Communication method and apparatus

Abstract

Embodiments of the present application relate to the field of communications, and provide a communication method and an apparatus, for use in solving the problem that multiple measurement events and measurement quantities defined for communication scenarios are not applicable to certain sensing scenarios, such as angle sensing scenarios. In the method, a first sensing device may determine, on the basis of a configuration message received from a first communication device, a measurement event for angle sensing which needs to trigger reporting, and at least one sensing target on which angle sensing needs to be performed, i.e., the configuration message is a configuration message suitable for an angle sensing scenario. The first sensing device may perform angle sensing on the at least one sensing target to obtain an angle sensing result. Because the angle sensing result is associated with a measurement quantity corresponding to the measurement event, the first sensing device may determine, on the basis of the angle sensing result, whether the measurement event for angle sensing is satisfied. In this way, the problem that multiple measurement events and measurement quantities defined for communication scenarios are not applicable to angle sensing scenarios can be solved.

Description

Communication methods and devices

[0001] This application claims priority to Chinese Patent Application No. 202411989746.X, filed with the State Intellectual Property Office of China on December 27, 2024, entitled "Communication Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more particularly to communication methods and apparatus. Background Technology

[0003] Integrated sensing and communication (ISAC), integrated communication and sensing (ICAS), harmonized communication and sensing (HCS), joint sensing and communication (JSAC), or joint communication and sensing (JCAS) are all key technologies in future wireless communication systems. They aim to integrate wireless communication and sensing functions into a single system, utilizing the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the surrounding physical environment, improving communication performance, and enhancing user experience. In integrated sensing and communication technology, sensing devices can sense targets in the environment by sending sensing signals and / or receiving echo signals. Currently, in communication scenarios, the 3rd Generation Partnership Project (3GPP) defines various measurement events and quantities to assist network devices in making communication-related decisions.

[0004] However, in the perception scenario, the various measurement events and quantities defined in the above communication scenario are not applicable. Summary of the Invention

[0005] This application provides a communication method and apparatus to solve the problem that various measurement events and quantities defined in the communication scenario definition cannot be applied to certain sensing scenarios, such as angle sensing scenarios.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a communication method is provided. This method can be executed by a first sensing device, by a module (e.g., processor, chip, or chip system) applied to the first sensing device, or by a logical node, logical module, or software capable of implementing all or part of the functions of the first sensing device. For ease of description, the following description uses the application of this method to a first sensing device as an example. The method includes: receiving a configuration message, performing angle sensing on at least one sensing target according to the configuration message, and obtaining an angle sensing result; determining whether a measurement event is satisfied based on the angle sensing result. The configuration message includes a measurement object and a measurement configuration. The measurement object indicates at least one sensing target, and the measurement configuration indicates a measurement event for angle sensing. The angle sensing result is associated with the measurement quantity corresponding to the measurement event.

[0008] As described in the first aspect, the first sensing device can determine, based on the received configuration message, the measurement event requiring angle sensing to be reported and at least one sensing target requiring angle sensing. In other words, the configuration message is applicable to the angle sensing scenario. The first sensing device can perform angle sensing on at least one sensing target and obtain the angle sensing result. Since the angle sensing result is associated with the measurement quantity corresponding to the measurement event, the first sensing device can determine whether the angle sensing measurement event is satisfied based on the angle sensing result. This solves the problem that various measurement events and quantities defined in communication scenarios are not applicable to the angle sensing scenario.

[0009] In one possible design, at least one sensing target includes a first sensing target, and the angle sensing result includes at least one of the following: a first angle, a second angle, or the sensing angle accuracy of the first sensing target. The first angle is the angle between the direction of a first sensing signal sent by the first sensing device to the first sensing target and a first reference direction within the sensing range of the first sensing device; the second angle is the angle between the direction of a second sensing signal received by the first sensing device and a second reference direction within the sensing range of the first sensing device, wherein the second sensing signal is obtained after being acted upon by the first sensing target; the sensing angle accuracy of the first sensing target is used to indicate the accuracy of the angle sensing performed by the first sensing device on the first sensing target. That is, one or more of the first angle, the second angle, or the sensing angle accuracy of the first sensing target are measurement quantities corresponding to a measurement event, which can be used by the first sensing device to determine whether the measurement event is satisfied.

[0010] In one possible design, determining whether a measurement event is satisfied based on the angle perception result includes: determining whether the entry or exit conditions of the measurement event are met based on the angle perception result. The measurement event includes at least one of the following: a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event, to meet the needs of different scenarios; the measurement quantities of the first, second, third, fourth, fifth, and sixth events are associated with a first angle and / or a second angle; the measurement quantities of the seventh and eighth events are associated with the perception angle accuracy of the first sensing target. The first sensing device can determine whether its respective entry or exit conditions are met based on the measurement quantities corresponding to each event (i.e., the first event through the eighth event), for use by the first sensing device to subsequently determine whether to trigger a report.

[0011] In one possible design, the entry condition for the first event includes: the sum of the first angle and the first parameter is less than the first threshold, and / or the sum of the second angle and the second parameter is less than the second threshold; the exit condition for the first event includes: the difference between the first angle and the third parameter is greater than the third threshold, and / or the difference between the second angle and the fourth parameter is greater than the fourth threshold.

[0012] In one possible design, the entry condition for the first event includes: the first angle is less than the first threshold, and / or the second angle is less than the second threshold; the exit condition for the first event includes: the first angle is greater than the third threshold, and / or the second angle is greater than the fourth threshold.

[0013] Based on the above description of the two possible design schemes, the first event can be used to indicate whether the first sensing target is within the sensing range of the first sensing device. The first sensing device can accurately and quickly determine whether the first sensing target is within its sensing range by using the entry or exit conditions of the first event.

[0014] In one possible design, the entry condition of the second event includes: the first angle continuously decreasing during a first time period, and / or the second angle continuously decreasing during a second time period; the exit condition of the second event includes: the first angle continuously increasing during a third time period, and / or the second angle continuously increasing during a fourth time period. That is, the second event can be used to indicate that the first sensing target has moved into or approached the sensing range of the first sensing device. The first sensing device can accurately and quickly determine whether the first sensing target has moved into or approached the sensing range of the first sensing device based on the aforementioned entry or exit conditions of the second event.

[0015] In one possible design, the entry condition for the third event includes: the first angle continuously increases during the fifth time period, and / or the second angle continuously increases during the sixth time period; the exit condition for the third event includes: the first angle continuously decreases during the seventh time period, and / or the second angle continuously decreases during the eighth time period. That is, the third event can be used to indicate that the first sensing target has moved out of or away from the sensing range of the first sensing device. The first sensing device can accurately and quickly determine whether the first sensing target has moved out of or away from the sensing range of the first sensing device through the aforementioned entry or exit conditions of the third event.

[0016] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the first angle and the fifth parameter is less than the fifth threshold, and the sum of the third angle and the sixth parameter is less than the sixth threshold; the exit condition for the fourth event includes: the difference between the first angle and the seventh parameter is greater than the seventh threshold, and / or the difference between the third angle and the eighth parameter is greater than the eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the second angle and the ninth parameter is less than the ninth threshold, and the sum of the fourth angle and the tenth parameter is less than the tenth threshold; the exit condition for the fourth event includes: the difference between the second angle and the eleventh parameter is greater than the eleventh threshold, and / or the difference between the fourth angle and the twelfth parameter is greater than the twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and the third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and the fourth reference direction within the sensing range of the second sensing device.

[0017] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a first angle less than a fifth threshold and a third angle less than a sixth threshold; the exit condition for the fourth event includes: a first angle greater than a seventh threshold and / or a third angle greater than an eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a second angle less than a ninth threshold and a fourth angle less than a tenth threshold; the exit condition for the fourth event includes: a second angle greater than an eleventh threshold and / or a fourth angle greater than a twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and a third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device.

[0018] Based on the above description of the two possible design schemes, the fourth event can be used to indicate that the first sensing target is simultaneously within the sensing range of both the first and second sensing devices. The first sensing device can accurately and quickly determine whether the first sensing target is simultaneously within the sensing range of both the first and second sensing devices by using the entry or exit conditions of the fourth event.

[0019] In one possible design, the measurement object is used to indicate at least one sensing target, including: the measurement object is used to indicate at least two sensing targets; the at least two sensing targets include a first sensing target and a second sensing target, and the angle sensing result also includes a fifth angle and / or a sixth angle; the fifth angle is the angle between the direction of the fifth sensing signal sent by the first sensing device to the second sensing target and a fifth reference direction within the sensing range of the first sensing device; the sixth angle is the angle between the direction of the sixth sensing signal received by the first sensing device and a sixth reference direction within the sensing range of the first sensing device, and the sixth sensing signal is obtained after being acted upon by the second sensing target. That is, the first sensing device can simultaneously perform angle sensing on multiple sensing targets, such as the first sensing target and the second sensing target, to suit scenarios where multiple sensing targets need to perform angle sensing simultaneously.

[0020] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the thirteenth parameter, and the second difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the fourteenth parameter. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the fifteenth parameter, and the fourth difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the sixteenth parameter.

[0021] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the absolute value of the difference between the first angle and the fifth angle, and the second difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the absolute value of the difference between the first angle and the fifth angle, and the fourth difference is the absolute value of the difference between the second angle and the sixth angle.

[0022] Based on the above description of the two possible design schemes, the fifth event can be used to indicate that the sensing angle resolution of the first sensing device cannot be used to distinguish at least two sensing targets. The first sensing device can accurately and quickly determine whether its sensing angle resolution cannot be used to distinguish at least two sensing targets, such as the first sensing device and the second sensing device mentioned above, by using the entry or exit conditions of the fifth event.

[0023] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, plus the difference with the seventeenth parameter, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle, plus the difference with the eighteenth parameter. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, plus the sum with the nineteenth parameter, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle, plus the sum with the twentieth parameter.

[0024] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle.

[0025] Based on the above description of the two possible design schemes, the sixth event can be used to indicate that the sensing angle resolution of the first sensing device is sufficient to distinguish at least two sensing targets, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution. The first sensing device can accurately and quickly determine whether its sensing angle resolution is sufficient to distinguish at least two sensing targets, such as the first sensing device and the second sensing device mentioned above, based on the entry or exit conditions of the sixth event, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution.

[0026] In one possible design, the entry condition for the seventh event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-first parameter is greater than the twenty-first threshold; the exit condition for the seventh event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-second parameter is less than the twenty-second threshold.

[0027] In one possible design, the entry condition for the seventh event includes: the perception angle accuracy of the first sensing target is greater than the twenty-first threshold; the exit condition for the seventh event includes: the perception angle accuracy of the first sensing target is less than the twenty-second threshold.

[0028] Based on the above description of the two possible design schemes, the seventh event can be used to indicate that the sensing angle accuracy of the first sensing target is greater than the first sensing angle accuracy. The first sensing device can accurately and quickly determine whether the sensing angle accuracy of the first sensing target is greater than the first sensing angle accuracy by using the entry or exit conditions of the seventh event.

[0029] In one possible design, the entry condition for the eighth event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-third parameter is less than the twenty-third threshold; the exit condition for the eighth event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-fourth parameter is greater than the twenty-fourth threshold.

[0030] In one possible design, the entry condition for the eighth event includes: the perception angle accuracy of the first sensing target is less than the twenty-third threshold; the exit condition for the eighth event includes: the perception angle accuracy of the first sensing target is greater than the twenty-fourth threshold.

[0031] Based on the above description of the two possible design schemes, the eighth event can be used to indicate that the sensing angle accuracy of the first sensing target is less than the sensing angle accuracy of the second sensing target. The first sensing device can accurately and quickly determine whether the sensing angle accuracy of the first sensing target is less than the sensing angle accuracy of the second sensing target by using the entry or exit conditions of the eighth event.

[0032] In one possible design, the method described in the first aspect further includes: determining a target event based on the angle perception result, and sending a measurement report corresponding to the target event. Wherein, the target event is an event among the measurement events that meets either an entry condition or a departure condition; the measurement report indicates at least one of the following: meeting the entry or departure condition of the target event, the identification information of the first sensing device, or the measurement quantity corresponding to the target event. That is, after the first sensing device determines that there is an event among the measurement events that meets its entry or departure condition, i.e., a target event, it can trigger the reporting of a measurement report to the first communication device for the first communication device to make reasonable sensing decisions, such as sensing mobility management, sensing access, sensing resource allocation, and sensing mode selection, to improve sensing performance.

[0033] In one possible design, the measurement configuration is also used to indicate the duration. Determining whether a measurement event is satisfied based on the angle sensing result includes: determining whether the measurement event is satisfied within the duration based on the angle sensing result. That is, the measurement event is considered satisfied only if the entry or exit condition is continuously met during the duration. This improves the accuracy of the first sensing device's determination of whether a measurement event is satisfied and avoids randomness.

[0034] Secondly, a communication method is provided. This method can be executed by a first communication device, by a module (e.g., processor, chip, or chip system) applied to the first communication device, or by a logical node, logical module, or software capable of implementing all or part of the functions of the first communication device. For ease of description, the following description uses the application of this method to a first communication device as an example. The method includes: acquiring a configuration message and sending the configuration message. The configuration message includes a measurement object and a measurement configuration. The measurement object is used to indicate at least one sensing target, and the measurement configuration is used to indicate a measurement event for angle sensing.

[0035] In one possible design, a configuration message is used by the first sensing device to perform angle sensing on at least one sensing target to obtain an angle sensing result. The angle sensing result is associated with the measurement quantity corresponding to the measurement event, and the angle sensing result is used to determine whether the measurement event is satisfied.

[0036] In one possible design, at least one sensing target includes a first sensing target, and the angle sensing result includes at least one of the following: a first angle, a second angle, or the sensing angle accuracy of the first sensing target. Wherein, the first angle is the angle between the direction of the first sensing signal sent by the first sensing device to the first sensing target and a first reference direction within the sensing range of the first sensing device; the second angle is the angle between the direction of the second sensing signal received by the first sensing device and a second reference direction within the sensing range of the first sensing device, wherein the second sensing signal is obtained after being acted upon by the first sensing target; the sensing angle accuracy of the first sensing target is used to indicate the accuracy of the angle sensing performed by the first sensing device on the first sensing target.

[0037] In one possible design, the measurement event includes at least one of the following: a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event. The measurements of the first, second, third, fourth, fifth, and sixth events are associated with a first angle and / or a second angle; the measurements of the seventh and eighth events are associated with the angular accuracy of the first sensing target; the angle sensing result is used to determine whether the measurement event is satisfied, including: the angle sensing result is used to determine whether the entry or exit conditions of the measurement event are met.

[0038] In one possible design, the entry condition for the first event includes: the sum of the first angle and the first parameter is less than the first threshold, and / or the sum of the second angle and the second parameter is less than the second threshold; the exit condition for the first event includes: the difference between the first angle and the third parameter is greater than the third threshold, and / or the difference between the second angle and the fourth parameter is greater than the fourth threshold.

[0039] In one possible design, the entry condition for the first event includes: the first angle is less than the first threshold, and / or the second angle is less than the second threshold; the exit condition for the first event includes: the first angle is greater than the third threshold, and / or the second angle is greater than the fourth threshold.

[0040] In one possible design, the entry conditions for the second event include: the first angle continuously decreases during the first time period, and / or the second angle continuously decreases during the second time period; the exit conditions for the second event include: the first angle continuously increases during the third time period, and / or the second angle continuously increases during the fourth time period.

[0041] In one possible design, the entry conditions for the third event include: the first angle continuously increases during the fifth time period, and / or the second angle continuously increases during the sixth time period; the exit conditions for the third event include: the first angle continuously decreases during the seventh time period, and / or the second angle continuously decreases during the eighth time period.

[0042] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the first angle and the fifth parameter is less than the fifth threshold, and the sum of the third angle and the sixth parameter is less than the sixth threshold; the exit condition for the fourth event includes: the difference between the first angle and the seventh parameter is greater than the seventh threshold, and / or the difference between the third angle and the eighth parameter is greater than the eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the second angle and the ninth parameter is less than the ninth threshold, and the sum of the fourth angle and the tenth parameter is less than the tenth threshold; the exit condition for the fourth event includes: the difference between the second angle and the eleventh parameter is greater than the eleventh threshold, and / or the difference between the fourth angle and the twelfth parameter is greater than the twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and the third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and the fourth reference direction within the sensing range of the second sensing device.

[0043] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a first angle less than a fifth threshold and a third angle less than a sixth threshold; the exit condition for the fourth event includes: a first angle greater than a seventh threshold and / or a third angle greater than an eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a second angle less than a ninth threshold and a fourth angle less than a tenth threshold; the exit condition for the fourth event includes: a second angle greater than an eleventh threshold and / or a fourth angle greater than a twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and a third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device.

