requirement #2 belong to perception requirements, or in other words, perception requirements include perception requirement #1 and perception requirement #2.

[0483] S1009, AMF sends Sensing Service Request Message #4 to UE#1;

[0484] Correspondingly, the AMF receives the perception service request message #4 from the SF-CP.

[0485] The perception service request message #4 is used to instruct UE #1 to perform perception task #2. For example, the perception service request message #4 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, instruction information #1, or hierarchical information #2.

[0486] S1010, SF-CP sends instruction information #3 and hierarchy information #1 to AMF;

[0487] Correspondingly, the AMF receives indication information #3 and hierarchy information #1 from the SF-CP.

[0488] Specifically, instruction information #3 is used to instruct the RAN to establish a DRB (i.e., the first DRB) for UE#1.

[0489] S1011, the RAN establishes a DRB according to instruction information #3. The specific implementation method for establishing the DRB is not limited.

[0490] S1012, UE#1 performs perception task#2 according to perception requirements#2 and hierarchical information#2, and obtains perception data#3 (i.e., first perception data).

[0491] S1013, UE#1 sends sensing data #3 and joint sensing task identifier to RAN;

[0492] Correspondingly, the RAN receives sensing data #3 and the joint sensing task identifier from UE#1.

[0493] S1014, the RAN performs perception task #1 according to perception requirement #1 and hierarchical information #1 to obtain perception data #2 (i.e., second perception data).

[0494] S1015, the RAN performs fusion processing on sensing data #2 and sensing data #3 based on the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data). For example, refer to the relevant description of step S640 of the above method 600.

[0495] S1016, RAN sends sensing data #1 to SF-UP, and correspondingly, SF-UP receives sensing data #1 from RAN.

[0496] Understandably, steps S1014-S1015 above involve the RAN fusing sensing data #2 and sensing data #3, and then sending the resulting sensing data #1 to the SF-UP. Optionally, steps S1014-S1015 can be replaced by the RAN sending sensing data #2 and sensing data #3 to the SF-UP, and then the SF-UP fusing the sensing data #2 and sensing data #3 to obtain sensing data #1. That is, the SF-UP performs the sensing data fusion process, as described in step S670 of method 600 above. Therefore, this application does not limit the entity performing the fusion process of sensing data #2 and sensing data #3; it can be either the RAN or the SF-UP.

[0497] Based on the above scheme, when SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and the multiple sensing devices adopt different sensing architectures, SF-CP assigns a joint sensing task identifier to RAN and UE#1 to instruct RAN and UE#1 to jointly perform the sensing service. At the same time, SF-CP determines and instructs RAN or UE#1 on the degree of processing of sensing data through AMF, and RAN or SF-UP fuses the sensing data #2 obtained by RAN performing the sensing task and the sensing data #3 obtained by UE#1 performing the sensing task to obtain sensing data #1 that meets the sensing requirements, thereby improving the sensing accuracy and the efficiency of sensing data processing.

[0498] Figure 11 is a schematic diagram of a communication method 1100 provided in an embodiment of this application. As shown in Figure 11, the method may include the following steps. The difference from Figure 10 is that in this implementation, the RAN determines and indicates the hierarchical information #2 corresponding to the sensing data to the UE#1, and the UE requests the RAN to establish a DRB for transmitting sensing data associated with the joint sensing task. Other parts not detailed here can be referred to the relevant descriptions in Figures 6 to 10 above, and will not be described here.

[0499] S1101, the RAN sends the RAN's capability information (i.e., the sensing capability information of the second device) to the SF-CP;

[0500] Correspondingly, SF-CP receives RAN capability information.

[0501] S1102, UE#1 sends registration request message #1 to RAN, and correspondingly, RAN receives registration request message #1 from UE#1.

[0502] S1103, RAN sends registration request message #2 to AMF, and AMF receives registration request message #2 from RAN.

[0503] S1104, UE#2 sends Sensing Service Request Message #1 (i.e., the third request message) to SF-CP;

[0504] Correspondingly, SF-CP receives Sensing Service Request Message #1 from UE#2.

[0505] S1105, SF-CP determines that the RAN and UE need to simultaneously perceive the sensing area, and determines the joint sensing task identifier.

[0506] S1106, SF-CP obtains the UE#1 identifier participating in awareness from AMF.

[0507] For the specific implementation of steps S1101-S1106 above, please refer to the relevant description of steps S1001-S1006 of method 1000 above. For the sake of brevity, it will not be described here again.

[0508] S1107, SF-CP sends Sensing Service Request Message #2 (i.e., First Request Message) to RAN;

[0509] Correspondingly, the RAN receives the Sensing Service Request Message #2 from the SF-CP.

[0510] The perception service request message #2 is used to instruct the RAN to perform perception task #1. For example, the perception service request message #2 includes at least one of the following: perception requirement #1, joint perception task identifier, UE identifier participating in perception (e.g., RAN NGAP UE ID), or indication information #1. The indication information #1 is used to instruct the RAN to perform data fusion.

[0511] S1108, SF-CP sends Sensing Service Request Message #3 (i.e., the second request message) to UE#1;

[0512] Correspondingly, UE#1 receives the Sensing Service Request Message #3 from SF-CP.

[0513] The perception service request message #3 is used to instruct UE #1 to perform perception task #2. For example, the perception service request message #3 includes at least one of the following: perception requirement #2, joint perception task identifier, RAN identifier participating in perception, or, instruction information #1. The instruction information #1 is used to instruct the RAN to perform data fusion.