[0044] In one possible design, the measuring object is used to indicate at least one sensing target, including: the measuring object is used to indicate at least two sensing targets; the at least two sensing targets include a first sensing target and a second sensing target, and the angle sensing result also includes a fifth angle and / or a sixth angle; the fifth angle is the angle between the direction of the fifth sensing signal sent by the first sensing device to the second sensing target and a fifth reference direction within the sensing range of the first sensing device; the sixth angle is the angle between the direction of the sixth sensing signal received by the first sensing device and a sixth reference direction within the sensing range of the first sensing device, and the sixth sensing signal is obtained after being acted upon by the second sensing target.

[0045] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the thirteenth parameter, and the second difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the fourteenth parameter. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the fifteenth parameter, and the fourth difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the sixteenth parameter.

[0046] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the absolute value of the difference between the first angle and the fifth angle, and the second difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the absolute value of the difference between the first angle and the fifth angle, and the fourth difference is the absolute value of the difference between the second angle and the sixth angle.

[0047] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, plus the difference with the seventeenth parameter, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle, plus the difference with the eighteenth parameter. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, plus the sum with the nineteenth parameter, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle, plus the sum with the twentieth parameter.

[0048] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle.

[0049] In one possible design, the entry condition for the seventh event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-first parameter is greater than the twenty-first threshold; the exit condition for the seventh event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-second parameter is less than the twenty-second threshold.

[0050] In one possible design, the entry condition for the seventh event includes: the perception angle accuracy of the first sensing target is greater than the twenty-first threshold; the exit condition for the seventh event includes: the perception angle accuracy of the first sensing target is less than the twenty-second threshold.

[0051] In one possible design, the entry condition for the eighth event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-third parameter is less than the twenty-third threshold; the exit condition for the eighth event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-fourth parameter is greater than the twenty-fourth threshold.

[0052] In one possible design, the entry condition for the eighth event includes: the perception angle accuracy of the first sensing target is less than the twenty-third threshold; the exit condition for the eighth event includes: the perception angle accuracy of the first sensing target is greater than the twenty-fourth threshold.

[0053] In one possible design, the method in the second aspect further includes: receiving a measurement report corresponding to a target event. The target event is an event among the measurement events that satisfies an entry condition or a departure condition; the measurement report indicates at least one of the following: satisfaction of the entry or departure condition of the target event, identification information of the first sensing device, or the measurement quantity corresponding to the target event.

[0054] In one possible design, the measurement configuration is also used to indicate the duration, which is used to determine whether the measurement event is met within the duration.

[0055] The technical effects of the method described in the second aspect can be referred to the technical effects of the method described in the first aspect, and will not be repeated here.

[0056] Thirdly, a communication device is provided. The communication device includes: modules for performing the method described in the first aspect, such as a transceiver module and a processing module. The transceiver module is used to indicate the transceiver functions of the communication device, and the processing module is used to perform functions of the communication device other than the transceiver functions.

[0057] For example, a transceiver module is used to receive configuration messages. A processing module is used to perform angle sensing on at least one sensing target according to the configuration message and obtain the angle sensing result. The configuration message includes a measurement object and a measurement configuration. The measurement object indicates at least one sensing target, and the measurement configuration indicates the measurement event for angle sensing. The angle sensing result is associated with the measurement quantity corresponding to the measurement event.

[0058] In one possible design, at least one sensing target includes a first sensing target, and the angle sensing result includes at least one of the following: a first angle, a second angle, or the sensing angle accuracy of the first sensing target. Wherein, the first angle is the angle between the direction of the first sensing signal sent by the first sensing device to the first sensing target and a first reference direction within the sensing range of the first sensing device; the second angle is the angle between the direction of the second sensing signal received by the first sensing device and a second reference direction within the sensing range of the first sensing device, wherein the second sensing signal is obtained after being acted upon by the first sensing target; the sensing angle accuracy of the first sensing target is used to indicate the accuracy of the angle sensing performed by the first sensing device on the first sensing target.

[0059] In one possible design, the processing module is further configured to determine, based on the angle perception result, whether the entry or exit conditions of a measurement event are met. The measurement event includes at least one of the following: a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event; the measurements of the first, second, third, fourth, fifth, and sixth events are associated with a first angle and / or a second angle; the measurements of the seventh and eighth events are associated with the perception angle accuracy of the first perceived target.

[0060] In one possible design, the entry condition for the first event includes: the sum of the first angle and the first parameter is less than the first threshold, and / or the sum of the second angle and the second parameter is less than the second threshold; the exit condition for the first event includes: the difference between the first angle and the third parameter is greater than the third threshold, and / or the difference between the second angle and the fourth parameter is greater than the fourth threshold.

[0061] In one possible design, the entry condition for the first event includes: the first angle is less than the first threshold, and / or the second angle is less than the second threshold; the exit condition for the first event includes: the first angle is greater than the third threshold, and / or the second angle is greater than the fourth threshold.

[0062] In one possible design, the entry conditions for the second event include: the first angle continuously decreases during the first time period, and / or the second angle continuously decreases during the second time period; the exit conditions for the second event include: the first angle continuously increases during the third time period, and / or the second angle continuously increases during the fourth time period.

[0063] In one possible design, the entry conditions for the third event include: the first angle continuously increases during the fifth time period, and / or the second angle continuously increases during the sixth time period; the exit conditions for the third event include: the first angle continuously decreases during the seventh time period, and / or the second angle continuously decreases during the eighth time period.

[0064] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the first angle and the fifth parameter is less than the fifth threshold, and the sum of the third angle and the sixth parameter is less than the sixth threshold; the exit condition for the fourth event includes: the difference between the first angle and the seventh parameter is greater than the seventh threshold, and / or the difference between the third angle and the eighth parameter is greater than the eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the second angle and the ninth parameter is less than the ninth threshold, and the sum of the fourth angle and the tenth parameter is less than the tenth threshold; the exit condition for the fourth event includes: the difference between the second angle and the eleventh parameter is greater than the eleventh threshold, and / or the difference between the fourth angle and the twelfth parameter is greater than the twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and the third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and the fourth reference direction within the sensing range of the second sensing device.

[0065] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a first angle less than a fifth threshold and a third angle less than a sixth threshold; the exit condition for the fourth event includes: a first angle greater than a seventh threshold and / or a third angle greater than an eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a second angle less than a ninth threshold and a fourth angle less than a tenth threshold; the exit condition for the fourth event includes: a second angle greater than an eleventh threshold and / or a fourth angle greater than a twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and a third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device.

[0066] In one possible design, the measuring object is used to indicate at least one sensing target, including: the measuring object is used to indicate at least two sensing targets; the at least two sensing targets include a first sensing target and a second sensing target, and the angle sensing result also includes a fifth angle and / or a sixth angle; the fifth angle is the angle between the direction of the fifth sensing signal sent by the first sensing device to the second sensing target and a fifth reference direction within the sensing range of the first sensing device; the sixth angle is the angle between the direction of the sixth sensing signal received by the first sensing device and a sixth reference direction within the sensing range of the first sensing device, and the sixth sensing signal is obtained after being acted upon by the second sensing target.

[0067] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the thirteenth parameter, and the second difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the fourteenth parameter. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the fifteenth parameter, and the fourth difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the sixteenth parameter.

[0068] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the absolute value of the difference between the first angle and the fifth angle, and the second difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the absolute value of the difference between the first angle and the fifth angle, and the fourth difference is the absolute value of the difference between the second angle and the sixth angle.

[0069] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, plus the difference with the seventeenth parameter, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle, plus the difference with the eighteenth parameter. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, plus the sum with the nineteenth parameter, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle, plus the sum with the twentieth parameter.

[0070] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle.

[0071] In one possible design, the entry condition for the seventh event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-first parameter is greater than the twenty-first threshold; the exit condition for the seventh event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-second parameter is less than the twenty-second threshold.

[0072] In one possible design, the entry condition for the seventh event includes: the perception angle accuracy of the first sensing target is greater than the twenty-first threshold; the exit condition for the seventh event includes: the perception angle accuracy of the first sensing target is less than the twenty-second threshold.

[0073] In one possible design, the entry condition for the eighth event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-third parameter is less than the twenty-third threshold; the exit condition for the eighth event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-fourth parameter is greater than the twenty-fourth threshold.

[0074] In one possible design, the entry condition for the eighth event includes: the perception angle accuracy of the first sensing target is less than the twenty-third threshold; the exit condition for the eighth event includes: the perception angle accuracy of the first sensing target is greater than the twenty-fourth threshold.

[0075] In one possible design, the processing module is further configured to determine the target event based on the angle perception result. The transceiver module is further configured to send a measurement report corresponding to the target event. The target event is an event among the measurement events that meets either an entry condition or a departure condition; the measurement report indicates at least one of the following: meeting the entry or departure condition of the target event, the identification information of the first sensing device, or the measurement quantity corresponding to the target event.

[0076] In one possible design, the measurement configuration is also used to indicate the duration. The processing module is further used to determine, based on the angle sensing results, whether a measurement event has been met within the duration.

[0077] Optionally, the transceiver module may include a sending module and a receiving module. The sending module implements the sending function of the communication device described in the third aspect, and the receiving module implements the receiving function of the communication device described in the third aspect.

[0078] Optionally, the communication device described in the third aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the first aspect.

[0079] Optionally, the communication device described in the third aspect may be a first sensing device, or a chip (system) or other component or assembly that can be disposed in the first sensing device, or a device that includes the first sensing device. This application does not limit this.

[0080] Furthermore, the technical effects of the communication device described in the third aspect can be referred to the technical effects of the method described in the first aspect, and will not be repeated here.

[0081] A fourth aspect provides a communication device. The communication device includes: a module for performing the method described in the second aspect, such as a transceiver module and a processing module. The transceiver module is used to indicate the transceiver functions of the communication device, and the processing module is used to perform functions of the communication device other than the transceiver functions.

[0082] For example, a processing module is used to acquire configuration messages. A transceiver module is used to send configuration messages. The configuration message includes a measurement object and a measurement configuration; the measurement object indicates at least one sensing target, and the measurement configuration indicates measurement events for angle sensing.

[0083] In one possible design, a configuration message is used by the first sensing device to perform angle sensing on at least one sensing target to obtain an angle sensing result. The angle sensing result is associated with the measurement quantity corresponding to the measurement event, and the angle sensing result is used to determine whether the measurement event is satisfied.

[0084] In one possible design, at least one sensing target includes a first sensing target, and the angle sensing result includes at least one of the following: a first angle, a second angle, or the sensing angle accuracy of the first sensing target. Wherein, the first angle is the angle between the direction of the first sensing signal sent by the first sensing device to the first sensing target and a first reference direction within the sensing range of the first sensing device; the second angle is the angle between the direction of the second sensing signal received by the first sensing device and a second reference direction within the sensing range of the first sensing device, wherein the second sensing signal is obtained after being acted upon by the first sensing target; the sensing angle accuracy of the first sensing target is used to indicate the accuracy of the angle sensing performed by the first sensing device on the first sensing target.

[0085] In one possible design, the measurement event includes at least one of the following: a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event. The measurements of the first, second, third, fourth, fifth, and sixth events are associated with a first angle and / or a second angle; the measurements of the seventh and eighth events are associated with the angular accuracy of the first sensing target; the angle sensing result is used to determine whether the measurement event is satisfied, including: the angle sensing result is used to determine whether the entry or exit conditions of the measurement event are met.

[0086] In one possible design, the entry condition for the first event includes: the sum of the first angle and the first parameter is less than the first threshold, and / or the sum of the second angle and the second parameter is less than the second threshold; the exit condition for the first event includes: the difference between the first angle and the third parameter is greater than the third threshold, and / or the difference between the second angle and the fourth parameter is greater than the fourth threshold.

[0087] In one possible design, the entry condition for the first event includes: the first angle is less than the first threshold, and / or the second angle is less than the second threshold; the exit condition for the first event includes: the first angle is greater than the third threshold, and / or the second angle is greater than the fourth threshold.

[0088] In one possible design, the entry conditions for the second event include: the first angle continuously decreases during the first time period, and / or the second angle continuously decreases during the second time period; the exit conditions for the second event include: the first angle continuously increases during the third time period, and / or the second angle continuously increases during the fourth time period.

[0089] In one possible design, the entry conditions for the third event include: the first angle continuously increases during the fifth time period, and / or the second angle continuously increases during the sixth time period; the exit conditions for the third event include: the first angle continuously decreases during the seventh time period, and / or the second angle continuously decreases during the eighth time period.

[0090] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the first angle and the fifth parameter is less than the fifth threshold, and the sum of the third angle and the sixth parameter is less than the sixth threshold; the exit condition for the fourth event includes: the difference between the first angle and the seventh parameter is greater than the seventh threshold, and / or the difference between the third angle and the eighth parameter is greater than the eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: the sum of the second angle and the ninth parameter is less than the ninth threshold, and the sum of the fourth angle and the tenth parameter is less than the tenth threshold; the exit condition for the fourth event includes: the difference between the second angle and the eleventh parameter is greater than the eleventh threshold, and / or the difference between the fourth angle and the twelfth parameter is greater than the twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and the third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and the fourth reference direction within the sensing range of the second sensing device.

[0091] In one possible design, when the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives the third sensing signal obtained after the first sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a first angle less than a fifth threshold and a third angle less than a sixth threshold; the exit condition for the fourth event includes: a first angle greater than a seventh threshold and / or a third angle greater than an eighth threshold. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal has passed through the first sensing target, the entry condition for the fourth event includes: a second angle less than a ninth threshold and a fourth angle less than a tenth threshold; the exit condition for the fourth event includes: a second angle greater than an eleventh threshold and / or a fourth angle greater than a twelfth threshold. Wherein, the third angle is the angle between the direction of the third sensing signal and a third reference direction within the sensing range of the second sensing device; the fourth angle is the angle between the direction of the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device.

[0092] In one possible design, the measuring object is used to indicate at least one sensing target, including: the measuring object is used to indicate at least two sensing targets; the at least two sensing targets include a first sensing target and a second sensing target, and the angle sensing result also includes a fifth angle and / or a sixth angle; the fifth angle is the angle between the direction of the fifth sensing signal sent by the first sensing device to the second sensing target and a fifth reference direction within the sensing range of the first sensing device; the sixth angle is the angle between the direction of the sixth sensing signal received by the first sensing device and a sixth reference direction within the sensing range of the first sensing device, and the sixth sensing signal is obtained after being acted upon by the second sensing target.

[0093] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the thirteenth parameter, and the second difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the fourteenth parameter. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the fifteenth parameter, and the fourth difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the sixteenth parameter.

[0094] In one possible design, the entry condition for the fifth event includes: a first difference less than the thirteenth threshold, and / or a second difference less than the fourteenth threshold; wherein the first difference is the absolute value of the difference between the first angle and the fifth angle, and the second difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the fifth event includes: a third difference greater than the fifteenth threshold, and / or a fourth difference greater than the sixteenth threshold; wherein the third difference is the absolute value of the difference between the first angle and the fifth angle, and the fourth difference is the absolute value of the difference between the second angle and the sixth angle.

[0095] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, plus the difference with the seventeenth parameter, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle, plus the difference with the eighteenth parameter. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, plus the sum with the nineteenth parameter, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle, plus the sum with the twentieth parameter.

[0096] In one possible design, the entry condition for the sixth event includes: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; wherein the fifth difference is the absolute value of the difference between the first angle and the fifth angle, and the sixth difference is the absolute value of the difference between the second angle and the sixth angle. The exit condition for the sixth event includes: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold; wherein the seventh difference is the absolute value of the difference between the first angle and the fifth angle, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle.

[0097] In one possible design, the entry condition for the seventh event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-first parameter is greater than the twenty-first threshold; the exit condition for the seventh event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-second parameter is less than the twenty-second threshold.

[0098] In one possible design, the entry condition for the seventh event includes: the perception angle accuracy of the first sensing target is greater than the twenty-first threshold; the exit condition for the seventh event includes: the perception angle accuracy of the first sensing target is less than the twenty-second threshold.

[0099] In one possible design, the entry condition for the eighth event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-third parameter is less than the twenty-third threshold; the exit condition for the eighth event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-fourth parameter is greater than the twenty-fourth threshold.

[0100] In one possible design, the entry condition for the eighth event includes: the perception angle accuracy of the first sensing target is less than the twenty-third threshold; the exit condition for the eighth event includes: the perception angle accuracy of the first sensing target is greater than the twenty-fourth threshold.

[0101] In one possible design, the transceiver module is further configured to receive a measurement report corresponding to the target event. The target event is an event among the measurement events that satisfies either an entry condition or a departure condition. The measurement report indicates at least one of the following: satisfaction of the entry or departure condition of the target event, identification information of the first sensing device, or the measurement quantity corresponding to the target event.

[0102] In one possible design, the measurement configuration is also used to indicate the duration, which is used to determine whether the measurement event is met within the duration.

[0103] Optionally, the transceiver module may include a sending module and a receiving module. The sending module implements the sending function of the communication device described in the fourth aspect, and the receiving module implements the receiving function of the communication device described in the fourth aspect.

[0104] Optionally, the communication device described in the fourth aspect may further include a storage module storing programs or instructions. When the processing module executes the program or instructions, the communication device can perform the method described in the second aspect.

[0105] Optionally, the communication device described in the fourth aspect may be a first communication device, or a chip (system) or other component or assembly that can be disposed in the first communication device, or a device that includes the first communication device. This application does not limit this.

[0106] Furthermore, the technical effects of the communication device described in the fourth aspect can be referred to the technical effects of the method described in the second aspect, and will not be repeated here.

[0107] Fifthly, a communication device is provided. The communication device includes a processor configured to perform the method described in the first or second aspect.

[0108] In one possible design, the communication device described in the fifth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the fifth aspect and other communication devices.

[0109] In one possible design, the communication device described in the fifth aspect may further include a memory. This memory may be integrated with the processor or disposed separately. The memory may be used to store computer programs and / or data involved in the methods described in the first or second aspect.

[0110] In the embodiments of this application, the communication device described in the fifth aspect may be the first sensing device described in the first aspect, or a chip (system) or other component or assembly disposed in the first sensing device, or an apparatus containing the first sensing device; or, the communication device described in the fifth aspect may be the first communication device described in the second aspect, or a chip (system) or other component or assembly disposed in the first communication device, or an apparatus containing the first communication device.

[0111] Furthermore, the technical effects of the communication device described in the fifth aspect can be referred to the technical effects of the method described in the first or second aspect, and will not be repeated here.

[0112] A sixth aspect provides a communication device. The communication device includes a processor coupled to a memory, the processor being configured to execute a computer program stored in the memory, such that the communication device performs the method described in the first or second aspect.

[0113] In one possible design, the communication device described in the sixth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the sixth aspect and other communication devices.

[0114] In the embodiments of this application, the communication device described in the sixth aspect may be the first sensing device described in the first aspect, or a chip (system) or other component or assembly disposed in the first sensing device, or an apparatus containing the first sensing device; or, the communication device described in the sixth aspect may be the first communication device described in the second aspect, or a chip (system) or other component or assembly disposed in the first communication device, or an apparatus containing the first communication device.

[0115] Furthermore, the technical effects of the communication device described in the sixth aspect can be referred to the technical effects of the method described in the first or second aspect, and will not be repeated here.

[0116] A seventh aspect provides a communication device, comprising: a processor and a memory; the memory being used to store a computer program, which, when executed by the processor, causes the communication device to perform the method described in the first aspect or the second aspect.

[0117] In one possible design, the communication device described in the seventh aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the seventh aspect and other communication devices.

[0118] In the embodiments of this application, the communication device described in the seventh aspect may be the first sensing device described in the first aspect, or a chip (system) or other component or assembly disposed in the first sensing device, or an apparatus containing the first sensing device; or, the communication device described in the seventh aspect may be the first communication device described in the second aspect, or a chip (system) or other component or assembly disposed in the first communication device, or an apparatus containing the first communication device.

[0119] Furthermore, the technical effects of the communication device described in the seventh aspect can be referred to the technical effects of the method described in any of the implementations of the first or second aspect, and will not be repeated here.

[0120] Eighthly, a communication device is provided, comprising: a processor; the processor being coupled to a memory and, after reading a computer program from the memory, executing the method as described in the first or second aspect according to the computer program.

[0121] In one possible design, the communication device described in the eighth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the eighth aspect and other communication devices.

[0122] In the embodiments of this application, the communication device described in the eighth aspect may be the first sensing device described in the first aspect, or a chip (system) or other component or assembly disposed in the first sensing device, or an apparatus containing the first sensing device; or, the communication device described in the eighth aspect may be the first communication device described in the second aspect, or a chip (system) or other component or assembly disposed in the first communication device, or an apparatus containing the first communication device.

[0123] Furthermore, the technical effects of the communication device described in the eighth aspect can be referred to the technical effects of the method described in the first or second aspect, and will not be repeated here.

[0124] Ninthly, a communication system is provided. The communication system includes: the first sensing device described in the first aspect and the first communication device described in the second aspect.

[0125] In a tenth aspect, a communication chip is provided, wherein instructions are stored that, when the chip is operated on a communication device, cause the method described in the first or second aspect to be implemented.

[0126] Eleventhly, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer causes the computer to perform the method described in the first aspect or the second aspect.

[0127] In a twelfth aspect, a computer program product is provided, comprising a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in the first or second aspect. Attached Figure Description

[0128] Figure 1 is a schematic diagram of a measurement process;

[0129] Figure 2 is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0130] Figure 3 is a flowchart illustrating a communication method provided in an embodiment of this application;

[0131] Figure 4 is a schematic diagram of a sensing scene provided in an embodiment of this application;

[0132] Figure 5 is a schematic diagram of a sensing scene provided in an embodiment of this application;

[0133] Figure 6 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0134] Figure 7 is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0135] For ease of understanding, the technical terms involved in the embodiments of this application will be introduced below.

[0136] 1. Communication Measurement Process

[0137] Due to factors such as the movement of terminal devices, channel conditions and communication quality can change dynamically. Terminal devices measure these dynamic changes in communication quality to assist the network in making communication-related decisions, such as mobility management, access control, and resource allocation. The measurement process mainly includes: measurement configuration, measurement execution, and measurement reporting. Taking a downlink communication scenario as an example, as shown in Figure 1, the measurement process can include the following steps:

[0138] S101, the network device sends the measurement configuration to the terminal device. Correspondingly, the terminal device receives the measurement configuration from the network device.

[0139] The measurement configuration can include the measurement object and the reporting configuration. The measurement object includes the specific measurement configuration, such as the object that the terminal device needs to measure (e.g., carrier frequency, time-frequency position of the reference signal, and subcarrier spacing).

[0140] The reporting configuration defines the criteria for measurement report reporting, such as whether the measurement report is triggered by a measurement event, reported periodically, or a combination of both (e.g., periodic reporting after an event trigger). When a measurement event triggers a report, the reporting configuration can include at least one of the following: various measurement event categories, thresholds for each measurement event, the measurement quantity to be reported for each measurement event, reference signal type, and the duration for which each measurement event meets the trigger conditions. The threshold corresponding to the measurement event is a reference value for determining whether an event has entered or left (i.e., the trigger condition). When the trigger condition of a measurement event is met, the terminal device is triggered to report a measurement report. For periodic reporting, the reporting configuration can include a report interval, at which the terminal device can send measurement reports.

[0141] It is understood that the measurement configuration may also include any other possible information or parameters, such as measurement identifiers, without limitation.

[0142] S102, the terminal device performs the measurement according to the measurement configuration and obtains the measurement result.

[0143] S103, the terminal device determines whether to trigger a report based on the measurement results.

[0144] S104, the terminal device sends a measurement report to the network device. Correspondingly, the network device receives the measurement results from the terminal device.

[0145] After obtaining the measurement results, the terminal device can evaluate whether to trigger the reporting of a measurement report according to the reporting criteria. When a measurement event is determined to meet its triggering conditions, the corresponding measurement report can be reported to the network device. Taking a cell handover scenario as an example, the measurement report can include the physical cell identifier, cell measurement results, etc., without limitation.

[0146] It is understandable that the specific details of the above steps S101-S104 can be found in existing implementations and will not be repeated here.

[0147] 2. Measurement Events

[0148] Currently, in communication scenarios, the 3rd Generation Partnership Project (3GPP) defines various measurement events and quantities to assist network devices in making communication-related decisions. For example, taking measurement event A1-H2 as an example, the physical meaning and measurement quantity of each event A1-H2 are shown in Table 1 below.

[0149] Table 1

[0150] Each measurement event has corresponding triggering conditions, including an entering condition and a leaving condition. The "entering condition" represents the conditions that must be met to enter the measurement event, while the "leaving condition" represents the conditions that must be met to exit the event. Taking event D1 in Table 1 as an example, the triggering condition for event D1 is: the distance between the UE and reference position 1 is greater than a first threshold, and the distance between the UE and reference position 2 is less than a second threshold.

[0151] When inequalities D1-1 and D1-2 are satisfied, the process enters event D1; when inequalities D1-3 and D1-4 are satisfied, the process exits event D1.

[0152] Among them, inequality D1-1 (entry condition 1): Ml1-Hys>Thresh1;

[0153] Inequality D1-2 (entering condition 2): Ml1+Hys <Thresh2;

[0154] Inequality D1-3 (leaving condition 1): Ml1+Hys <Thresh1;

[0155] Inequality D1-4 (leaving condition 2): Ml1-Hys>Thresh2.

[0156] Where Ml1 represents the distance between the UE and reference location 1, Ml12 represents the distance between the UE and reference location 2, Hys represents the hysteresis parameter of event D1, Thresh1 represents the first threshold, and Thresh2 represents the second threshold. Hys, Thresh1, and Thresh2 can be configured by the network side, or they can be predefined or pre-configured without limitation.

[0157] The above describes the entry and exit conditions for event D1 using event D1 as an example. The entry and exit conditions for other events in Table 1 are similar and can be used for reference only, without further explanation. For detailed descriptions of measurement events A1-H2 and other existing measurement events, please refer to the relevant content in 3GPP technical specification (TS) 38.331, which will not be elaborated here.

[0158] 3. Perception

[0159] Perception can refer to the process by which communication entities in a wireless network determine information about their surrounding environment by sending and receiving signals after they have passed through objects. This environmental information can include information about one or more objects within the environment. Object information can include the object's position, speed, size, or shape. These objects can alter the transmission characteristics of signals, such as changing the transmission direction, transmission gain, transmission delay, or frequency. Therefore, communication entities can achieve perception by detecting these changes in signal transmission characteristics. For example, channel response information obtained through channel estimation can reflect changes in a signal after passing through different transmission environments (or channels). Consequently, when a signal passes through an object, the channel response information can reflect the changes in the object's transmission characteristics.

[0160] For example, channel response information may include channel impulse response (CIR), channel frequency response (CFR), or channel state information (CSI), etc., and this application embodiment does not specifically limit it.

[0161] It should be understood that the "signal after being acted upon by an object" mentioned above may include: a signal after being reflected by an object; a signal after being refracted by an object; a signal after being scattered by an object; a signal after being diffracted by an object; or a signal after being transmitted by an object, etc. The embodiments of this application do not specifically limit this.

[0162] It is understood that the aforementioned objects can be moving or stationary, and can be active or passive. Active objects can refer to those with data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, and radio frequency identification (RFID) devices. Passive objects can refer to those without data processing capabilities, such as animals, plants, vehicles, and buildings.

[0163] It should be understood that "object" can also be called "scatterer", "reflector", "refractor", "blocker", or "obstacle", etc. In other words, in the embodiments of this application, "object", "scatterer", "reflector", "refractor", "blocker", and "obstacle" can be used interchangeably, which will be uniformly stated here and will not be repeated below.

[0164] It should also be understood that the aforementioned "communication entity" can also be referred to as "network entity," "communication device," "communication equipment," "communication node," or "site." In other words, in the embodiments of this application, "communication entity," "network entity," "communication device," "communication equipment," "communication node," and "site" can be used interchangeably, and will not be elaborated further below.

[0165] 4. Perception Mode

[0166] The current 3GPP definition includes the following six sensing modes:

[0167] (1) Network device self-transmission and self-reception: The sensing signal is sent by the network device, and after being acted upon by the target in the environment, the echo signal is received by the network device.

[0168] (2) Network device A sends and network device B receives: The sensing signal is sent by network device A, and after passing through the target in the environment, the echo signal is received by network device B.

[0169] (3) Network device sends, terminal device receives: The sensing signal is sent by the network device, reflected by the target in the environment, and then received by the terminal device.

[0170] (4) Terminal device sends network device receives: The sensing signal is sent by the terminal device, and after passing through the target in the environment, the echo signal is received by the network device.

[0171] (5) Terminal device self-transmission and self-reception: The sensing signal is sent by the terminal device, and after being acted upon by the target in the environment, the echo signal is received by the terminal device.

[0172] (6) Terminal device A sends and terminal device B receives: The sensing signal is sent by terminal device A, and after passing through the target in the environment, the echo signal is received by terminal device B.

[0173] 5. Integrated communication and sensing

[0174] Integrated sensing and communication (ISAC), integrated communication and sensing (ICAS), harmonized communication and sensing (HCS), joint sensing and communication (JSAC), or joint communication and sensing (JCAS) are all key technologies in future wireless communication systems. They aim to integrate wireless communication and sensing functions into a single system, utilizing the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification. This allows for the acquisition of information about the surrounding physical environment, improving communication performance and enhancing user experience. In integrated sensing and communication technology, sensing devices can transmit sensing signals and / or receive echo signals to obtain information such as the position, angle, and velocity of targets in the environment.

[0175] With the development of 5G networks, the demand for new network capabilities based on sensing is gradually emerging. For example, in certain scenarios of smart cities and smart transportation, the need to acquire relative positions and angles between objects, as well as to sense the distance, speed, and shape of target objects, is becoming increasingly apparent. To meet these business needs, 5G networks should be further enhanced to have the ability to assist wireless networks in sensing. In the future, 5G can deploy radar-communication integrated base stations to enhance the sensing capabilities of base stations. The precise sensing capabilities of radar can enable precise communication, improving communication efficiency. For example, the communication and sensing resources of base stations can be time-division multiplexed or space-division multiplexed to achieve the perception of the surrounding environment or objects. Sensing functions can be used in security scenarios where cameras cannot be installed. For example, in specific industrial parks, it can detect intrusions by 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 roadside base stations to have certain sensing capabilities.

[0176] The technical principles of sensing differ somewhat from those of communication. In communication, the transmitting end modulates information onto radio waves and sends it to the receiving end, which then demodulates the signal to obtain the information. Sensing, however, requires the transmitting end to send radio waves in a specific direction. When these radio waves strike a target surface, they are reflected, and the receiving end receives and processes these reflected waves to obtain information such as the target's position, speed, and type.

[0177] For example, existing wireless signals in the environment (sound, light, radio frequency signals, etc.) can be used "additionally" to sense the environment while fulfilling their primary functions (lighting, communication, etc.). Taking radio frequency signals as an example, radio waves generated by a signal transmitter undergo physical phenomena such as direct transmission, reflection, and scattering during propagation, thus forming multiple propagation paths. As a result, the multipath superposition signal formed at the signal receiver carries information reflecting the signal propagation space. Wireless sensing technology (or sensorless scene sensing technology) analyzes the changes in wireless signals during propagation to obtain the characteristics of the signal propagation space (channel), thereby achieving scene perception. During wireless communication, electromagnetic waves transmit signals while propagating through space, also carrying environmental information. For example, if the wireless fidelity (Wi-Fi) signal received by a mobile phone is weak, it may be because the phone is far from the wireless router; while if the Wi-Fi signal strength received by the phone drops sharply, it is likely because the phone has entered a specific enclosed space such as an elevator. In this example, the received signal strength indicator (RSSI) is used as a feature to infer the phone's location and its environment. The selection of signal features has a crucial impact on sensing accuracy, reliability, and model generalization ability.

[0178] Based on the above introduction, the technical principles of sensing differ somewhat from those of communication. In certain sensing scenarios, such as angle sensing, many of the measurement events and quantities defined in the communication scenarios described above are not applicable.

[0179] For example, a sensing device can obtain the angle information of a target relative to the sensing device by performing angle sensing on the target. Existing 3GPP-defined measurements, such as RSRP, RSRQ, SINR, interference, channel busy rate, distance, and time, cannot effectively reflect angle sensing information. Furthermore, since existing 3GPP-defined measurements cannot effectively reflect angle sensing information, various existing 3GPP-defined measurement events are also unsuitable for angle sensing scenarios.

[0180] In summary, in view of the above-mentioned technical problems, the embodiments of this application propose the following technical solutions to solve the problem that various measurement events and measurement quantities defined in the communication scenario cannot be applied to certain sensing scenarios, such as angle sensing scenarios.

[0181] The technical solutions of this application embodiment can be applied to various communication systems, such as Bluetooth systems, wireless fidelity (WiFi) systems, long-range radio (LoRa), vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, machine-to-machine (M2M) communication systems, machine-type communication (MTC), Internet of Things (IoT) communication systems, 4th generation (4G) communication systems such as long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, worldwide interoperability for microwave access (WiMAX) communication systems, satellite communication systems, 5G communication systems such as NR systems, and future communication systems, etc.

[0182] In a communication system, a device can send signals to or receive signals from another device. These signals can include information, signaling, or data. The term "device" can also be replaced with entities, network entities, communication equipment, communication modules, nodes, communication nodes, etc.

[0183] 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.

[0184] In addition, to better understand the embodiments of this application, the following points are made before introducing the embodiments of this application.

[0185] In the embodiments of this application, the words "exemplary," "for example," etc., are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the term "exemplary" is intended to present the concept in a concrete manner.

[0186] In the embodiments of this application, the terms "information," "signal," "message," "channel," and "signaling" may sometimes be used interchangeably. It should be noted that, without emphasizing their distinction, their intended meanings are consistent. Similarly, "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing their distinction, their intended meanings are consistent. Furthermore, the " / " mentioned in this application can be used to indicate an "or" relationship. It is understood that in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing an instruction information used to indicate A, it can be understood that the instruction information carries A, directly indicates A, or indirectly indicates A.