[0514] Understandably, perception task #1 and perception task #2 may be the same or different. Perception task #1 and perception task #2 belong to perception services, or in other words, perception services include perception task #1 and perception task #2. Perception requirement #1 and perception requirement #2 may be the same or different. Perception requirement #1 and perception requirement #2 belong to perception requirements, or in other words, perception requirements include perception requirement #1 and perception requirement #2.

[0515] S1109, the RAN determines hierarchical information #1 (i.e., the hierarchical information corresponding to the second sensing data) and hierarchical information #2 (i.e., the hierarchical information corresponding to the first sensing data) based on the sensing requirement #1, the RAN's capability information and the UE's capability information. For specific implementation details, please refer to the relevant description of method 600 above.

[0516] Among them, hierarchical information #1 indicates the level of processing of the sensing data that the RAN needs to acquire, and hierarchical information #2 indicates the level of processing of the sensing data that the UE#1 needs to report.

[0517] Optionally, hierarchical information #1 and hierarchical information #2 may be the same or different, and there is no limitation on this.

[0518] S1110, RAN sends hierarchical information #2 to UE#1, and correspondingly, UE#1 receives hierarchical information #2 from RAN.

[0519] S1111, UE#1 sends a request message (i.e., the fifth request message) to RAN; correspondingly, RAN receives the request message from UE#1.

[0520] This request message is used to request the RAN to establish a DRB (i.e., the first DRB) for UE#1.

[0521] S1112, the RAN determines to establish a DRB based on the request message.

[0522] S1113, A DRB is established between the RAN and UE#1. The specific implementation method for establishing the DRB is not limited.

[0523] S1114, UE#1 performs perception task#2 according to perception requirements#2 and hierarchical information#2, and obtains perception data#3 (i.e., first perception data).

[0524] S1115, UE#1 sends sensing data #3 and joint sensing task identifier to RAN;

[0525] Correspondingly, the RAN receives sensing data #3 and the joint sensing task identifier from UE#1.

[0526] S1116, RAN performs perception task #1 according to perception requirement #1 and hierarchical information #1 to obtain perception data #2 (i.e., second perception data).

[0527] S1117, the RAN performs fusion processing on sensing data #2 and sensing data #3 according to the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data). For the specific implementation method, please refer to the relevant description of step S640 of the above method 600.

[0528] S1118, RAN sends sensing data #1 to SF-UP, and correspondingly, SF-UP receives sensing data #1 from RAN.

[0529] Understandably, steps S1116-S1117 above involve the RAN fusing sensing data #2 and sensing data #3, and then sending the resulting sensing data #1 to the SF-UP. Optionally, steps S1116-S1117 can be replaced by the RAN sending sensing data #2 and sensing data #3 to the SF-UP, and then the SF-UP fusing the sensing data #2 and sensing data #3 to obtain sensing data #1. In other words, the SF-UP performs the sensing data fusion process. For a specific implementation, please refer to the relevant description of step S670 in method 600 above. Therefore, this application does not limit the entity performing the fusion process of sensing data #2 and sensing data #3; it can be either the RAN or the SF-UP.

[0530] Based on the above scheme, when the SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and these multiple sensing devices adopt different sensing architectures, the SF-CP assigns a joint sensing task identifier to the RAN and UE#1 to instruct the RAN and UE#1 to jointly execute the sensing service. Simultaneously, the RAN determines and instructs the UE#1 on the degree of processing of the sensing data, and the UE#1 actively requests the RAN to establish a specific DRB for the UE#1 to transmit the sensing data of the joint sensing task. Furthermore, the RAN or SF-UP fuses the sensing data #2 obtained by the RAN from performing the sensing task and the sensing data #3 obtained by the UE#1 from performing the sensing task to obtain sensing data #1 that meets the sensing requirements, thereby improving sensing accuracy and the efficiency of sensing data processing.

[0531] Figure 12 is a schematic diagram of a communication method 1200 provided in an embodiment of this application. As shown in Figure 12, the method may include the following steps.

[0532] S1201, after receiving the sensing service request message, UE#1 determines that sensing needs to be performed and establishes a session.

[0533] The implementation method can be referred to the relevant descriptions in Figures 6 to 12 above. For the specific interpretation of the perception service request message, please refer to the relevant descriptions of perception service request message #3 in Figures 6 to 12 above. For the sake of brevity, it will not be explained here.

[0534] S1202, UE#1 sends a session establishment request message to AMF through RAN;

[0535] Correspondingly, the AMF receives a session establishment request message from UE#1 via the RAN.

[0536] The session establishment request message carries a session identifier (e.g., PDU Session ID) and is used to request the establishment of a session. Optionally, it carries indication information, which instructs the RAN to process the collected sensing data, or in other words, indicates that the RAN does not need to establish an N3 connection.

[0537] Understandably, the session requested by UE#1 here is a perception-specific session, carrying a perception task identifier to identify the specific perception task. That is, the session is used to transmit perception signaling and / or perception data related to the specific service.

[0538] For S1203, select SMF for AMF.

[0539] For example, the AMF can determine the SMF based on the location of UE#1 and / or the service range corresponding to the SMF, and the specific implementation method is not limited. That is to say, if the location of UE#1 is within the service range corresponding to the SMF, then the SMF can provide services to UE#1.

[0540] S1204, AMF sends a Create Session Management Context Request message to SMF;

[0541] Correspondingly, the SMF receives a Create Session Management Context Request message from the AMF.

[0542] The Create Session Management Context Request message is used to request the establishment of a session, including indication information.

[0543] For example, the Create Session Management Context Request message can be an Nsmf_PDUSession_CreateSMContext Request message.

[0544] S1205, SMF obtains contract information.