[0187] In this embodiment, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index; or indirectly indicating the information to be instructed by indicating other information, wherein there is an association between the other information and the information to be instructed. Alternatively, only a part of the information to be instructed may be indicated, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent.

[0188] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0189] The information to be instructed can be sent as a whole or divided into multiple sub-information messages, and the sending period and / or timing of these sub-information messages can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0190] The terms "first," "second," and various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. For example, they distinguish different instruction information. Similarly, "first network region" and "second network region" are simply used to distinguish different regions and do not limit their order. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and that "first," "second," etc., are not necessarily different.

[0191] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method. "Saving" can mean saving in one or more memories. These memories can be separate installations or integrated into the encoder or decoder, processor, or communication device. Alternatively, some memories can be separate installations, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0192] The “protocol” mentioned in the embodiments of this application may refer to standard protocols in the field of communication, such as LTE protocol, NR protocol and related protocols applied to future communication systems. The embodiments of this application do not limit this.

[0193] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the fact that the device (e.g., a terminal device or a network device) will make corresponding processing under certain objective circumstances. They are not time limits, nor do they require the device (e.g., a terminal device or a network device) to have a judgment action when implementing it, nor do they imply any other limitations.

[0194] In the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include direct transmission via the air interface or indirect transmission by other units or modules via the air interface. "Receive information from YY" can be understood as the source of the information being YY, which may include direct reception from YY via the air interface or indirect reception from YY by other units or modules via the air interface. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface. In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0195] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0196] To facilitate understanding of the embodiments of this application, the communication system applicable to the embodiments of this application will be described in detail first using the communication system shown in FIG2 as an example. For example, FIG2 is a schematic diagram of the architecture of a communication system provided in an embodiment of this application.

[0197] As shown in Figure 2, the communication system mainly includes: a first sensing device and a first communication device.

[0198] The first sensing device possesses sensing capabilities, such as angle sensing capabilities, and can perform sensing of targets within its sensing range. The first sensing device can be a terminal device or a radio access network (RAN) device. The first communication device can be used to control the first sensing device to perform sensing. The first communication device can be a terminal device, a RAN device, or a core network (CN) element, such as a sensing function (SF) element, or any other possible network element, without limitation.

[0199] It is understood that the naming of the first sensing device and the first communication device is merely an example. The first sensing device and the first communication device can be replaced with any other possible names. For example, the first sensing device can be replaced with the first sensing node, the first sensing device, etc., and the first communication device can be replaced with the first control node, the first control device, the first control apparatus, etc., without limitation. The terminal equipment, RAN equipment, and SF network elements will be described in detail below.

[0200] The terminal device can be a device or module with corresponding communication functions. It can be a terminal device with transceiver capabilities, or a chip or chip system embedded within it. This terminal device can also be referred to as User Equipment (UE), Internet of Things (IoT) device, access terminal device, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal device, mobile device, user terminal device, terminal device, wireless communication device, user agent, or user equipment. The terminal devices in the embodiments of this application may be mobile phones, cellular phones, smartphones, tablets (such as tablets), wireless data cards, personal digital assistants (PDAs), wireless modems, handsets, laptop computers, machine-type communication (MTC) terminal devices, computers with wireless transceiver capabilities, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, smart home devices (e.g., refrigerators, televisions, air conditioners, speakers, electricity meters, electronic door locks, etc.), intelligent robots, robotic arms, workshop equipment, wireless terminal devices in autonomous driving, wireless terminal devices in industrial control, wireless terminal devices in self-driving, wireless terminal devices in telemedicine, wireless terminal devices in smart grids, wireless terminal devices in transportation safety, wireless terminal devices in smart cities, and smart homes. The terminal equipment in this application can be a wireless terminal device (e.g., a vehicle-mounted terminal device), a roadside unit (RSU) with terminal device functionality, or flying equipment (e.g., intelligent robots, hot air balloons, drones, airplanes). The terminal equipment in this application can also be a vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip, or vehicle-mounted unit integrated into a vehicle as one or more components or units, a transportation vehicle with wireless communication functionality, or a communication module. The terminal equipment can also be other devices with terminal device functionality; for example, it can be a device that functions as a terminal device in D2D communication.

[0201] The embodiments of this application do not limit the form of the terminal device. The device used to implement the functions of the terminal device can be the terminal device itself; it can also be a device that supports the terminal device in implementing the functions, such as a chip system. This device can be installed in the terminal device or used in conjunction with the terminal device. In the embodiments of this application, the chip system can be composed of chips, or it can include chips and other discrete devices. The terminal device typically has a communication module, circuit, or chip that performs the corresponding communication functions. The terminal device can also be configured with program instructions for performing the corresponding communication functions.

[0202] RAN equipment can be a device that provides access for terminal devices. For example, RAN equipment may include: access network equipment in a future mobile communication system, such as a base station in a future communication system, or in a future mobile communication system, the RAN equipment may also have other naming conventions, all of which are covered within the protection scope of the embodiments of this application, and this application does not limit them in any way. Alternatively, RAN equipment may also include 5G, such as a next-generation NodeB (gNB) in a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in 5G, or it may be a network node constituting a gNB, a transmission and reception point (TRP), a transmission point (TP), or a transmission measurement function (TMF), such as a building base band unit (BBU), or a centralized unit (CU) or a distributed unit (DU), an RSU with base station functionality, or a wired access gateway, or the core network of 5G. Alternatively, RAN equipment may also include access points (APs) in WiFi systems, wireless relay nodes, wireless backhaul nodes, various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, vehicle-mounted devices, non-ground devices (such as satellites, drones, etc.), and so on.

[0203] CU and DU can be configured separately or included in the same network element, such as a baseband unit (BBU). RU can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). It is understood that network equipment can be CU nodes, DU nodes, or a combination of both. Furthermore, CUs can be classified as network equipment in the access network (RAN) or the core network (CN); there are no restrictions on this classification.

[0204] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0205] This application does not limit the form of the RAN device. The device used to implement the function of the RAN device can be the RAN device itself, or it can be a device that supports the RAN device in implementing the function, such as a chip system. The device can be installed in the RAN device or used in conjunction with the RAN device.

[0206] SF mainly participates in receiving sensing service requests and obtaining corresponding sensing needs, selecting and requesting relevant sensing devices to perform sensing operations and receiving corresponding sensing measurement data, and opening up the sensing measurement data or sensing results obtained based on the sensing measurement data to the sensing requester.

[0207] In this communication system, a first communication device can send a configuration message to a first sensing device. Based on the received configuration message, the first sensing device can determine the measurement event that needs to be triggered for angle sensing and at least one sensing target that needs to be subjected to angle sensing. In other words, the configuration message is applicable to the angle sensing scenario. The first sensing device can perform angle sensing on at least one sensing target and obtain the angle sensing result. Since the angle sensing result is associated with the measurement quantity corresponding to the measurement event, the first sensing device can determine whether the measurement event for angle sensing is satisfied based on the angle sensing result. This solves the problem that various measurement events and quantities defined in the communication scenario are not applicable to the angle sensing scenario.

[0208] It is understood that Figure 2 above is a simplified schematic diagram for ease of understanding, and may also include other devices, modules or chips, etc., which are not shown in Figure 2.

[0209] For ease of understanding, the communication method provided in the embodiments of this application will be described in detail below with reference to Figures 3-5.

[0210] For example, Figure 3 is a flowchart illustrating a communication method provided in an embodiment of this application. This method can be applied to the aforementioned communication system and involves the interaction between a first sensing device and a first communication device.

[0211] Specifically, as shown in Figure 3, the flow of this communication method is as follows.

[0212] S301, the first communication device obtains the configuration message.

[0213] The configuration message may include a measurement object and a measurement configuration. The measurement object can be used to indicate at least one sensing target (or measurement target). For example, the measurement object may indicate the identity (ID) of at least one sensing target; or, the measurement object may indicate a sensing area, which can represent the geographical location or region where sensing operations need to be performed, and can be represented by absolute or relative coordinates. In this case, the at least one sensing target can be one or more sensing targets within the sensing area. The measurement object can also be represented in any possible form, which is not limited in this embodiment.

[0214] The measurement configuration can be used to indicate angle-sensing measurement events. These events can be triggers for reporting by subsequent sensing devices, such as the first sensing device described below, which reports a measurement report. The angle-sensing measurement event can include one or more events, such as the first event through the eighth event described below. For details, please refer to the relevant sections in steps S303-S304 below; they will not be repeated here.

[0215] In one possible design, the measurement configuration can also be used to indicate duration.

[0216] The duration can be used to determine whether a measurement event is satisfied within that duration. It is understood that if the angle-sensing measurement event includes one or more events, each event can correspond to a duration, or multiple events can correspond to a single duration; this embodiment does not limit this.

[0217] The measurement configuration can also indicate any other possible parameters, which are not limited in this application embodiment. For example, the measurement configuration can also indicate a threshold or limit for the measurement event (such as the first threshold to the twenty-third threshold below), which can be used to determine whether the triggering conditions of the measurement event are met, i.e., the entry condition and the exit condition. For a detailed description, please refer to the relevant content in steps S303 and S304 below, which will not be repeated here.

[0218] Based on the above description, the configuration message is applicable to angle sensing scenarios, indicating the measurement object that needs to be measured for angle sensing and the measurement event that needs to be triggered for angle sensing. When the first communication device needs to sense the device, such as the first sensing device described below, to perform angle sensing, it can generate this configuration message for the first sensing device. Alternatively, the first sensing device can obtain this configuration message from other devices or network elements, without limitation.

[0219] It is understood that the naming of the configuration message, measurement object, and measurement configuration mentioned above is only an example. The configuration message, measurement object, and measurement configuration can be replaced with any other possible names without limitation.

[0220] S302, the first communication device sends a configuration message to the first sensing device. Correspondingly, the first sensing device receives the configuration message from the first communication device.

[0221] The first communication device can send the configuration message obtained in step S301 to the first sensing device for the first sensing device to perform angle sensing, i.e., step S303 below.

[0222] S303, the first sensing device performs angle sensing on at least one sensing target according to the configuration message and obtains the angle sensing result.

[0223] In other words, the configuration message can be used by the first sensing device to perform angle sensing on at least one sensing target to obtain angle sensing results. The angle sensing results can be associated with the measurement quantities corresponding to the measurement events. The angle sensing results, measurement events, and the measurement quantities corresponding to the measurement events are described in detail below.

[0224] In one possible design, at least one sensing target includes a first sensing target, and the angle sensing result may include at least one of the following: a first angle, a second angle, or the sensing angle accuracy of the first sensing target.

[0225] The following example will be used to explain the first and second angles in detail.

[0226] Scenario 1: The first sensing device sends data to other sensing devices (denoted as sensing device #a) for reception.

[0227] That is, the first sensing device can send a first sensing signal to the first sensing target, and sensing device #a receives the sensing echo signal obtained after the first sensing signal passes through the first sensing target. This sensing echo signal is denoted as sensing echo signal #1. In case 1, the first sensing device can perform angle sensing on the first sensing target to obtain an angle sensing result, which may include a first angle.

[0228] The first angle can be the angle between the direction of the first sensing signal sent by the first sensing device to the first sensing target and the first reference direction within the sensing range of the first sensing device. For example, as shown in Figure 4, the sensing range of the first sensing device can be called the field of view (FOV) of the first sensing device, and the center line of the FOV can be used to divide the FOV into two regions with the same sensing range. Assuming the direction of the center line of the FOV is determined as the first reference direction, the first angle can be the angle formed by the first sensing signal and the center line of the FOV, which can be denoted as α1. The first reference direction can also be any other possible direction within the sensing range of the first sensing device; this application embodiment does not limit the specific direction of the first reference direction.

[0229] It is understood that the naming of the first angle is merely an example, and the first angle can be replaced with any other possible name, such as the departure direction of the first sensing signal, without limitation.

[0230] Scenario 2: Other sensing devices (denoted as sensing device #b) send data and receive data from the first sensing device.

[0231] That is, sensing device #b can send a sensing signal to the first sensing target, denoted as sensing signal #b; the first sensing device #a receives the sensing echo signal obtained after sensing signal #b passes through the first sensing target, and this sensing echo signal is denoted as the second sensing signal. In case 2, the first sensing device can perform angle sensing on the first sensing target to obtain an angle sensing result, which includes a second angle.

[0232] The second angle can be the angle between the direction of the second sensing signal received by the first sensing device and the second reference direction within the sensing range of the first sensing device. The second sensing signal is obtained after being acted upon by the first sensing target. For example, as shown in Figure 5, assuming the direction of the center line of the field of view in the field of view of the first sensing device is determined as the second reference direction, then the second angle can be the angle formed by the second sensing signal and the center line of the field of view, which can be denoted as α2. The second reference direction can also be any other possible direction within the sensing range of the first sensing device; this application embodiment does not limit the specific direction of the second reference direction.

[0233] It is understood that the naming of the second angle is merely an example, and the second angle can be replaced with any other possible name, such as the direction of arrival of the second sensing signal, without limitation.

[0234] Scenario 3: The first sensing device transmits and receives signals automatically.

[0235] That is, the first sensing device can send a first sensing signal to the first sensing target and receive the sensing echo signal obtained after the first sensing signal passes through the first sensing target; this sensing echo signal is denoted as the second sensing signal. In case 3, the first sensing device can perform angle sensing on the first sensing target to obtain an angle sensing result, which includes a first angle and a second angle. In this case, the specific description of the first angle and the second angle can refer to the relevant content in cases 1 and 2 above, and is not limited thereto.

[0236] Based on the above introduction, the sensing angle accuracy of the first sensing target can be used to indicate the accuracy of the angle sensing performed by the first sensing device on the first sensing target, and can be denoted as P1. That is, the error tolerance, error requirement, or degree of closeness between the angle sensing result obtained by the first sensing target and the actual result. For example, the error between the perceived measurement value of the first sensing target in terms of angle, such as the first angle and the second angle mentioned above, and the true value.

[0237] The smaller the angle accuracy of the first sensing target, the higher the accuracy of the angle sensing performed by the first sensing device on the first sensing target. The angle accuracy of the first sensing target is inversely proportional to the antenna aperture and the signal-to-noise ratio (SNR) of the sensed echo signal. For example, when the antenna aperture (i.e., the physical size for receiving or transmitting signals) increases, the angle accuracy of the first sensing target decreases; the higher the SNR of the sensed echo signal, the smaller the angle accuracy of the first sensing target. For a detailed description of the angle accuracy of the first sensing target, please refer to existing technologies; it will not be elaborated here.

[0238] It should be understood that the above description of angle perception results uses the first sensing target as an example. When at least one sensing target includes other sensing targets, the corresponding angle perception results are similar and can be understood with reference to this example. For instance, the measurement object is used to indicate at least one sensing target, including: the measurement object can be used to indicate at least two sensing targets, that is, the first sensing device needs to perform angle perception on at least two sensing targets simultaneously. The following description uses the example of at least two sensing targets including the first sensing target and the second sensing target to illustrate the angle perception results.

[0239] The first sensing device simultaneously performs angle sensing on the first sensing target and the second sensing target, obtaining an angle sensing result. This angle sensing result may include one or more of the aforementioned first angle, second angle, or the sensing angle accuracy of the first sensing target, and may also include a fifth angle and / or a sixth angle. The fifth and sixth angles will be specifically described below using the following example.

[0240] Scenario 4: The first sensing device sends data to other sensing devices (denoted as sensing device #c) for reception.

[0241] That is, the first sensing device sends a fifth sensing signal to sensing device #c, and sensing device #c receives the sensing echo signal obtained after the fifth sensing signal passes through the second sensing target. This sensing echo signal is denoted as sensing echo signal #2. In case 4, the first sensing device can perform angle sensing on the second sensing target to obtain an angle sensing result, which may include the fifth angle.

[0242] The fifth angle can be the angle between the direction of the fifth sensing signal sent by the first sensing device to the second sensing target and the fifth reference direction within the sensing range of the first sensing device. For example, as shown in Figure 4, assuming the direction of the center line of the field of view in the field of view of the first sensing device is determined as the fifth reference direction, then the fifth angle can be the angle formed by the fifth sensing signal and the center line of the field of view, which can be denoted as α5. The fifth reference direction can also be any other possible direction within the sensing range of the first sensing device; this application embodiment does not limit the specific direction of the fifth reference direction.

[0243] It is understood that the naming of the fifth angle is merely an example, and the fifth angle can be replaced with any other possible name, such as the departure direction of the fifth sensing signal, without limitation.

[0244] Case 5: The first sensing device sends data to other sensing devices (denoted as sensing device #d) for reception.

[0245] That is, sensing device #d can send a sensing signal to the second sensing target, denoted as sensing signal #c; the first sensing device #a receives the sensing echo signal obtained after sensing signal #c passes through the second sensing target, and this sensing echo signal is denoted as the sixth sensing signal. In case 5, the first sensing device can perform angle sensing on the first sensing target to obtain an angle sensing result, which may include the sixth angle.

[0246] The sixth angle can be the angle between the direction of the sixth sensing signal received by the first sensing device and the sixth reference direction within the sensing range of the first sensing device. The sixth sensing signal is obtained after being processed by the second sensing target. For example, as shown in Figure 5, assuming the direction of the center line of the field of view in the field of view of the first sensing device is determined as the sixth reference direction, then the sixth angle can be the angle formed by the sixth sensing signal and the center line of the field of view, which can be denoted as α6. The sixth reference direction can also be any other possible direction within the sensing range of the first sensing device; this application embodiment does not limit the specific direction of the sixth reference direction.

[0247] It is understood that the naming of the sixth angle is merely an example, and the sixth angle can be replaced with any other possible name, such as the direction of arrival of the sixth sensing signal, without limitation.

[0248] Scenario 6: The first sensing device transmits and receives signals automatically.

[0249] That is, the first sensing device can send a fifth sensing signal to the second sensing target and receive the sensing echo signal obtained after the fifth sensing signal passes through the second sensing target; this sensing echo signal is denoted as the sixth sensing signal. In case 6, the first sensing device can perform angle sensing on the second sensing target to obtain angle sensing results, which include a fifth angle and a sixth angle. In this case, the specific descriptions of the fifth and sixth angles can refer to the relevant content in cases 4 and 5 above, and are not limited thereto.

[0250] Based on the above introduction, optionally, the angle perception result may also include the perception angle accuracy of the second perception target, that is, the accuracy of the first perception device in performing angle perception on the second perception target. For a detailed introduction, please refer to the above introduction of "perception angle accuracy of the first perception target", which will not be repeated here.

[0251] Based on the above description, in one possible design scheme, the measurement event may include at least one of the following: the first event, the second event, the third event, the fourth event, the fifth event, the sixth event, the seventh event, or the eighth event.

[0252] The angle perception results are correlated with the measurement quantities corresponding to the measurement events. Specifically, the measurement quantities of the first, second, third, fourth, fifth, and sixth events are correlated with the first angle and / or the second angle; in other words, the measurement quantities of the first, second, third, fourth, fifth, and sixth events can be the first angle and / or the second angle. The measurement quantities of the seventh and eighth events are correlated with the perception angle accuracy of the first perceived target; in other words, the measurement quantities of the seventh and eighth events can be the perception angle accuracy of the first perceived target.

[0253] It is understood that the naming of the first, second, third, fourth, fifth, sixth, seventh, and eighth events in the above perspective perception results is only an example. The first, second, third, fourth, fifth, sixth, seventh, and eighth events in the perspective perception results can also be replaced with any other possible names without limitation.

[0254] S304, the first sensing device determines whether the measurement event is met based on the angle sensing result.

[0255] In other words, the angle perception results can be used to determine whether a measurement event is met.

[0256] In one possible design, the first sensing device determines whether a measurement event is satisfied based on the angle sensing result, including:

[0257] The first sensing device determines whether the triggering conditions for the measurement event, i.e., the entry or exit conditions, are met based on the angle sensing results. In other words, the angle sensing results are used to determine whether the measurement event is met, which can include: the angle sensing results being used to determine whether the entry or exit conditions for the measurement event are met. The following implementation example will be used to specifically describe the entry or exit conditions for the first through eighth events.

[0258] Implementation 1: First event (which can be denoted as S-A1).

[0259] The first event can be used to indicate the first sensing target within the sensing range of the first sensing device (i.e., the physical meaning of the first event). The following example illustrates the entry and exit conditions of the first event.

[0260] Example 1: The entry conditions for the first event include: the sum of the first angle and the first parameter is less than the first threshold, and / or the sum of the second angle and the second parameter is less than the second threshold; the exit conditions for the first event include: the difference between the first angle and the third parameter is greater than the third threshold, and / or the difference between the second angle and the fourth parameter is greater than the fourth threshold.

[0261] Example 2: The entry conditions for the first event include: the first angle is less than the first threshold, and / or the second angle is less than the second threshold; the departure conditions for the first event include: the first angle is greater than the third threshold, and / or the second angle is greater than the fourth threshold.

[0262] It can be understood that the difference between Example 1 and Example 2 is that when determining the entry conditions or departure conditions of the first event in Example 1, a hysteresis parameter or a hysteresis value is introduced, that is, the above-mentioned first parameter, second parameter, third parameter, and fourth parameter. In this way, the above-mentioned Example 1 and Example 2 can meet the requirements of different scenarios.

[0263] Specifically, the above Example 1 can be expressed as the following inequality:

[0264] Entry condition for S - A1: α1 + Hys1 < Thresh1, and / or α2 + Hys2 < Thresh2;

[0265] Departure condition for S - A1: α1 - Hys3 > Thresh3, and / or α2 - Hys4 > Thresh4.

[0266] The above Example 2 can be expressed as the following inequality:

[0267] Entry condition for S - A1: α1 < Thresh1, and / or α2 < Thresh2;

[0268] Departure condition for S - A1: α1 > Thresh3, and / or α2 > Thresh4.

[0269] Where, α1 represents the first angle, α2 represents the second angle; Hys1 represents the first parameter, Hys2 represents the second parameter, Hys3 represents the third parameter, Hys4 represents the fourth parameter; Thresh1 represents the first threshold, Thresh2 represents the second threshold, Thresh3 represents the third threshold, Thresh4 represents the fourth threshold. The embodiments of the present application do not limit the specific values of the first parameter, second parameter, third parameter, fourth parameter, first threshold, second threshold, third threshold, and fourth threshold. The first parameter, second parameter, third parameter, fourth parameter, first threshold, second threshold, third threshold, and fourth threshold can be configured for the first sensing device by the first communication device (such as through the above measurement configuration), or can also be predefined or preconfigured (by the protocol), without limitation.

[0270] It is understandable that the "<" in the above inequality can also be replaced with "less than or equal to"; or, the ">" in the above inequality can also be replaced with "greater than or equal to"; or, the "<" in the above inequality can be replaced with "less than or equal to", and the ">" in the above inequality can be replaced with "greater than or equal to". In this case, Thresh1≠Thresh3, and Thresh2≠Thresh4.

[0271] Based on the above description, the first sensing device can accurately and quickly determine whether the first sensing target is within the sensing range of the first sensing device by using the entry or exit conditions of the first event.

[0272] It is understood that the naming of the first parameter, second parameter, third parameter, fourth parameter, first threshold, second threshold, third threshold, and fourth threshold mentioned above is only an example. The first parameter, second parameter, third parameter, fourth parameter, first threshold, second threshold, third threshold, and fourth threshold can also be replaced with any other possible names without limitation.

[0273] Implementation 2: The second event (which can be denoted as S-A2).

[0274] The second event can be used to indicate that the first sensing target has moved into or approached the sensing range of the first sensing device (i.e., the physical meaning of the second event). The entry conditions for the second event include: the first angle continuously (or persistently) decreasing within a first time period, and / or the second angle continuously (or persistently) decreasing within a second time period; the exit conditions for the second event include: the first angle continuously (or persistently) increasing within a third time period, and / or the second angle continuously (or persistently) increasing within a fourth time period. It should be understood that "moving into or approaching" here is a relative concept; the first sensing target itself is within the sensing range of the first sensing device.

[0275] The specific values ​​of the first time period, the second time period, the third time period, and the fourth time period are not limited in the embodiments of this application. The first time period, the second time period, the third time period, and the fourth time period can be configured by the first communication device to the first sensing device (such as the duration indicated by the measurement configuration mentioned above), or they can be predefined or preconfigured (by the protocol), and are not limited.

[0276] Based on the above description, the first sensing device can accurately and quickly determine whether the first sensing target has moved into or near the sensing range of the first sensing device by using the entry or exit conditions of the second event.

[0277] It is understood that the naming of the first time period, the second time period, the third time period, and the fourth time period is only an example. The first time period, the second time period, the third time period, and the fourth time period can be replaced with any other possible names without limitation.

[0278] Implementation 3: The third event (which can be denoted as S-A3).

[0279] The third event can be used to indicate that the first sensing target has moved out of or away from the sensing range of the first sensing device (i.e., the physical meaning of the third event). The entry conditions for the third event include: the first angle continuously (or persistently) increasing during the fifth time period, and / or the second angle continuously (or persistently) increasing during the sixth time period; the exit conditions for the third event include: the first angle continuously (or persistently) decreasing during the seventh time period, and / or the second angle continuously (or persistently) decreasing during the eighth time period. It should be understood that "moving out of or away from" here is a relative concept; the first sensing target itself is within the sensing range of the first sensing device.

[0280] The specific values ​​of the fifth, sixth, seventh, and eighth time periods are not limited in this application embodiment. The fifth, sixth, seventh, and eighth time periods can be configured by the first communication device to the first sensing device (such as the duration indicated by the measurement configuration mentioned above), or they can be predefined or preconfigured (by the protocol), and are not limited.

[0281] Based on the above description, the first sensing device can accurately and quickly determine whether the first sensing target has moved out of or away from the sensing range of the first sensing device by using the entry or exit conditions of the third event.

[0282] It is understood that the naming of the fifth, sixth, seventh, and eighth time periods mentioned above is only an example. The fifth, sixth, seventh, and eighth time periods can be replaced with any other possible names without limitation.

[0283] Implementation 4: The fourth event (which can be denoted as S-A4).

[0284] The fourth event can be used to indicate that the first sensing target is simultaneously within the sensing range of both the first and second sensing devices (i.e., the physical meaning of the fourth event), or in other words, that the first sensing target is simultaneously within the intersection of the sensing ranges of both the first and second sensing devices. The first and second sensing devices work together to perform angular sensing of the first sensing target. The following example illustrates this in detail.

[0285] Scenario 7: The first sensing device sends data, and the second sensing device receives it.

[0286] That is, the first sensing device sends a first sensing signal to the first sensing target, and the second sensing device receives a third sensing signal obtained after the first sensing signal acts on the first sensing target. That is, the third sensing signal is the sensing echo signal of the first sensing signal. The included angle between the direction of the third sensing signal and the third reference direction within the sensing range of the second sensing device can be denoted as the third angle (α3). This third angle is similar to the second angle in the above case 2 and can be understood by reference. Details are not described here. The third reference direction can be the direction of the center line of the field of view angle in the field of view angle of the second sensing device, or any other possible direction within the sensing range of the second sensing device. The embodiments of the present application do not limit the specific direction of the third reference direction. It can be understood that this case 7 can correspond to case 1 above. That is, the second sensing device can be the above sensing device #a, and the third sensing signal can be the above sensing echo signal #1.

[0287] Based on case 7, the following takes the following example to specifically introduce the entry conditions and departure conditions of the fourth event.

[0288] Example 3: The entry conditions for the fourth event include: the sum of the first angle and the fifth parameter is less than the fifth threshold, and the sum of the third angle and the sixth parameter is less than the sixth threshold; the departure conditions for the fourth event include: the difference between the first angle and the seventh parameter is greater than the seventh threshold, and / or the difference between the third angle and the eighth parameter is greater than the eighth threshold.

[0289] Example 4: The entry conditions for the fourth event include: the first angle is less than the fifth threshold, and the third angle is less than the sixth threshold; the departure conditions for the fourth event include: the first angle is greater than the seventh threshold, and / or the third angle is greater than the eighth threshold.

[0290] It can be understood that the difference between Example 3 and Example 4 is that when determining the entry conditions or departure conditions of the fourth event, Example 3 introduces hysteresis parameters or hysteresis values, that is, the above-mentioned fifth parameter, sixth parameter, seventh parameter, and eighth parameter. In this way, the above Example 3 and Example 4 can meet the requirements of different scenarios. <0​​​​​​​​​​​​​Entry conditions for S-A4: α1 < Thresh5 and α3 < Thresh6;

[0296] Exit conditions for S-A4: α1 > Thresh7 and / or α3 > Thresh8.

[0297] Here, α1 represents the first angle, α3 represents the third angle; Hys5 represents the fifth parameter, Hys6 represents the sixth parameter, Hys7 represents the seventh parameter, and Hys8 represents the eighth parameter; Thresh5 represents the fifth threshold, Thresh6 represents the sixth threshold, Thresh7 represents the seventh threshold, and Thresh8 represents the eighth threshold. In the embodiments of the present application, the specific values of the fifth parameter, sixth parameter, seventh parameter, eighth parameter, fifth threshold, sixth threshold, seventh threshold, and eighth threshold are not limited. The fifth parameter, sixth parameter, seventh parameter, eighth parameter, fifth threshold, sixth threshold, seventh threshold, and eighth threshold can be configured for the first sensing device by the first communication device (such as through the above measurement configuration), or they can also be (protocol) predefined or preconfigured, without limitation.

[0298] It can be understood that the "<" in the above inequality can also be replaced by "less than or equal to"; or, the ">" in the above inequality can also be replaced by "greater than or equal to"; or, the "<" in the above inequality is replaced by "less than or equal to", and the ">" in the above inequality is replaced by "greater than or equal to", at this time, Thresh5 ≠ Thresh7 and Thresh6 ≠ Thresh8.

[0299] It can be understood that the naming of the above fifth parameter, sixth parameter, seventh parameter, eighth parameter, fifth threshold, sixth threshold, seventh threshold, and eighth threshold is only for example, and the fifth parameter, sixth parameter, seventh parameter, eighth parameter, fifth threshold, sixth threshold, seventh threshold, and eighth threshold can also be replaced by any other possible naming, without limitation.

[0300] Case 8: The second sensing device sends and the first sensing device receives.

[0301] That is, the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal acts on the first sensing target. That is, the second sensing signal is the echo signal of the fourth sensing signal. The included angle between the direction of the fourth sensing signal and the fourth reference direction within the sensing range of the second sensing device can be denoted as the fourth angle (α4). This fourth angle is similar to the first angle in the above case 1 and can be understood by reference. Details are not described here. The fourth reference direction can be the direction of the center line of the field of view angle in the field of view angle of the second sensing device, or any other possible direction within the sensing range of the second sensing device. The embodiments of the present application do not limit the specific direction of the fourth reference direction. It can be understood that this case 8 can correspond to case 2 above. That is, the second sensing device can be the above sensing device #b, and the fourth sensing signal can be the above sensing signal #b. The embodiments of the present application do not limit the specific direction of the fourth reference direction.

[0302] Based on case 8, taking the following example as an example, the entry conditions and exit conditions of the fourth event are specifically introduced below.

[0303] Example 5: The entry conditions for the fourth event include: the sum of the second angle and the ninth parameter is less than the ninth threshold, and the sum of the fourth angle and the tenth parameter is less than the tenth threshold; the exit conditions for the fourth event include: the difference between the second angle and the eleventh parameter is greater than the eleventh threshold, and / or the difference between the fourth angle and the twelfth parameter is greater than the twelfth threshold.

[0304] Example 6: The entry conditions for the fourth event include: the second angle is less than the ninth threshold, and the fourth angle is less than the tenth threshold; the exit conditions for the fourth event include: the second angle is greater than the eleventh threshold, and / or the fourth angle is greater than the twelfth threshold.

[0305] It can be understood that the difference between Example 5 and Example 6 is that when determining the entry conditions or exit conditions of the fourth event in Example 5, hysteresis parameters or hysteresis values are introduced, that is, the above ninth parameter, tenth parameter, eleventh parameter, and twelfth parameter. Thus, the above Example 5 and Example 6 can meet the requirements of different scenarios.

[0306] Specifically, the above Example 5 can be expressed as the following inequalities:

[0307] Entry condition for S-A4: α2 + Hys9 < Thresh9, and α4 + Hys10 < Thresh10;

[0308] Exit condition for S-A4: α2 - Hys11 > Thresh11, and / or α4 - Hys12 > Thresh12.

[0309] The above Example 6 can be expressed as the following inequalities:

[0310] Entry conditions for S-A4: α2 < Thresh9 and α4 < Thresh10;

[0311] Exit conditions for S-A4: α2 > Thresh11 and / or α4 > Thresh12.

[0312] Here, α2 represents the second angle, α4 represents the fourth angle; Hys9 represents the ninth parameter, Hys10 represents the tenth parameter, Hys11 represents the eleventh parameter, and Hys12 represents the twelfth parameter; Thresh9 represents the ninth threshold, Thresh10 represents the tenth threshold, Thresh11 represents the eleventh threshold, and Thresh12 represents the twelfth threshold. The embodiments of the present application do not limit the specific values of the ninth parameter, tenth parameter, eleventh parameter, twelfth parameter, ninth threshold, tenth threshold, eleventh threshold, and twelfth threshold. The ninth parameter, tenth parameter, eleventh parameter, twelfth parameter, ninth threshold, tenth threshold, eleventh threshold, and twelfth threshold can be configured by the first communication device for the first sensing device (such as through the above measurement configuration), or they can also be pre-defined or pre-configured (by the protocol), without limitation.