[0545] For example, SMF selects PCF and obtains contract information from PCF. For details on the implementation, please refer to the existing relevant descriptions, which will not be explained here.

[0546] In one implementation, the SMF determines that an N3 connection does not need to be established based on the indication information. That is, the SMF does not need to select a UPF, nor does it need to allocate or trigger the UPF to allocate CN tunnel info.

[0547] S1206, SMF sends N1N2 message to AMF, and AMF receives N1N2 message from SMF.

[0548] For example, the N1N2 message can be Namf_Communication_N1N2MessageTransfer, which includes indication information, the QoS profile associated with the sensing task, the hierarchical information #1 corresponding to the sensing data #2 obtained by the RAN, or the hierarchical information #2 corresponding to the sensing data #3 obtained by the UE #1.

[0549] Optionally, the QoS profile, hierarchical information #1, and hierarchical information #2 can be determined by the SMF, or they can be determined by the SF-CP and sent to the SMF; there is no limitation on this.

[0550] S1207, AMF sends an N2 session request message to RAN, and correspondingly, RAN receives the N2 session request message from AMF.

[0551] The N2 session request message can be an N2 PDU Session Request. The N2 session request message carries indication information, such as the QoS profile associated with the sensing task, the hierarchical information #1 corresponding to the sensing data #2 obtained by the RAN, or the hierarchical information #2 corresponding to the sensing data #3 obtained by the UE #1.

[0552] S1208, RAN establishes DRB based on instruction information.

[0553] Alternatively, the RAN determines, based on the indication information, that it is not necessary to allocate or trigger the UPF allocation of CN tunnel info.

[0554] S1209, the RAN sends AN-related parameters to UE#1, and correspondingly, UE#1 receives AN-related parameters from the RAN.

[0555] S1210, UE#1 performs perception task#2 according to perception requirements#2 and hierarchical information#2, and obtains perception data#3 (i.e., first perception data).

[0556] S1211, UE#1 sends sensing data #3 and joint sensing task identifier to RAN;

[0557] Correspondingly, the RAN receives sensing data #3 and the joint sensing task identifier from UE#1.

[0558] S1212, RAN performs perception task #1 according to perception requirement #1 and hierarchical information #1 to obtain perception data #2 (i.e., second perception data).

[0559] S1213, the RAN performs fusion processing on sensing data #2 and sensing data #3 based on the joint sensing task identifier and the UE identifier participating in sensing, to obtain sensing data #1 (i.e., the third sensing data).

[0560] S1214, RAN sends sensing data #1 to SF-UP, and correspondingly, SF-UP receives sensing data #1 from RAN.

[0561] For details on the implementation of steps S1210-S1214 above, please refer to the relevant descriptions of steps S1114-S1118 of method 1100 above. For the sake of brevity, they will not be described here again.

[0562] Based on the above scheme, when the SF-CP determines that multiple sensing devices (e.g., RAN and UE#1) need to perform sensing simultaneously for a certain sensing service, and these multiple sensing devices adopt different sensing architectures, the SF-CP or SMF determines and instructs the RAN and UE#1 on the degree of processing of the sensing data. UE#1, by triggering a session establishment request process, instructs the RAN to establish a specific DRB for UE#1. In addition, the RAN or SF-UP fuses the sensing data #2 obtained by the RAN performing the sensing task and the sensing data #3 obtained by the UE#1 performing the sensing task to obtain sensing data #1 that meets the sensing requirements, thereby improving sensing accuracy and the efficiency of sensing data processing.

[0563] As is understood, Figures 6 to 12 above illustrate the example of the first sensing network element being SF-CP and the second sensing network element being SF-UP. Specifically, the first sensing network element SF-CP assigns a joint sensing task identifier, triggers the sensing devices to execute sensing tasks, and selects sensing devices to participate in the sensing tasks. The second sensing network element SF-UP performs fusion processing on the acquired multiple sensing data and obtains sensing data that meets the sensing requirements. It should be noted that the technical solution of this application is also applicable to scenarios where the SF does not adopt a separate architecture. That is, the first or second sensing network element simultaneously possesses both control plane and user plane functions; that is, steps S650, S660, and S670 are all executed by either the first or second sensing network element. Specifically, SF-CP and SF-UP in Figures 7 to 12 above are collectively referred to as SF, and it is understood that SF-CP and SF-UP are co-located. In other words, operations such as assigning a joint sensing task identifier, triggering sensing devices to execute sensing tasks, selecting sensing devices to participate in sensing tasks, fusing multiple sensing data, and obtaining sensing data that meets the sensing requirements are all performed by SF. For specific implementation details, please refer to the above descriptions. For the sake of brevity, these details will not be repeated.

[0564] As mentioned above, the RAN involved in the technical solution of this application can be O-RAN. Under the O-RAN architecture, the RIC can directly control either the gNB-CU or the gNB-DU, requiring the "RAN" in the communication methods shown in Figures 6 to 12 to be expanded to "CU" and "DU". Optionally, in various embodiments of this application, if the RAN is a CU-DU separated architecture, after the CU receives information from a core network element (e.g., AMF or SF-CP) (e.g., a sense service request message #2, or an N2 PDU session request message), it can forward the information to the DU; or, after the DU receives information from UE#1 (e.g., a registration request message #1, or sense data #3, or a session establishment request message), it can forward the information to the CU. The remaining steps can be referred to the relevant descriptions in Figures 7 to 12 above, and will not be repeated here.

[0565] Figure 13 is a schematic diagram of the Open Radio Access Network (O-RAN) architecture applicable to this application. As shown in Figure 13, the O-RAN architecture includes: a first network unit, a second network unit, a third network unit, an O-eNB, an O-CU-CP, an O-CU-UP, an O-DU, an O-RU, and an O-cloud.