[0313] It can be understood that the "<" in the above inequality can also be replaced by "less than or equal to"; or, the ">" in the above inequality can also be replaced by "greater than or equal to"; or, the "<" in the above inequality is replaced by "less than or equal to", and the ">" in the above inequality is replaced by "greater than or equal to". At this time, Thresh9 ≠ Thresh11 and Thresh10 ≠ Thresh12.

[0314] It can be understood that the naming of the above ninth parameter, tenth parameter, eleventh parameter, twelfth parameter, ninth threshold, tenth threshold, eleventh threshold, and twelfth threshold is only for example, and the ninth parameter, tenth parameter, eleventh parameter, twelfth parameter, ninth threshold, tenth threshold, eleventh threshold, and twelfth threshold can also be replaced by any other possible naming, without limitation.

[0315] Based on the above introduction, the first sensing device can accurately and quickly determine whether the first sensing target is within the sensing ranges of both the first sensing device and the second sensing device through the entry conditions or exit conditions of the above fourth event.

[0316] Implementation 5: The fifth event (which can be denoted as S-A5).

[0317] The fifth event can be used to indicate that the angular resolution of the first sensing device is insufficient to distinguish at least two sensing targets (i.e., the physical meaning of the fifth event). The angular resolution of the first sensing device indicates its ability to distinguish targets at different angular directions; in other words, it indicates its ability to distinguish two adjacent sensing targets angularly based on the sensing results obtained from sensing a target. When the first sensing device simultaneously performs angular sensing on at least two targets, the fifth event is needed to determine whether its angular resolution is insufficient to distinguish them. The following example, using at least two sensing targets including the first and second sensing targets, illustrates the entry and exit conditions of the fifth event.

[0318] Example 7: The entry conditions for the fifth event include: the first difference is less than the thirteenth threshold, and / or the second difference is less than the fourteenth threshold; the exit conditions for the fifth event include: the third difference is greater than the fifteenth threshold, and / or the fourth difference is greater than the sixteenth threshold.

[0319] Among them, the first difference can be the absolute value of the difference between the first angle and the fifth angle, and the sum of the thirteenth parameter; the second difference can be the absolute value of the difference between the second angle and the sixth angle, and the sum of the fourteenth parameter; the third difference can be the absolute value of the difference between the first angle and the fifth angle, and the difference of the fifteenth parameter; the fourth difference can be the absolute value of the difference between the second angle and the sixth angle, and the difference of the sixteenth parameter.

[0320] Example 8: The entry conditions for the fifth event include: the first difference is less than the thirteenth threshold, and / or the second difference is less than the fourteenth threshold; the exit conditions for the fifth event include: the third difference is greater than the fifteenth threshold, and / or the fourth difference is greater than the sixteenth threshold.

[0321] Among them, the first difference can be the absolute value of the difference between the first angle and the fifth angle, the second difference can be the absolute value of the difference between the second angle and the sixth angle, the third difference can be the absolute value of the difference between the first angle and the fifth angle, and the fourth difference can be the absolute value of the difference between the second angle and the sixth angle.

[0322] It is understandable that the difference between Example 7 and Example 8 is that Example 7 introduces hysteresis parameters or hysteresis values ​​when determining the entry or exit conditions of the fifth event, namely the thirteenth, fourteenth, fifteenth, and sixteenth parameters mentioned above. Thus, Examples 7 and 8 can meet the needs of different scenarios.

[0323] Specifically, Example 7 above can be expressed as the following inequality:

[0324] Entry conditions for S-A5: |α1 - α5| + Hys13 < Thresh13, and / or |α2 - α6| + Hys14 < Thresh14;

[0325] Exit conditions for S-A5: |α1 - α5| - Hys15 > Thresh15, and / or |α2 - α6| - Hys16 > Thresh16.

[0326] The above Example 8 can be expressed as the following inequality:

[0327] Entry conditions for S-A5: |α1 - α5| < Thresh13, and / or |α2 - α6| < Thresh14;

[0328] Exit conditions for S-A5: |α1 - α5| > Thresh15, and / or |α2 - α6| > Thresh16.

[0329] Where, α1 represents the first angle, α2 represents the second angle, α5 represents the fifth angle, α6 represents the sixth angle; Hys13 represents the thirteenth parameter, Hys14 represents the fourteenth parameter, Hys15 represents the fifteenth parameter, Hys16 represents the sixteenth parameter; Thresh13 represents the thirteenth threshold, Thresh14 represents the fourteenth threshold, Thresh15 represents the fifteenth threshold, Thresh16 represents the sixteenth threshold. The embodiments of the present application do not limit the specific values of the thirteenth parameter, the fourteenth parameter, the fifteenth parameter, the sixteenth parameter, the thirteenth threshold, the fourteenth threshold, the fifteenth threshold, and the sixteenth threshold. The thirteenth parameter, the fourteenth parameter, the fifteenth parameter, the sixteenth parameter, the thirteenth threshold, the fourteenth threshold, the fifteenth threshold, and the sixteenth threshold can be configured by the first communication device for the first sensing device (such as through the above measurement configuration), or can also be (protocol) predefined or preconfigured, without limitation.

[0330] It can be understood that the "<" in the above inequality can also be replaced by "less than or equal to"; or, the ">" in the above inequality can also be replaced by "greater than or equal to"; or, the "<" in the above inequality is replaced by "less than or equal to", and the ">" in the above inequality is replaced by "greater than or equal to". At this time, Thresh13 ≠ Thresh15, and Thresh14 ≠ Thresh16.

[0331] Based on the above introduction, the first sensing device can accurately and quickly determine whether its sensing angle resolution is insufficient to distinguish between the first and second sensing devices by using the entry or exit conditions of the fifth event. It should be understood that the above description of the fifth event uses the first and second sensing targets as examples. When at least two sensing targets include other sensing targets besides the first and second sensing targets, i.e., when the first sensing device simultaneously performs angle sensing on at least three sensing targets, based on the same implementation principle, the first sensing device can perform the above judgment on each pair of at least three sensing targets (e.g., sensing target #1 and sensing target #2) to determine whether its sensing angle resolution is insufficient to distinguish between any two of the at least three sensing targets. The implementation principle is similar and can be understood by reference, without further elaboration. Thus, the first sensing device can accurately and quickly determine whether its sensing angle resolution is insufficient to distinguish between at least two sensing targets by using the entry or exit conditions of the fifth event.

[0332] It is understood that the naming of the thirteenth, fourteenth, fifteenth, sixteenth parameters, thirteenth threshold, fourteenth threshold, fifteenth threshold, and sixteenth threshold mentioned above is only an example. The thirteenth, fourteenth, fifteenth, sixteenth parameters, thirteenth threshold, fourteenth threshold, fifteenth threshold, and sixteenth threshold can also be replaced with any other possible names without limitation.

[0333] Implementation 6: The sixth event (which can be denoted as S-A6).

[0334] The sixth event can be used to indicate that the sensing angle resolution of the first sensing device is sufficient to distinguish at least two sensing targets, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution (i.e., the physical meaning of the sixth event). Since the sensing angle resolution of the first sensing device is less than the first sensing angle resolution, it can be considered that the first sensing device has a stronger ability to distinguish sensing targets in different angular directions. This application does not limit the specific value of the first sensing angle resolution in its embodiments.

[0335] Similar to implementation 5 above, when the first sensing device simultaneously performs angle sensing on at least two sensing targets, a sixth event is needed to determine whether the sensing angle resolution of the first sensing device can be used to distinguish at least two sensing targets, and the sensing angle resolution of the first sensing device is less than the first sensing angle resolution. The following example, using at least two sensing targets including the first sensing target and the second sensing target, illustrates the entry and exit conditions of the sixth event.

[0336] Example 9: The entry conditions for the sixth event include: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; the exit conditions for the sixth event include: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold.

[0337] Among them, the fifth difference is the difference between the absolute value of the difference between the first angle and the fifth angle and the seventeenth parameter, the sixth difference is the difference between the absolute value of the difference between the second angle and the sixth angle and the eighteenth parameter; the seventh difference is the sum of the absolute value of the difference between the first angle and the fifth angle and the nineteenth parameter, and the eighth difference is the sum of the absolute value of the difference between the second angle and the sixth angle and the twentieth parameter.

[0338] Example 10, the entry conditions for the sixth event include: the fifth difference is greater than the seventeenth threshold, and / or the sixth difference is greater than the eighteenth threshold; the exit conditions for the sixth event include: the seventh difference is less than the nineteenth threshold, and / or the eighth difference is less than the twentieth threshold.

[0339] Among them, the fifth difference is the absolute value of the difference between the first angle and the fifth angle, the sixth difference is the absolute value of the difference between the second angle and the sixth angle; the seventh difference is the absolute value of the difference between the first angle and the fifth angle, and the eighth difference is the absolute value of the difference between the second angle and the sixth angle.

[0340] It can be understood that the difference between Example 9 and Example 10 is that when determining the entry conditions or exit conditions of the sixth event in Example 9, hysteresis parameters or hysteresis values are introduced, that is, the above seventeenth parameter, eighteenth parameter, nineteenth parameter, and twentieth parameter. Thus, the above Example 9 and Example 10 can meet the requirements of different scenarios.

[0341] Specifically, the above Example 9 can be expressed as the following inequality:

[0342] Entry conditions for S-A6: |α1 - α5| - Hys17 > Thresh17, and / or |α2 - α6| - Hys18 > Thresh18;

[0343] Exit conditions for S-A6: |α1 - α5| + Hys19 < Thresh19, and / or |α2 - α6| + Hys20 < Thresh20.

[0344] The above Example 10 can be expressed as the following inequality:

[0345] Entry conditions for S-A6: |α1 - α5| > Thresh17, and / or |α2 - α6| > Thresh18;

[0346] Departure conditions of S-A6: |α1 - α5| < Thresh19, and / or |α2 - α6| < Thresh20.

[0347] Among them, α1 represents the first angle, α2 represents the second angle, α5 represents the fifth angle, and α6 represents the sixth angle; Hys17 represents the seventeenth parameter, Hys18 represents the eighteenth parameter, Hys19 represents the nineteenth parameter, and Hys20 represents the twentieth parameter; Thresh17 represents the seventeenth threshold, Thresh18 represents the eighteenth threshold, Thresh19 represents the nineteenth threshold, and Thresh20 represents the twentieth threshold. The specific values of the seventeenth parameter, the eighteenth parameter, the nineteenth parameter, the twentieth parameter, the seventeenth threshold, the eighteenth threshold, the nineteenth threshold, and the twentieth threshold are not limited in the embodiments of this application. The seventeenth parameter, the eighteenth parameter, the nineteenth parameter, the twentieth parameter, the seventeenth threshold, the eighteenth threshold, the nineteenth threshold, and the twentieth threshold can be configured for the first sensing device by the first communication device (such as through the above measurement configuration), or can also be predefined or preconfigured (by the protocol), without limitation.

[0348] It can be understood that the "<" in the above inequality can also be replaced by "less than or equal to"; or, the ">" in the above inequality can also be replaced by "greater than or equal to"; or, the "<" in the above inequality is replaced by "less than or equal to", and the ">" in the above inequality is replaced by "greater than or equal to". At this time, Thresh17 ≠ Thresh19, and Thresh18 ≠ Thresh20.

[0349] Based on the above introduction, the first sensing device can accurately and quickly determine whether its sensing angle resolution is sufficient to distinguish between the first and second sensing devices by using the entry or exit conditions of the sixth event, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution. It should be understood that the above description of the sixth event uses the first and second sensing targets as examples. When at least two sensing targets include other sensing targets besides the first and second sensing targets, i.e., when the first sensing device simultaneously performs angle sensing on at least three sensing targets, based on the same implementation principle, the first sensing device can perform the above judgment on each pair of at least three sensing targets (such as sensing target #1 and sensing target #2) to determine whether its sensing angle resolution is sufficient to distinguish between any two sensing devices among the at least three sensing targets, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution. The implementation principle is similar and can be understood by reference, without further elaboration. Thus, the first sensing device can accurately and quickly determine whether its sensing angle resolution is sufficient to distinguish between the first and second sensing devices by using the entry or exit conditions of the sixth event, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution.

[0350] It is understood that the naming of the seventeenth parameter, eighteenth parameter, nineteenth parameter, twentieth parameter, seventeenth threshold, eighteenth threshold, nineteenth threshold, and twentieth threshold is only an example. The seventeenth parameter, eighteenth parameter, nineteenth parameter, twentieth parameter, seventeenth threshold, eighteenth threshold, nineteenth threshold, and twentieth threshold can be replaced with any other possible names without limitation.

[0351] Implementation 7: The seventh event (which can be denoted as S-A7).

[0352] The seventh event can be used to indicate that the perception angle accuracy of the first sensing target is greater than the first perception angle accuracy. If the perception angle accuracy of the first sensing target is greater than the first perception angle accuracy, it can be considered that the perception angle accuracy of the first sensing target is low. This application does not limit the specific value of the first perception angle accuracy in its embodiments. The following example illustrates the entry and exit conditions of the seventh event.

[0353] Example 11: The entry condition for the seventh event includes: the difference between the perception angle accuracy of the first sensing target and the twenty-first parameter is greater than the twenty-first threshold; the exit condition for the seventh event includes: the sum of the perception angle accuracy of the first sensing target and the twenty-second parameter is less than the twenty-second threshold.

[0354] Example 12: The entry condition for the seventh event includes: the perception angle accuracy of the first sensing target is greater than the twenty-first threshold; the exit condition for the seventh event includes: the perception angle accuracy of the first sensing target is less than the twenty-second threshold.

[0355] It is understandable that the difference between Example 11 and Example 12 is that Example 11 introduces a hysteresis parameter or hysteresis value when determining the entry or exit condition of the seventh event, namely the twenty-first and twenty-second parameters mentioned above. Thus, Examples 11 and 12 can meet the needs of different scenarios.

[0356] Specifically, Example 11 above can be expressed as the following inequality:

[0357] S-A7 entry condition: P1-Hys21>Thres21;

[0358] S-A7's departure condition: P1 + Hys22 <Thres22。

[0359] Example 12 above can be expressed as the following inequality:

[0360] S-A7 entry condition: P1>Thres21;

[0361] S-A7's departure condition: P1 <Thres22。

[0362] Wherein, P1 represents the sensing angle accuracy of the first sensing target; Hys21 represents the twenty-first parameter, Hys22 represents the twenty-second parameter; Thresh21 represents the twenty-first threshold, and Thresh22 represents the twenty-second threshold. This application embodiment does not limit the specific values ​​of the twenty-first parameter, the twenty-second parameter, the twenty-first threshold, and the twenty-second threshold. The twenty-first parameter, the twenty-second parameter, the twenty-first threshold, and the twenty-second threshold can be configured by the first communication device for the first sensing device (such as through the above measurement configuration), or they can be predefined or preconfigured (by a protocol), without limitation.

[0363] It is understandable that the "<" in the above inequality can also be replaced with "less than or equal to"; or, the ">" in the above inequality can also be replaced with "greater than or equal to"; or, the "<" in the above inequality can be replaced with "less than or equal to", and the ">" in the above inequality can be replaced with "greater than or equal to", in which case Thresh21≠Thresh22.

[0364] Based on the above description, the first sensing device can accurately and quickly determine whether the sensing angle accuracy of the first sensing target is greater than the first sensing angle accuracy by using the entry or exit conditions of the seventh event.

[0365] It is understood that the naming of the twenty-first parameter, twenty-second parameter, twenty-first threshold, and twenty-second threshold mentioned above is only an example. The twenty-first parameter, twenty-second parameter, twenty-first threshold, and twenty-second threshold can also be replaced with any other possible names without limitation.

[0366] Implementation 8: The eighth event (which can be denoted as S-A8).

[0367] The eighth event can be used to indicate that the sensing angle accuracy of the first sensing target is less than that of the second sensing angle accuracy. Since the sensing angle accuracy of the first sensing target is less than that of the second sensing angle accuracy, it can be considered that the sensing angle accuracy of the first sensing target is higher. This application does not limit the specific value of the second sensing angle accuracy in its embodiments. The following example will specifically describe the entry and exit conditions of the eighth event.

[0368] Example 13: The entry condition for the eighth event includes: the sum of the perception angle accuracy of the first perception target and the twenty-third parameter is less than the twenty-third threshold; the exit condition for the eighth event includes: the difference between the perception angle accuracy of the first perception target and the twenty-fourth parameter is greater than the twenty-fourth threshold.

[0369] Example 14: The entry condition for the eighth event includes: the perception angle accuracy of the first sensing target is less than the twenty-third threshold; the exit condition for the eighth event includes: the perception angle accuracy of the first sensing target is greater than the twenty-fourth threshold.

[0370] It is understandable that the difference between Example 13 and Example 14 is that Example 13 introduces a hysteresis parameter or hysteresis value when determining the entry or exit condition of the eighth event, namely the twenty-third and twenty-fourth parameters mentioned above. Thus, Examples 13 and 14 can meet the needs of different scenarios.