[0566] The aforementioned network elements (also referred to as nodes) can be interconnected. For example, the first network unit connects to the O-cloud via the O2 interface; the first network unit connects to the third network unit, O-eNB, O-CU-CP, O-CU-UP, O-DU, and O-RU via the O1 interface; the first network unit connects to the O-RU via the open fronthaul M-Plane interface; the O-DU connects to the O-RU via the open fronthaul M-Plane interface and the open fronthaul C / U / S-Plane interface; the third network unit connects to the O-eNB, O-CU-CP, O-CU-UP, and O-DU via the E2 interface; the O-CU-CP connects to the O-DU via the F1-c interface; the O-CU-UP connects to the O-DU via the F1-u interface; and the O-CU-CP connects to the O-CU-UP via the E1 interface. For a detailed description of the interfaces shown in Figure 13, please refer to existing standards; further details are omitted here.

[0567] For example, the first network unit can be a service management and orchestration framework (SMO), or a network unit with similar functionality to an SMO; there is no limitation in this regard. The second network unit can be a Non-RT RIC, or a network unit with similar functionality to a Non-RT RIC; there is no limitation in this regard. The third network unit can be a Near-RT RIC, or a network unit with similar functionality to a Near-RT RIC; there is no limitation in this regard.

[0568] O-RAN aims to achieve an intelligent and open access network. A key feature of the O-RAN architecture is the separation of hardware and software, enabling the virtualization of network functions and the standardization of hardware. Furthermore, O-RAN incorporates artificial intelligence (AI).

[0569] The communication method embodiments of this application have been described in detail above with reference to Figures 1 to 13. The communication device embodiments of this application will now be described in detail with reference to Figures 14 to 16. It should be understood that the descriptions of the device embodiments correspond to the descriptions of the method embodiments; therefore, any parts not described in detail can be referred to the preceding method embodiments.

[0570] Figure 14 is a possible exemplary block diagram of the communication device involved in the embodiments of this application. As shown in Figure 14, the communication device 1400 may include modules or units for implementing the method embodiments described above. In one possible design, the communication device 1400 includes a communication unit 1403 and a processing unit 1402. Optionally, the communication device 1400 may further include a storage unit 1401 for storing device program code and / or data. The communication unit 1403 may also be referred to as a communication interface, transceiver unit, communication module, or interface unit.

[0571] The communication device 1400 can be the first sensing network element in the above embodiments, or a component in the first sensing network element (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the first sensing network element.

[0572] For example, in one embodiment, the communication unit 1403 is used to send a first request message, which requests the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier is used to identify a first device participating in the joint sensing task. The joint sensing task is associated with the first sensing task and a second sensing task. The communication unit 1403 is also used to send a second request message, which requests the execution of a second sensing task. The second request message is associated with a second identifier and a joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task.

[0573] In one possible design, the processing unit 1402 is used to acquire third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

[0574] In one possible design, the communication unit 1403 is also used to receive third sensing data; or, the communication unit 1403 is also used to receive second sensing data and first sensing data, and the processing unit 1402 is also used to perform fusion processing on the second sensing data and the first sensing data to obtain third sensing data.

[0575] In one possible design, the communication unit 1403 is also used to receive a third request message, which requests a sensing service associated with a joint sensing task.

[0576] In one possible design, the communication unit 1403 is also used to receive a first identifier from the mobility management network element.

[0577] In one possible design, the communication unit 1403 is also used to send a fourth request message to the mobility management network element, the fourth request message being used to request the acquisition of the first identifier.

[0578] In one possible design, the communication unit 1403 is further configured to receive second information from a mobility management network element, the second information including at least one identifier for identifying at least one candidate device; the processing unit 1402 is further configured to determine a first device from at least one candidate device.

[0579] In one possible design, the processing unit 1402 is further configured to determine the hierarchical information corresponding to the second sensing data based on the sensing capability information and sensing requirements of the second device, wherein the second sensing data is obtained by the second device performing the first sensing task; the communication unit 1403 is further configured to send the hierarchical information corresponding to the second sensing data.

[0580] In one possible design, the processing unit 1402 is further configured to determine the hierarchical information corresponding to the first sensing data based on the sensing capability information and sensing requirements of the first device, wherein the first sensing data is obtained by the first device performing a second sensing task; the communication unit 1403 is further configured to send the hierarchical information corresponding to the first sensing data.

[0581] In one possible design, the communication unit 1403 is also used to send third information, which is used to instruct the establishment of a first DRB, and the first DRB is used to transmit first sensing data between the second device and the first device.

[0582] In one possible design, the processing unit 1402 is also used to acquire the sensing capability information of the second device and / or the sensing capability information of the first device.

[0583] In one possible design, when the communication device 1400 is a first sensing network element or a communication module within the first sensing network element, the function of the processing unit 1402 can be implemented by one or more processors. Specifically, the processor may include a modem chip, or a system-on-a-chip (SoC) chip or a SIP chip containing a modem core. The function of the communication unit 1403 can be implemented by transceiver circuitry.

[0584] In one possible design, when the communication device 1400 is a circuit or chip responsible for communication functions in the first sensing network element, such as a modem chip or a system-on-a-chip (SoC) or SIP chip containing a modem core, the function of the processing unit 1402 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the communication unit 1403 can be implemented by an interface circuit or data transceiver circuit on the aforementioned chip.

[0585] The communication device 1400 can be the second device in the above embodiments, or a component in the second device (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the second device.

[0586] For example, in one embodiment, the communication unit 1403 is used to receive a first request message, which requests the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier is used to identify a first device participating in the joint sensing task. The joint sensing task is associated with the first sensing task and the second sensing task. The communication unit 1403 is also used to receive first sensing data, which is obtained by the first device performing the second sensing task. The processing unit 1402 is used to perform fusion processing on the second sensing data and the first sensing data according to the first identifier and the joint sensing task identifier to obtain third sensing data. The second sensing data is obtained by the second device performing the first sensing task.

[0587] In one possible design, the communication unit 1403 is further configured to receive hierarchical information corresponding to the second sensing data; the processing unit 1402 is further configured to perform a first sensing task according to the first sensing requirements and the hierarchical information corresponding to the second sensing data, and obtain the second sensing data.

[0588] In one possible design, the processing unit 1402 is further configured to determine the hierarchical information corresponding to the second sensing data based on the sensing capability information of the second device and the first sensing requirements; the processing unit 1402 is further configured to perform the first sensing task based on the first sensing requirements and the first hierarchical information to obtain the second sensing data.

[0589] In one possible design, the processing unit 1402 is further configured to determine the hierarchical information corresponding to the first sensing data based on the sensing capability information of the first device and the second sensing requirements; the communication unit 1403 is further configured to send the second hierarchical information corresponding to the first sensing data.

[0590] In one possible design, the communication unit 1403 is also used to receive third information, which is used to instruct the establishment of a first DRB, and the first DRB is used to transmit first sensing data between the second device and the first device; the processing unit 1402 is also used to establish the first DRB.

[0591] In one possible design, the processing unit 1402 is further configured to establish a first DRB based on the first identifier and the joint sensing task identifier, the first DRB being used for transmitting first sensing data between the network device and the terminal device.

[0592] In one possible design, the communication unit 1403 is further configured to receive a fifth request message, which requests the establishment of a first DRB. The first DRB is used to transmit first sensing data between the second device and the first device. The fifth request message is associated with a joint sensing task. The processing unit 1402 is further configured to establish the first DRB based on the fifth request message.

[0593] In one possible design, the communication unit 1403 is also used to receive the sensing capability information of the first device; the communication unit 1403 is also used to send the sensing capability information of the second device and the sensing capability information of the first device.

[0594] In one possible design, the communication unit 1403 is also used to receive a session establishment request message, which is used to request the establishment of a first session. The first session is used to transmit first sensing data between the second device and the first device. The session establishment request message is associated with the joint sensing task.

[0595] In one possible design, when the communication device 1400 is a second device or a communication module within a second device, the function of the processing unit 1402 can be implemented by one or more processors. Specifically, the processor may include a modem chip, or a system-on-a-chip (SoC) chip or a SIP chip containing a modem core. The function of the communication unit 1403 can be implemented by transceiver circuitry.

[0596] In one possible design, when the communication device 1400 is a circuit or chip responsible for communication functions in a second device, such as a modem chip or a system-on-a-chip (SoC) or SIP chip containing a modem core, the function of the processing unit 1402 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the communication unit 1403 can be implemented by an interface circuit or data transceiver circuit on the aforementioned chip.

[0597] The communication device 1400 can be the first device in the above embodiments, or a component in the first device (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the first device.

[0598] For example, in one embodiment, the communication unit 1403 is used to receive a second request message, which is used to request the execution of a second sensing task. The second request message is associated with a second identifier and a joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task. The joint sensing task is associated with a first sensing task and a second sensing task. The communication unit 1403 is also used to send first sensing data, which is obtained by the first device performing the second sensing task.

[0599] In one possible design, the communication unit 1403 is also used to receive hierarchical information corresponding to the first sensing data; the processing unit 1402 is used to perform a second sensing task according to the second sensing requirements and the hierarchical information corresponding to the first sensing data to obtain the first sensing data.

[0600] In one possible design, the communication unit 1403 is also used to send a fifth request message, which includes a joint sensing task identifier and is used to request the establishment of a first DRB, which is used to transmit first sensing data between the second device and the first device.

[0601] In one possible design, the communication unit 1403 is also used to send a session establishment request message, which is used to request the establishment of a first session. The first session is used to transmit first sensing data between the second device and the first device. The session establishment request message is associated with the joint sensing task.

[0602] In one possible design, when the communication device 1400 is a first device or a communication module within a first device, the function of the processing unit 1402 can be implemented by one or more processors. Specifically, the processor may include a modem chip, or a system-on-a-chip (SoC) chip or a SIP chip containing a modem core. The function of the communication unit 1403 can be implemented by transceiver circuitry.

[0603] In one possible design, when the communication device 1400 is a circuit or chip responsible for communication functions in the first device, such as a modem chip or a system-on-a-chip (SoC) or SIP chip containing a modem core, the function of the processing unit 1402 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the communication unit 1403 can be implemented by an interface circuit or data transceiver circuit on the aforementioned chip.

[0604] The communication device 1400 can be the second sensing network element in the above embodiments, or a component in the second sensing network element (e.g., a communication module, processor, circuit, chip, or chip system), or a logic module or software that can implement all or part of the functions of the second sensing network element.

[0605] For example, in one embodiment, the communication unit 1402 is used to acquire third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

[0606] In one possible design, when the communication device 1400 is a second sensing network element or a communication module within a second sensing network element, the function of the processing unit 1402 can be implemented by one or more processors. Specifically, the processor may include a modem chip, or a system-on-a-chip (SoC) chip or a SIP chip containing a modem core. The function of the communication unit 1403 can be implemented by transceiver circuitry.