[0371] Specifically, Example 13 above can be expressed as the following inequality:

[0372] S-A8 entry condition: P1+Hys23 <Thres23;

[0373] The condition for leaving S-A8 is: P1-Hys24>Thres24.

[0374] Example 14 above can be expressed as the following inequality:

[0375] S-A8 entry conditions: P1 <Thres23;

[0376] The condition for leaving S-A8 is: P1>Thres24.

[0377] Wherein, P1 represents the sensing angle accuracy of the first sensing target; Hys23 represents the twenty-third parameter, Hys24 represents the twenty-fourth parameter; Thresh23 represents the twenty-third threshold, and Thresh24 represents the twenty-fourth threshold. This application embodiment does not limit the specific values ​​of the twenty-third parameter, the twenty-fourth parameter, the twenty-third threshold, and the twenty-fourth threshold. The twenty-third parameter, the twenty-fourth parameter, the twenty-third threshold, and the twenty-fourth threshold can be configured by the first communication device for the first sensing device (such as through the above-described measurement configuration), or they can be predefined or pre-configured (by a protocol), without limitation.

[0378] It is understandable that the "<" in the above inequality can also be replaced with "less than or equal to"; or, the ">" in the above inequality can also be replaced with "greater than or equal to"; or, the "<" in the above inequality can be replaced with "less than or equal to", and the ">" in the above inequality can be replaced with "greater than or equal to", in which case Thresh23≠Thresh24.

[0379] Based on the above description, the first sensing device can accurately and quickly determine whether the sensing angle accuracy of the first sensing target is less than the second sensing angle accuracy by using the entry or exit conditions of the eighth event.

[0380] It is understood that the naming of the twenty-third parameter, the twenty-fourth parameter, the twenty-third threshold, and the twenty-fourth threshold mentioned above is only an example. The twenty-third parameter, the twenty-fourth parameter, the twenty-third threshold, and the twenty-fourth threshold can also be replaced with any other possible names without limitation.

[0381] The first sensing device can sense measurement events based on the angle indicated by the measurement configuration, i.e. measurement events that need to be triggered, such as one or more of the first to eighth events mentioned above (denoted as trigger event set #1). It judges the triggering conditions of each event in trigger event set #1 to determine whether their respective entry or exit conditions are met.

[0382] Based on the above description, when the measurement configuration is also used to indicate duration, in one possible design, the first sensing device determines whether a measurement event is satisfied based on the angle sensing result, including:

[0383] Based on the angle sensing results, the first sensing device determines whether the measurement event is met within the specified duration. That is, when the first sensing device determines whether one or more of the first to eighth events meet their entry or exit conditions, it can only consider the entry or exit condition met if one or more of the first to eighth events are continuously met within their respective durations. This improves the accuracy of the first sensing device's judgment on whether the measurement event is met and avoids randomness.

[0384] It is understandable that this duration can also be predefined or preconfigured by the (protocol) and is not limited.

[0385] Based on the above description, this application embodiment defines corresponding angle sensing measurement events (such as the first event to the eighth event mentioned above) and measurement quantities (such as the first angle, the second angle, the sensing angle accuracy of the first sensing target, etc.) for or oriented towards angle sensing scenarios, thereby solving the problem that the various measurement events and measurement quantities defined in communication scenarios cannot be applied to angle sensing scenarios.

[0386] In summary, the first communication device can send a configuration message to the first sensing device. Based on the received configuration message, the first sensing device can determine the measurement events that need to be reported for angle sensing and at least one sensing target that needs to be subjected to angle sensing. In other words, this configuration message is applicable to the angle sensing scenario. The first sensing device can perform angle sensing on at least one sensing target and obtain the angle sensing result. Since this angle sensing result is associated with the measurement quantity corresponding to the measurement event, the first sensing device can determine whether the measurement event for angle sensing is satisfied based on the angle sensing result. This solves the problem that various measurement events and quantities defined in the communication scenario are not applicable to the angle sensing scenario.

[0387] In conjunction with the above description, one possible design scheme for the above method embodiment may further include:

[0388] The first sensing device determines the target event based on the angle sensing results.

[0389] The first sensing device sends a measurement report corresponding to the target event to the first communication device. Correspondingly, the first communication device receives the measurement report corresponding to the target event from the first sensing device.

[0390] The target event can be any measurement event that meets either the entry or exit conditions. For example, the target event can also be one or more events in the trigger event set #1 that meet the trigger conditions, i.e., their entry or exit conditions. The measurement report can be used to indicate at least one of the following: the entry or exit conditions of the target event are met, the identification information of the first sensing device, or the measurement quantity corresponding to the target event, so as to enable the first communication device to make reasonable sensing decisions, such as sensing mobility management, sensing access, sensing resource allocation, and sensing mode selection, to improve sensing performance.

[0391] For example, taking event set #1, which includes the fifth, sixth, seventh, and eighth events, as an example, the first sensing device determines whether the fifth, sixth, seventh, and eighth events meet the triggering conditions according to the descriptions in implementations 5-8 above. The following is a detailed description using the following example:

[0392] Format 1: If the first sensing device determines that the fifth event meets its entry conditions, the target event may include the fifth event. The first sensing device can report to the first communication device through a measurement report: the fifth event meets the entry conditions, the ID of the first sensing device, or one or more of the measurement quantities corresponding to the fifth event (such as the first angle, fifth angle, second angle, and sixth angle mentioned above). Based on the measurement report, the first communication device can determine that the sensing angle resolution of the first sensing device cannot be used to distinguish at least two sensing targets. In this case, the first communication device can switch to another sensing device with a higher resolution (such as a resolution greater than a certain value) to perform sensing on at least two sensing targets.

[0393] Format 2: If the first sensing device determines that the sixth event meets its entry conditions, the target event may include the sixth event. The first sensing device can report to the first communication device through a measurement report: the sixth event meets the entry conditions, the ID of the first sensing device, or one or more of the measurement quantities corresponding to the sixth event (such as the first angle, fifth angle, second angle, and sixth angle mentioned above). Based on the measurement report, the first communication device can determine that the sensing angle resolution of the first sensing device is sufficient to distinguish at least two sensing targets, and that the sensing angle resolution of the first sensing device is less than the first sensing angle resolution. In this case, the first communication device can reduce the sensing resources and transmission power of the first sensing device.

[0394] Form 3: If the first sensing device determines that the seventh event meets its entry conditions, the target event may include the seventh event. The first sensing device can report to the first communication device through a measurement report one or more of the following: the seventh event meets the entry conditions, the ID of the first sensing device, or the measurement quantity corresponding to the seventh event (such as the sensing angle accuracy of the first sensing target mentioned above). Based on the measurement report, the first communication device can determine that the sensing angle accuracy of the first sensing target is greater than the first sensing angle accuracy. In this case, the first communication device can consider the sensing angle accuracy of the first sensing target to be low, and the first communication device can increase the sensing resources and transmission power of the first sensing device, or switch to another sensing device to perform sensing on the first sensing target.

[0395] Form 8: If the first sensing device determines that the eighth event meets its entry conditions, the target event may include the eighth event. The first sensing device can report to the first communication device through a measurement report one or more of the following: the eighth event meets the entry conditions, the ID of the first sensing device, or the measurement quantity corresponding to the eighth event (such as the sensing angle accuracy of the first sensing target mentioned above). Based on the measurement report, the first communication device can determine that the sensing angle accuracy of the first sensing target is less than the second sensing angle accuracy. In this case, the first communication device can consider the sensing angle accuracy of the first sensing target to be higher, and the first communication device can reduce the sensing resources and transmission power of the first sensing device.

[0396] It is understood that forms 1-4 above can be reported in combination. For example, when the first sensing device determines that both the fifth and seventh events meet the entry conditions, the first sensing device can report the measurement report corresponding to the fifth event and the measurement report corresponding to the seventh event to the first communication device through the measurement report, which corresponds to the combination of form 1 and form 3 above. This application embodiment does not limit this.

[0397] It is understood that the naming of the target events and the corresponding measurement reports mentioned above is only an example. The target events and the corresponding measurement reports can be replaced with any other possible names without limitation.

[0398] As can be understood, the above example illustrates how a first communication device sends a configuration message to a first sensing device, which then performs angle sensing on at least one sensing target based on the configuration message to determine measurement events that meet trigger conditions (angle sensing), and reports a measurement report of the measured events that meet the trigger conditions to the first communication device. The first communication device can also send configuration messages to other sensing devices to trigger them to perform angle sensing based on the configuration message, determine measurement events that meet trigger conditions, and report measurement reports of the measured events that meet the trigger conditions to the first communication device. The implementation principle is similar and can be understood by reference; further details are omitted.

[0399] The communication method provided by the embodiments of this application has been described in detail above with reference to Figures 3-5. The communication apparatus used to perform the communication method provided by the embodiments of this application is described in detail below with reference to Figures 6-7.

[0400] Figure 6 is a schematic diagram of the structure of a communication device according to an embodiment of this application. As exemplarily shown in Figure 6, the communication device 600 includes a transceiver module 601 and a processing module 602. For ease of explanation, Figure 6 only shows the main components of the communication device 600.

[0401] The transceiver module 601 is used to perform the transceiver function of the method shown in Figure 3 above, and the processing module 602 is used to perform other functions of the method shown in Figure 3 above besides the transceiver function.

[0402] Optionally, the transceiver module 601 may include a transmitting module (not shown in FIG. 6) and a receiving module (not shown in FIG. 6). The transmitting module implements the transmitting function of the communication device 600, and the receiving module implements the receiving function of the communication device 600. Optionally, the communication device 600 may further include a storage module (not shown in FIG. 6) storing programs or instructions. When the processing module 602 executes the program or instructions, the communication device 600 can perform the functions of the first sensing device and / or the first communication device in the method shown in FIG. 3 above.

[0403] It is understood that the communication device 600 may be a first sensing device, or a chip (system) or other component or assembly that can be disposed in the first sensing device, or a device that includes the first sensing device; or, the communication device 600 may be a first communication device, or a chip (system) or other component or assembly that can be disposed in the first communication device, or a device that includes a communication device. The embodiments of this application do not limit this.

[0404] Furthermore, the technical effects of the communication device 600 can be referred to the technical effects of the communication method shown in Figure 3, and will not be repeated here. For example, Figure 7 is a second schematic diagram of the structure of a communication device provided in an embodiment of this application. This communication device can be a first sensing device or a first communication device, or it can be a chip (system) or other component or assembly of the first sensing device or the first communication device. As shown in Figure 7, the communication device 700 may include a processor 701. Optionally, the communication device 700 may also include a memory 702 and / or a transceiver 703. The processor 701 is coupled to the memory 702 and the transceiver 703, for example, they can be connected via a communication bus.

[0405] The following section, with reference to Figure 7, provides a detailed description of each component of the communication device 700:

[0406] The processor 701 is the control center of the communication device 700. It can be a single processor or a collective term for multiple processing elements. For example, the processor 701 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0407] Optionally, the processor 701 can perform various functions of the communication device 700 by running or executing software programs stored in the memory 702 and calling data stored in the memory 702, such as performing the communication method shown in FIG3 above.

[0408] In a specific implementation, as one example, processor 701 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG7.

[0409] In a specific implementation, as one embodiment, the communication device 700 may also include multiple processors, such as processors 701 and 704 shown in FIG. 7. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0410] The memory 702 is used to store the software program that executes the solution of this application, and is controlled by the processor 701 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0411] Optionally, the memory 702 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 702 may be integrated with the processor 701 or may exist independently and be coupled to the processor 701 through the interface circuit of the communication device 700 (not shown in FIG. 7). This application embodiment does not specifically limit this.

[0412] Transceiver 703 is used for communication with other communication devices. For example, if communication device 700 is a network device, transceiver 703 can be used to communicate with a terminal device or with another network device.

[0413] Optionally, transceiver 703 may include a receiver and a transmitter (not shown separately in Figure 7). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0414] Optionally, the transceiver 703 can be integrated with the processor 701 or exist independently and be coupled to the processor 701 through the interface circuit of the communication device 700 (not shown in FIG. 7). This application embodiment does not specifically limit this.

[0415] It should be noted that the structure of the communication device 700 shown in Figure 7 does not constitute a limitation on the communication device. The actual communication device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0416] Furthermore, the technical effects of the communication device 700 can be referred to the technical effects of the communication method described in the above method embodiments, and will not be repeated here.

[0417] This application provides a communication system. The communication system may include the first sensing device and the first communication device described in the method embodiments above.

[0418] It should be understood that the processor in the embodiments of this application can be a CPU, but it can also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0419] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be ROM, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), EEPROM, or flash memory. Volatile memory can be RAM, which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0420] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0421] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0422] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0423] It should be understood that in the various embodiments of this application, the sequence numbers of the above processes do not imply a sequential 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. 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.

[0424] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0425] 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.

[0426] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0427] 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.

[0428] 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 the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0429] 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 technical scope 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