[0607] In one possible design, when the communication device 1400 is a circuit or chip responsible for communication functions in the second sensing network element, such as a modem chip or a system-on-a-chip (SoC) or SIP chip containing a modem core, the function of the processing unit 1402 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the communication unit 1403 can be implemented by the interface circuitry or data transceiver circuitry on the aforementioned chip.

[0608] It is understandable that the division of units in the above-mentioned device is merely a logical functional division. One function can correspond to one functional unit, or two or more functions can be integrated into one functional unit. In actual implementation, all or some units can be integrated into one physical entity, or they can be distributed across different physical entities. Furthermore, the above-mentioned functional units can be implemented in hardware, software, or a combination of both.

[0609] In one example, the functional unit in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as: one or more application-specific integrated circuit (ASIC) designs, or one or more central processing units (CPUs), one or more microprocessor units (MPUs), one or more microcontroller units (MCUs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0610] In one example, storage unit 1401 may include random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory and / or registers, etc.

[0611] Figure 15 is a schematic diagram of a terminal device 1500 provided in an embodiment of this application. The terminal device 1500 corresponds to the terminal device shown in Figure 1 and is used to implement the operation of the terminal device in the above embodiments. As shown in Figure 15, the terminal device 1500 includes: one or more antennas 1510, a radio frequency processing system 1520, and a processor system 1530.

[0612] In the downlink or sidelink direction, the RF processing system 1520 receives RF signals through the antenna 1510 and sends the RF-processed signals to the processor system 1530 for further processing. In the uplink or sidelink direction, the processor system 1530 processes the information from the terminal device side and sends it to the RF processing system 1520, which then processes the signal and transmits it through the antenna 1510.

[0613] In one example, the radio frequency (RF) processing system 1520 serves as the communication interface for external communication of the terminal device and may include a radio frequency front end (RFFE) 1521 and an RF transceiver 1522. The RFFE 1521 is primarily used for shaping, passband selection, or gain processing of RF signals received by the antenna or RF signals to be transmitted through the antenna. It may include one or more components such as RF switches, duplexers, filters, power amplifiers, antenna tuners, and low-noise amplifiers. The RFFE 1521 can be a circuit system composed of multiple discrete components or integrated into one or more chips. The RF transceiver 1522 processes the RF signals received by the RFFE into baseband / IF signals for further processing by the processor system 1530, and processes the baseband / IF signals provided by the processor system 1530 into RF signals for transmission to the RFFE 1521. The baseband / IF signals transmitted between the RF transceiver 1522 and the processor system 1530 can be digital or analog signals. The RF transceiver 1522 can be implemented by one or more chips, which are commonly referred to as RF chips.

[0614] In one example, processor system 1530 may include one or more processors for processing signals and executing one or more communication protocols. Optionally, processor system 1530 may also include memory 1536. In one example, the one or more processors include at least one baseband processor 1531 (also known as a modem processor). Memory 1536 is used to store data and / or computer program instructions. Optionally, processor system 1530 may also include one or more application processors 1532 for implementing processing of the terminal device operating system and application layer. Optionally, processor system 1530 may also include one or more of a voice subsystem 1533, a multimedia subsystem 1534, or an interface circuit 1535. The voice subsystem 1533 is used to process voice signals, the multimedia subsystem 1534 is used to handle multimedia-related operations, such as video encoding / decoding, image processing, etc., and the interface circuit 1535 is used to enable communication with other terminal device components, such as display 1540, input device 1550, memory 1560, etc. The above-mentioned components in processor system 1530 can communicate with each other via a bus or communication interface circuit.

[0615] In one example, the processor system 1530 can be packaged as a single processor chip, such as a SoC chip or a SIP chip. In another example, the processor system 1530 can be a system composed of multiple chips; for example, the baseband processor 1531 can be packaged as a single chip, or packaged with part or all of the circuitry of the radio frequency processing system into a single chip.

[0616] In one example, memory 1536 can be on-chip memory, i.e., located on the processor system 1530 chip. In another example, memory 1560 can be off-chip memory, i.e. located outside the processor system 1530 chip.

[0617] Figure 16 is a schematic diagram of the structure of the baseband processor 1531 of the terminal device 1500 provided in this application embodiment. As shown in Figure 16, the baseband processor 1531 in the terminal device 1500 provided in this application embodiment may include one or more processor cores 15311 and interface circuits 15314. The one or more processor cores 15311 are used to process signals and execute one or more communication protocols. Optionally, the baseband processor 1531 may also include a memory 15312, which is used to store at least a portion of the corresponding computer program instructions and / or data. In one example, the one or more processor cores 15311 implement the relevant operations in the above method embodiment by executing the computer program instructions stored in the memory 15312. In this application, memory 15312 is used to store corresponding computer program instructions and / or data. This can mean that memory 15312 stores all corresponding computer program instructions and / or data for execution by processor core 15311; or it can mean that memory 15312 stores a portion of corresponding computer program instructions and / or data, including the computer program instructions and / or data currently required to be executed by processor core 15311. Memory 15312 can store different portions of computer program instructions and / or data multiple times for execution by processor core 15311 to implement the relevant operations in the above method embodiments. Interface circuit 15314 serves as a communication interface for communication with other components, such as transmitting signals with radio frequency processing system 1520, communicating with other subsystems and related components of processor system 1530 via bus, such as transmitting data control signals with application processor 1532, and transmitting data or computer program instructions with memory 1536 or memory 1560. Optionally, in order to reduce the load on the processor core, a baseband signal processing circuit 15313 can be set to perform at least some baseband signal processing, including one or more of signal demodulation, modulation, encoding or decoding.

[0618] In one example, the communication device provided in this application may be a terminal device 1500, including a communication module comprising a processor system 1530 and a radio frequency system 1520, or a baseband processor 1531.

[0619] The processor, processor system, application processor, baseband processor, processor circuit or processor core mentioned above can be collectively referred to as a processor. The processor may include one or more of the following: CPU, DSP, MPU, MCU, GPU, FPGA, ASIC, artificial intelligence (AI) processor or neural network processing unit (NPU).

[0620] The aforementioned memory may include one or more of the following storage media: random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), phase-change memory (PCM), resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), cache, register, read-only memory (ROM), flash memory, erasable programmable read-only memory (EPROM), hard disk, etc. In one example, computer program instructions for executing the above embodiments may be stored on non-volatile memory, such as at least a portion of the aforementioned memory 1560 (e.g., one or more of ROM, flash memory, EPROM, or hard disk). When the terminal device is running, the corresponding computer program instructions may be partially or wholly loaded onto a memory with a faster transfer speed than the processor, such as at least a portion of memory 1536 and / or memory 15312 (e.g., one or more of RAM, SRAM, DRAM, PCM, RERAM, MRAM, FRAM, cache, or register), for the processor to execute in order to implement the steps in the above method embodiments.

[0621] In one example, the RF transceiver 1522 and the RF front-end 1521 can also be packaged in a single chip. In another example, the RF transceiver 1522, the RF front-end 1521, and the baseband processor 1531 can also be packaged in a single chip.

[0622] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods executed by a communication device (e.g., a terminal-side device and / or a network-side device) in the above-described method embodiments.

[0623] This application also provides a computer program product comprising instructions which, when executed by a computer, implement the methods described above as being performed by a communication device (e.g., a terminal-side device and / or a network-side device).

[0624] This application also provides a communication system, which includes the terminal device and / or network device described in the above embodiments.

[0625] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0626] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0627] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches are also possible.

[0628] In this application, examples may reference each other without logical contradiction. For example, methods and / or terms between method embodiments may reference each other, functions and / or terms between device embodiments may reference each other, and functions and / or terms between device examples and method examples may reference each other.

[0629] In this application, any embodiments may be combined or combined with each other without conflict, and the combined or combined technical solutions are also within the scope of this application.

[0630] It should be understood that the above embodiments are mainly illustrated using devices in existing network architectures as examples, and the specific form of the devices is not limited in the embodiments of this application. For example, any device that can achieve the same function in the future is applicable to the embodiments of this application.

[0631] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0632] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

[0633] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0634] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this implementation scheme according to actual needs.

[0635] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0636] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to existing solutions, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0637] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A sensing method, characterized in that, include: A first request message is received, which is used to request the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier is used to identify a first device participating in the joint sensing task. The joint sensing task includes the first sensing task and a second sensing task. Receive first sensing data, which is obtained by the first device performing a second sensing task; Based on the first identifier and the joint sensing task, the second sensing data and the first sensing data are fused to obtain the third sensing data. The second sensing data is obtained by the second device performing the first sensing task.

2. The method according to claim 1, characterized in that, The first request message also includes first information, which instructs the second device to perform fusion processing on the second sensing data and the first sensing data.

3. The method according to claim 1 or 2, characterized in that, The first request message includes a first perception requirement, and the method further includes: Receive the hierarchical information corresponding to the second sensing data; Based on the first perception requirement and the hierarchical information corresponding to the second perception data, the first perception task is executed to obtain the second perception data.

4. The method according to any one of claims 1 to 3, characterized in that, The first request message includes a first perception requirement, and the method further includes: Based on the sensing capability information of the second device and the first sensing requirement, determine the hierarchical information corresponding to the second sensing data; The first perception task is performed based on the first perception requirement and the first level information to obtain the second perception data.

5. The method according to any one of claims 1 to 4, characterized in that, The first request message includes a second perception requirement, and the method further includes: Based on the sensing capability information of the first device and the second sensing requirements, determine the hierarchical information corresponding to the first sensing data; Send the second-level information corresponding to the first sensing data.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Receive third information, the third information being used to instruct the establishment of a first data radio bearer, the first data radio bearer being used to transmit the first sensed data between the second device and the first device; Establish the first data wireless bearer.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: A first data wireless bearer is established based on the first identifier and the joint sensing task identifier. The first data wireless bearer is used to transmit the first sensing data between the network device and the terminal device.

8. The method according to any one of claims 1 to 5, characterized in that, The method further includes: A fifth request message is received, which is used to request the establishment of a first data radio bearer. The first data radio bearer is used to transmit the first sensing data between the second device and the first device. The fifth request message is associated with the joint sensing task. The first data radio bearer is established according to the fifth request message.

9. The method according to any one of claims 6 to 8, characterized in that, The first data wireless bearer is associated with the joint sensing task.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Receive the sensing capability information of the first device; Send the sensing capability information of the second device and the sensing capability information of the first device.

11. The method according to any one of claims 1 to 4, characterized in that, The method further includes: A session establishment request message is received. The session establishment request message is used to request the establishment of a first session. The first session is used for the transmission of the first sensing data between the second device and the first device. The session establishment request message is associated with the joint sensing task.

12. A sensing method, characterized in that, include: Receive a second request message, the second request message is used to request the execution of a second sensing task, the second request message is associated with a second identifier and a joint sensing task, the second identifier is used to identify a second device participating in the joint sensing task, the joint sensing task is associated with a first sensing task and the second sensing task; Send first sensing data, which is obtained by the first device performing the second sensing task.