A communication method characterized by comprising: The method comprises: receiving a configuration message; wherein the configuration message comprises a measurement object and a measurement configuration, the measurement object is used to indicate at least one sensing target, and the measurement configuration is used to indicate a measurement event of angle sensing; performing angle sensing on the at least one sensing target according to the configuration message to obtain an angle sensing result; wherein the angle sensing result is associated with a measurement quantity corresponding to the measurement event; determining whether the measurement event is met according to the angle sensing result. The method of claim 1, wherein The at least one sensing target comprises a first sensing target, and the angle sensing result comprises at least one of the following: a first angle, a second angle, or a sensing angle accuracy of the first sensing target; The first angle is an included angle between a direction of a first sensing signal sent by the first sensing device to the first sensing target and a first reference direction within a sensing range of the first sensing device; The second angle is an included angle between a direction of a second sensing signal received by the first sensing device and a second reference direction within the sensing range of the first sensing device, the second sensing signal being obtained after the first sensing target acts; The sensing angle accuracy of the first sensing target is used to indicate an accuracy degree of performing angle sensing on the first sensing target by the first sensing device. The method according to claim 2, characterized in that Determining whether the measurement event is met according to the angle sensing result comprises: determining whether an entering condition or a leaving condition of the measurement event is met according to the angle sensing result; wherein the measurement event comprises at least one of the following: a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event; The measurement quantity of the first event, the second event, the third event, the fourth event, the fifth event, and the sixth event is associated with the first angle and / or the second angle; and the measurement quantity of the seventh event and the eighth event is associated with the sensing angle accuracy of the first sensing target. The method according to claim 3, characterized in that The entering condition of the first event comprises that a sum of the first angle and a first parameter is less than a first threshold value, and / or a sum of the second angle and a second parameter is less than a second threshold value; The leaving condition of the first event comprises that a difference between the first angle and a third parameter is greater than a third threshold value, and / or a difference between the second angle and a fourth parameter is greater than a fourth threshold value. The method according to claim 3, characterized in that The entering condition of the first event comprises that the first angle is less than a first threshold value, and / or the second angle is less than a second threshold value; The leaving condition of the first event comprises that the first angle is greater than a third threshold value, and / or the second angle is greater than a fourth threshold value. The method according to any one of claims 3-5, characterized in that The entering condition of the second event comprises that the first angle continuously decreases within a first time period, and / or the second angle continuously decreases within a second time period; The leaving condition of the second event comprises that the first angle continuously increases within a third time period, and / or the second angle continuously increases within a fourth time period. The method according to any one of claims 3-6, characterized in that The entering condition of the third event comprises: the first angle continuously increases in a fifth time period, and / or the second angle continuously increases in a sixth time period; The leaving condition of the third event comprises: the first angle continuously decreases in a seventh time period, and / or the second angle continuously decreases in an eighth time period. The method according to any one of claims 3-7, characterized in that When the first sensing device sends the first sensing signal to the first sensing target, and the second sensing device receives a third sensing signal obtained after the first sensing signal acts on the first sensing target, the entering condition of the fourth event comprises: the sum of the first angle and a fifth parameter is less than a fifth threshold value, and the sum of a third angle and a sixth parameter is less than a sixth threshold value; the leaving condition of the fourth event comprises: the difference between the first angle and a seventh parameter is greater than a seventh threshold value, and / or the difference between the third angle and an eighth parameter is greater than an eighth threshold value; wherein the third angle is the angle between the direction of the third sensing signal and a third reference direction within the sensing range of the second sensing device; When the second sensing device sends a fourth sensing signal to the first sensing target, and the first sensing device receives the second sensing signal obtained after the fourth sensing signal acts on the first sensing target, the entering condition of the fourth event comprises: the second angle and a ninth parameter are less than a ninth threshold value, and the fourth angle and a tenth parameter are less than a tenth threshold value; the leaving condition of the fourth event comprises: the difference between the second angle and an eleventh parameter is greater than an eleventh threshold value, and / or the difference between the fourth angle and a twelfth parameter is greater than a twelfth threshold value; wherein the fourth angle is the angle between the direction of the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device. The method according to any one of claims 3-7, characterized in that When the first sensing device sends the first sensing signal to the first sensing target, and the first sensing device receives a third sensing signal obtained after the first sensing signal acts on the first sensing target; the entering condition of the fourth event comprises: the first angle is less than a fifth threshold value, and the third angle is less than a sixth threshold value; the leaving condition of the fourth event comprises: the first angle is greater than a seventh threshold value, and / or the third angle is greater than an eighth threshold value; wherein the third angle is the angle between the direction of a third sensing signal and a third reference direction within the sensing range of the second sensing device. When the second sensing device sends a fourth sensing signal to the first sensing target, and the first device receives the second sensing signal obtained after the fourth sensing signal acts on the first sensing target; the entering condition of the fourth event comprises: the second angle is less than a ninth threshold value, and the fourth angle is less than a tenth threshold value; the leaving condition of the fourth event comprises: the second angle is greater than an eleventh threshold value, and / or the fourth angle is greater than a twelfth threshold value; wherein the fourth angle is the angle between the direction the fourth sensing signal and a fourth reference direction within the sensing range of the second sensing device. The method according to any one of claims 3-9, characterized in that The measurement object is used to indicate at least one perception target, including: the measurement object is used to indicate at least two perception targets; the at least two perception targets include the first perception target and the second perception target, and the angle perception result further includes a fifth angle and / or a sixth angle; the fifth angle is an included angle between a direction of a fifth perception signal sent by the first perception device to the second perception target and a fifth reference direction within a perception range of the first perception device; and the sixth angle is an included angle between a direction of a sixth perception signal received by the first perception device and a sixth reference direction within the perception range of the first perception device, the sixth perception signal being obtained after the second perception target. The method of claim 10, wherein The entering condition of the fifth event includes: a first difference value is less than a thirteenth threshold value, and / or a second difference value is less than a fourteenth threshold value; wherein the first difference value is an absolute value of a difference between the first angle and the fifth angle, and a sum of a thirteenth parameter, and the second difference value is an absolute value of a difference between the second angle and the sixth angle, and a sum of a fourteenth parameter; The leaving condition of the fifth event includes: a third difference value is greater than a fifteenth threshold value, and / or a fourth difference value is greater than a sixteenth threshold value; wherein the third difference value is an absolute value of a difference between the first angle and the fifth angle, and the difference of a fifteenth parameter, and the fourth difference value is an absolute value of a difference between the second angle and the sixth angle, and the difference of a sixteenth parameter. The method of claim 10, wherein The entering condition of the fifth event includes: a first difference value is less than a thirtieth threshold value, and / or a second difference value is less than a thirty-first threshold value; wherein the first difference value is an absolute value of a difference between the first angle, and the fifth angle, and the second difference value is an absolute value of a difference between the second angle and the fifth angle. The leaving condition of the fifth event includes: a third difference value is greater than a thirty-second threshold value, and / or a fourth difference value is greater than a thirty-third threshold value; wherein the third difference value is an absolute value of a difference between the first angle, and the fifth angle, the fourth difference value is an absolute value of a difference between the second angle and the sixth angle. The method according to any one of claims 10-12, characterized in that The entering condition of the sixth event includes: a fifth difference value is greater than a thirty-fourth threshold value, and / or a sixth difference value is greater than a thirty-fifth threshold value; wherein the fifth difference value is an absolute value of a difference between the first angle and the fifth angle, and difference of a thirty-seventh parameter, and the sixth difference value is an absolute value of a difference between the second angle and the sixth angle, and difference of a thirty-eighth parameter; The leaving condition of the sixth event includes: a seventh difference value is less than a thirty-sixth threshold value, and / or an eighth difference value is less than a thirty-seventh threshold value; wherein the seventh difference value is an absolute value of a difference between the first angle and the fifth angle, and sum of a thirty-ninth parameter, and the eighth difference value is an absolute value of a difference between the second angle and the sixth angle, and sum of a fortieth parameter. The method according to any one of claims 10-12, characterized in that The entering condition of the sixth event comprises: a fifth difference value is greater than a seventeenth threshold value, and / or a sixth difference value is greater than an eighteenth threshold value; wherein the fifth difference value is an absolute value of a difference between the first angle and the fifth angle, and the sixth difference value is an absolute value of a difference between the second angle and the sixth angle; The leaving condition of the sixth event comprises: a seventh difference value is less than a nineteenth threshold value, and / or an eighth difference value is less than a twentieth threshold value; wherein the seventh difference value is an absolute value of a difference between the first angle and the fifth angle, and an eighth difference value is an absolute value of a difference between the second angle and the sixth angle. The method according to any one of claims 3-14, characterized in that The entering condition of the seventh event comprises: a difference between the perception angle accuracy of the first perception target and a twenty-first parameter is greater than a twenty-first threshold value. The leaving condition of the seventh event comprises: a sum of the perception angle accuracy of the first perception target and a twenty-second parameter is less than a twenty-second threshold value. The method according to any one of claims 3-14, characterized in that The entering condition of the seventh event comprises: the perception angle accuracy of the first perception target is greater than the twenty-first threshold value. The leaving condition of the seventh event comprises: the perception angle accuracy of the first perception target is less than the twenty-second threshold value. The method according to any one of claims 3-16, characterized in that The entering condition of the eighth event comprises: a sum of the perception angle accuracy of the first perception target and a twenty-third parameter is less than a twenty-third threshold value. The leaving condition of the eighth event comprises: a difference between the perception angle accuracy of the first perception target and a twenty-fourth parameter is greater than a twenty-fourth threshold value. The method according to any one of claims 3-16, characterized in that The entering condition of the eighth event comprises: the perception angle accuracy of the first perception target is less than the twenty-third threshold value. The leaving condition of the eighth event comprises: the perception angle accuracy of the first perception target is greater than the twenty-fourth threshold value. The method according to any one of claims 3-18, characterized in that The method further comprises: determining a target event according to the angle perception result; wherein the target event is an event in the measurement event that meets the entering condition or the leaving condition; sending a measurement report corresponding to the target event; wherein the measurement report is used to indicate at least one of the following: the entering condition or the leaving condition of the target event, identification information of the first perception device, or a measurement quantity corresponding to the target event. The method according to any one of claims 1-19, characterized in that The measurement configuration is further used to indicate a duration; The determining whether the measurement event is met according to the angle perception result comprises: determining whether the measurement event is met within the duration according to the angle perception result. A communication method characterized by comprising: The method applied to a first communication device comprises: obtaining a configuration message; wherein the configuration message comprises a measurement object and a measurement configuration, the measurement object is used to indicate at least one perception target, and the measurement configuration is used to indicate a measurement event of angle perception; sending the configuration message. The method of claim 21, wherein The configuration message is used for the first perception device to perform angle perception on the at least one perception target to obtain an angle perception result, the angle perception result is associated with a measurement quantity corresponding to the measurement event, and the angle perception result is used to determine whether the measurement event is met. The method of claim 22, wherein The at least one perception target comprises a first perception target, and the angle perception result comprises at least one of a first angle, a second angle, or a perception angle accuracy of the first perception target. The first angle is an included angle between a direction of a first perception signal sent by the first perception device to the first perception target and a first reference direction within a perception range of the first perception device, the second angle is an included angle between a direction of a second perception signal received by the first perception device and a second reference direction within the perception range of the first perception device, the second perception signal is obtained after the first perception target acts, and the perception angle accuracy of the first perception target is used to indicate an accuracy degree of angle perception performed by the first perception device on the first perception target. The method of claim 23, wherein The measurement event comprises at least one of a first event, a second event, a third event, a fourth event, a fifth event, a sixth event, a seventh event, or an eighth event. The measurement quantity of the first event, the second event, the third event, the fourth event, the fifth event, and the sixth event is associated with the first angle and / or the second angle, the measurement quantity of the seventh event and the eighth event is associated with the perception angle accuracy of the first perception target, and the angle perception result is used to determine whether the measurement event is met, including that the angle perception result is used to determine whether an entering condition or a leaving condition of the measurement event is met. The method of claim 24, wherein The entering condition of the first event comprises that a sum of the first angle and a first parameter is less than a first threshold value, and / or a sum of the second angle and a second parameter is less than a second threshold value. The leaving condition of the first event comprises that a difference between the first angle and a third parameter is greater than a third threshold value, and / or a difference between the second angle and a fourth parameter is greater than a fourth threshold value. The method of claim 24, wherein The entering condition of the first event comprises that the first angle is less than a first threshold value, and / or the second angle is less than a second threshold value. The leaving condition of the first event comprises that the first angle is greater than a third threshold value, and / or the second angle is greater than a fourth threshold value. The method according to any one of claims 24-26, characterized in that The entering condition of the second event comprises that the first angle continuously decreases within a first time period, and / or the second angle continuously decreases within a second time period. The leaving condition of the second event comprises that the first angle continuously increases within a third time period, and / or the second angle continuously increases within a fourth time period. The method according to any one of claims 24-27, characterized in that The entering condition of the third event comprises that the first angle continuously increases within a fifth time period, and / or the second angle continuously increases within a sixth time period. The leaving condition of the third event comprises that the first angle continuously decreases within a seventh time period, and / or the second angle continuously decreases within an eighth time period. The method according to any one of claims 24-28, characterized in that In the first sensing device to the first sensing target sends the first sensing signal, the second sensing device receives the first sensing signal after the first sensing target action obtains the third sensing signal, the fourth event entry condition includes: the first angle and the fifth parameter sum is less than the fifth threshold value, and the third angle and the sixth parameter sum is less than the sixth threshold value;The fourth event exit condition includes: the first angle and the seventh parameter difference is greater than the seventh threshold value, and / or the third angle and the eighth parameter difference is greater than the eighth threshold value;Wherein, the third angle is the direction of the third sensing signal, and the included angle between the third reference direction in the sensing range of the second sensing device; In the second sensing device to the first sensing target sends the fourth sensing signal, the first sensing device receives the fourth sensing signal after the first sensing target action obtains the second sensing signal, the fourth event entry condition includes: the second angle and the ninth parameter sum is less than the ninth threshold value, and the fourth angle and the tenth parameter sum is less than the tenth threshold value;The fourth event exit condition includes: the second angle and the eleventh parameter difference is greater than the eleventh threshold value, and / or the fourth angle and the twelfth parameter difference is greater than the twelfth threshold value;Wherein, the fourth angle is the direction of the fourth sensing signal, and the included angle between the fourth reference direction in the sensing range of the second sensing device; The method according to any one of claims 24-28, characterized in that In the first sensing device to the first sensing target sends the first sensing signal, the second sensing equipment receives the first sensing signal after the first sensing target action obtains the third sensing signal, the fourth incident entry condition includes: the first angle is less than the fifth threshold value, and the third angle is less than the sixth threshold value;The fourth event exit condition includes: the first angle is greater than the seventh threshold value, and / or the third angle is greater than the eighth threshold value;Wherein, the third angle is the direction of the first sensing signal, and the included angle between the third reference direction in the sensing range of the second device; In the second sensing device to the first sensing target sends the fourth sensing signal, the fourth sensing signal after the first sensing target action obtains the second sensing signal, the fourth event entering condition includes: the second angle is less than the ninth threshold value, and the fourth angle is less than the tenth threshold value;The fourth event exit condition includes: the second angle is greater than the eleventh threshold value, and / or the fourth angle is greater than the twelfth threshold value;Wherein, the fourth angle is the direction of fourth sensing signal, and the included angle between the fourth reference direction in the sensing range of the first sensing device. The method according to any one of claims 24-30, characterized in that The measurement object is used to indicate at least one perception target, including: the measurement object is used to indicate at least two perception targets; the at least two perception targets include the first perception target and the second perception target, and the angle perception result further includes a fifth angle and / or a sixth angle; the fifth angle is an included angle between a direction of a fifth perception signal sent by the first perception device to the second perception target and a fifth reference direction within a perception range of the first perception device; and the sixth angle is an included angle between a direction of a sixth perception signal received by the first perception device and a sixth reference direction within the perception range of the first perception device, the sixth perception signal being obtained after the second perception target. The method of claim 31, wherein The entering condition of the fifth event includes: a first difference value is less than a thirteenth threshold value, and / or a second difference value is less than a fourteenth threshold value; wherein the first difference value is an absolute value of a difference between the first angle and the fifth angle, and a sum of a thirteenth parameter, and the second difference value is an absolute value of a difference between the second angle and the sixth angle, and a sum of a fourteenth parameter; The leaving condition of the fifth event includes: a third difference value is greater than a fifteenth threshold value, and / or a fourth difference value is greater than a sixteenth threshold value; wherein the third difference value is an absolute value of a difference between the first angle and the fifth angle, and the difference of a fifteenth parameter, and the fourth difference value is an absolute value of a difference between the second angle and the sixth angle, and the difference of a sixteenth parameter. The method of claim 31, wherein The entering condition of the fifth event includes: a first difference value is less than a thirtieth threshold value, and / or a second difference value is less than a thirty-first threshold value; wherein the first difference value is an absolute value of a difference between the first angle, and the fifth angle, and the second difference value is an absolute value of a difference between the second angle and the fifth angle. The leaving condition of the fifth event includes: a third difference value is greater than a thirty-second threshold value, and / or a fourth difference value is greater than a thirty-third threshold value; wherein the third difference value is an absolute value of a difference between the first angle, and the fifth angle, the fourth difference value is an absolute value of a difference between the second angle and the sixth angle. The method of any one of claims 31-33, wherein The entering condition of the sixth event includes: a fifth difference value is greater than a thirty-fourth threshold value, and / or a sixth difference value is greater than a thirty-fifth threshold value; wherein the fifth difference value is an absolute value of a difference between the first angle and the fifth angle, and difference of a thirty-seventh parameter, and the sixth difference value is an absolute value of a difference between the second angle and the sixth angle, and difference of a thirty-eighth parameter; The leaving condition of the sixth event includes: a seventh difference value is less than a thirty-sixth threshold value, and / or an eighth difference value is less than a thirty-seventh threshold value; wherein the seventh difference value is an absolute value of a difference between the first angle and the fifth angle, and sum of a thirty-ninth parameter, and the eighth difference value is an absolute value of a difference between the second angle and the sixth angle, and sum of a fortieth parameter. The method according to any one of claims 31-33, characterized in that The entering condition of the sixth event comprises: a fifth difference value being greater than a seventeenth threshold value, and / or a sixth difference value being greater than an eighteenth threshold value; wherein the fifth difference value is an absolute value of a difference between the first angle and the fifth angle, and the sixth difference value is an absolute value of a difference between the second angle and the sixth angle; The leaving condition of the sixth event comprises: a seventh difference value being less than a nineteenth threshold value, and / or an eighth difference value being less than a twentieth threshold value; wherein the seventh difference value is an absolute value of a difference between the first angle and the fifth angle, and an eighth difference value is an absolute value of a difference between the second angle and the sixth angle. The method according to any one of claims 24-35, characterized in that The entering condition of the seventh event comprises: a difference between the perception angle accuracy of the first perception target and a twenty-first parameter being greater than a twenty-first threshold value. The leaving condition of the seventh event comprises: a sum of the perception angle accuracy of the first perception target and a twenty-second parameter being less than a twenty-second threshold value. The method according to any one of claims 24-35, characterized in that The entering condition of the seventh event comprises: the perception angle accuracy of the first perception target being greater than the twenty-first threshold value. The leaving condition of the seventh event comprises: the perception angle accuracy of the first perception target being less than the twenty-second threshold value. The method according to any one of claims 24-37, characterized in that The entering condition of the eighth event comprises: a sum of the perception angle accuracy of the first perception target and a twenty-third parameter being less than a twenty-third threshold value. The leaving condition of the eighth event comprises: a difference between the perception angle accuracy of the first perception target and a twenty-fourth parameter being greater than a twenty-fourth threshold value. The method according to any one of claims 24-37, characterized in that The entering condition of the eighth event comprises: the perception angle accuracy of the first perception target being less than the twenty-third threshold value. The leaving condition of the eighth event comprises: the perception angle accuracy of the first perception target being greater than the twenty-fourth threshold value. The method according to any one of claims 22-39, characterized in that The method further comprises: receiving a measurement report corresponding to a target event; wherein the target event is an event in the measurement event that satisfies an entering condition or a leaving condition; and the measurement report is used to indicate at least one of the following: that the entering condition or the leaving condition of the target event is satisfied, identification information of the first perception device, or a measurement quantity corresponding to the target event. The method of any one of claims 21-40, wherein The measurement configuration is further used to indicate a duration, and the duration is used to determine whether the measurement event is satisfied within the duration. A communication device, characterized by A module for performing the method of any one of claims 1-41. A communication device characterized by comprising: comprises: a processor; the processor is configured to run a computer program or instructions, so that the method of any one of claims 1-41 is implemented. A computer-readable storage medium, characterized by The computer readable storage medium comprises a computer program or instructions, when the computer program or instructions are run on a computer, so that the computer executes the method of any one of claims 1-41. A computer program product, characterized by The computer program product comprises: a computer program or instructions, when the computer program or instructions are run on a computer, so as to make the computer execute the method of any one of claims 1-41.

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