13. The method according to claim 12, characterized in that, The second request message includes a second perception requirement, and the method further includes: Receive the hierarchical information corresponding to the first sensed data; Based on the second perception requirement and the hierarchical information corresponding to the first perception data, the second perception task is executed to obtain the first perception data.

14. The method according to claim 12 or 13, characterized in that, The method further includes: Send a fifth request message, the fifth request message including the joint sensing task identifier, the fifth request message being used to request the establishment of a first data radio bearer, the first data radio bearer being used for transmitting the first sensing data between the second device and the first device.

15. The method according to any one of claims 12 to 14, characterized in that, The method further includes: A session establishment request message is sent to request the establishment of a first session. The first session is used for the transmission of the first sensing data between the second device and the first device. The session establishment request message is associated with the joint sensing task.

16. A sensing method, characterized in that, include: Send a first request message, the first request message being used to request the execution of a first sensing task, the first request message being associated with a first identifier and a joint sensing task, the first identifier being used to identify a first device participating in the joint sensing task, the joint sensing task including the first sensing task and a second sensing task; A second request message is sent, which requests the execution of the second sensing task. The second request message is associated with a second identifier and the joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task.

17. The method according to claim 16, characterized in that, The method further includes: Acquire third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

18. The method according to claim 17, characterized in that, The acquisition of third-sensory data includes: Receive the third sensing data; or, The system receives the second sensing data and the first sensing data, and performs a fusion process on the second sensing data and the first sensing data to obtain the third sensing data.

19. The method according to claim 17 or 18, characterized in that, The first request message includes first information, which instructs the second device to perform fusion processing on the second sensing data and the first sensing data.

20. The method according to any one of claims 16 to 19, characterized in that, The method further includes: A third request message is received, which is used to request a sensing service, and the sensing service is associated with the joint sensing task.

21. The method according to any one of claims 16 to 20, characterized in that, The method further includes: Receive the first identifier from the mobility management network element.

22. The method according to claim 21, characterized in that, The method further includes: A fourth request message is sent to the mobility management network element, the fourth request message being used to request the acquisition of the first identifier.

23. The method according to claim 22, characterized in that, The method further includes: Receive second information from the mobility management network element, the second information including at least one identifier, the at least one identifier being used to identify at least one candidate device; The first device is determined from the at least one candidate device.

24. The method according to any one of claims 20 to 23, characterized in that, The third request message includes a perception requirement, and the method further includes: Based on the sensing capability information of the second device and the sensing requirements, the hierarchical information corresponding to the second sensing data is determined. The second sensing data is obtained by the second device performing the first sensing task. Send the hierarchical information corresponding to the second sensing data.

25. The method according to any one of claims 20 to 24, characterized in that, The third request message includes a perception requirement, and the method further includes: Based on the sensing capability information of the first device and the sensing requirements, the hierarchical information corresponding to the first sensing data is determined. The first sensing data is obtained by the first device performing the second sensing task. Send the hierarchical information corresponding to the first sensed data.

26. The method according to any one of claims 17 to 25, characterized in that, The method further includes: Send a third message, the third message being used to instruct the establishment of a first data wireless bearer, the first data wireless bearer being used for transmitting the first sensed data between the second device and the first device.

27. The method according to claim 26, characterized in that, The first data wireless bearer is associated with the joint sensing task.

28. The method according to any one of claims 16 to 27, characterized in that, The method further includes: Obtain the sensing capability information of the second device and / or the sensing capability information of the first device.

29. The method according to any one of claims 16 to 28, characterized in that, The perception capability information of the second device is used to indicate the hierarchical information corresponding to the perception data supported by the second device when performing the joint perception task, and the perception capability information of the first device is used to indicate the hierarchical information corresponding to the perception data supported by the first device when performing the joint perception task.

30. A sensing method, characterized in that, include: Acquire third sensing data, which is obtained by fusing second sensing data and first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

31. The method according to claim 30, characterized in that, The acquisition of third-sensory data includes: Receive the third sensing data; or, The system receives the second sensing data and the first sensing data, and performs a fusion process on the second sensing data and the first sensing data to obtain the third sensing data.

32. A communication system, characterized in that, Including the first sensing network element and the second sensing network element; The first sensing network element is used to send a first request message. The first request message is used to request the execution of a first sensing task. The first request message is associated with a first identifier and a joint sensing task. The first identifier is used to identify a first device participating in the joint sensing task. The joint sensing task includes the first sensing task and a second sensing task. The first sensing network element is also used to send a second request message, which is used to request the execution of the second sensing task. The second request message is associated with a second identifier and the joint sensing task. The second identifier is used to identify a second device participating in the joint sensing task. The second sensing network element is used to acquire third sensing data, which is obtained by fusing the second sensing data and the first sensing data. The second sensing data is obtained by the second device performing the first sensing task, and the first sensing data is obtained by the first device performing the second sensing task.

33. A communication device, characterized in that, It includes modules or units for implementing the method as described in any one of claims 1 to 11, or modules or units for implementing the method as described in any one of claims 12 to 15, or modules or units for implementing the method as described in any one of claims 16 to 29, or modules or units for implementing the method as described in claim 30 or 31.

34. A communication device, characterized in that, The method includes at least one processor for executing a computer program or instructions to cause the method as described in any one of claims 1 to 11 to be performed, or to cause the method as described in any one of claims 12 to 15 to be performed, or to cause the method as described in any one of claims 16 to 29 to be performed, or to cause the method as described in claim 30 or 31 to be performed.

35. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 31 to be performed.

36. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, cause the method as described in any one of claims 1 to 31 to be performed.

Images