Sensing processing method and apparatus

Abstract

A sensing processing method and apparatus. The method is executed by a terminal, and comprises: on the basis of a first condition, determining whether to send a sensing result to a network device. Therefore, the signaling overhead for the terminal to send the sensing result to the network device can be reduced, and the power consumption overhead of the terminal can be reduced.

Description

Sensing processing method and device Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a sensing processing method and apparatus. Background Technology

[0002] Sensing technologies include many different types, such as lidar, millimeter-wave radar, cameras, sonar detection, infrared detection, and cellular network sensing. Summary of the Invention

[0003] This disclosure provides a sensing processing method and apparatus for a terminal to determine whether to send sensing results to a network device based on a first condition, thereby reducing the signaling overhead of the terminal sending sensing results to the network device and saving the terminal's power consumption.

[0004] This disclosure presents a sensing processing method and apparatus.

[0005] According to a first aspect of the present disclosure, a perception processing method is proposed, executed by a terminal, comprising: determining whether to send a perception result to a network device based on a first condition.

[0006] In the above embodiments, the terminal can determine whether to send the sensing results to the network device based on the first condition, so as to reduce the signaling overhead of the terminal sending the sensing results to the network device and save the power consumption of the terminal.

[0007] According to a second aspect of the present disclosure, a sensing processing method is proposed, executed by a network device, comprising: receiving a sensing result sent by a terminal, wherein the sensing result is sent by the terminal based on a first condition and determining that the first condition is met.

[0008] In the above embodiments, the network device can receive the sensing result sent by the terminal based on a first condition, which determines that the first condition is met, thereby reducing the signaling overhead of the terminal sending the sensing result to the network device and saving the terminal's power consumption.

[0009] According to a third aspect of the present disclosure, a terminal is provided, comprising: a processing module, configured to determine whether to send a sensing result to a network device based on a first condition.

[0010] According to a fourth aspect of the present disclosure, a network device is provided, comprising: a transceiver module for receiving a sensing result sent by a terminal, wherein the sensing result is sent by the terminal after determining that the first condition is met based on a first condition.

[0011] According to a fifth aspect of the present disclosure, a terminal is provided, comprising: one or more processors, wherein the terminal is configured to perform the method described in the first aspect.

[0012] According to a sixth aspect of the present disclosure, a network device is provided, comprising: one or more processors, wherein the network device is configured to perform the method described in the second aspect.

[0013] According to a seventh aspect of the present disclosure, a communication device is provided, comprising: one or more processors; and a memory coupled to the processors, the memory storing instructions which, when executed by the processors, cause the communication device to perform the method as described in at least one of the first and second aspects.

[0014] According to an eighth aspect of the present disclosure, a communication system is provided, comprising: a terminal and a network device; the terminal performs the method as described in the first aspect, and the network device performs the method as described in the second aspect embodiment.

[0015] According to a ninth aspect of the present disclosure, a computer storage medium is provided, wherein the computer storage medium stores computer-executable instructions; after being executed by a processor, the computer-executable instructions are capable of implementing the method described in at least one aspect of the first aspect and the second aspect.

[0016] According to a tenth aspect of the present disclosure, a computer program product is provided, wherein the computer program product stores a computer program; after being executed by a processor, the computer program is able to implement the method described in at least one aspect of the first aspect and the second aspect.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings required for the description of the embodiments are introduced below. The following drawings are only some embodiments of this disclosure and do not impose specific limitations on the protection scope of this disclosure.

[0019] Figure 1 is an architecture diagram of a communication system provided in an embodiment of this disclosure;

[0020] Figure 2 is a flowchart of a perception processing method provided in an embodiment of this disclosure;

[0021] Figure 3A is a flowchart of another sensing processing method provided in an embodiment of this disclosure;

[0022] Figure 3B is a flowchart of another sensing processing method provided in an embodiment of this disclosure;

[0023] Figure 4A is a structural diagram of a terminal provided in an embodiment of this disclosure;

[0024] Figure 4B is a structural diagram of a network device provided in an embodiment of this disclosure;

[0025] Figure 5A is a structural diagram of a communication device provided in an embodiment of this disclosure;

[0026] Figure 5B is a structural diagram of a chip provided in an embodiment of this disclosure. Detailed Implementation

[0027] This disclosure presents a sensing processing method and apparatus.

[0028] In a first aspect, embodiments of this disclosure propose a sensing processing method, executed by a terminal, comprising: determining whether to send a sensing result to a network device based on a first condition.

[0029] In the above embodiments, the terminal can determine whether to send the sensing results to the network device based on the first condition, so as to reduce the signaling overhead of the terminal sending the sensing results to the network device and save the power consumption of the terminal.

[0030] In conjunction with some embodiments of the first aspect, in some embodiments, the terminal determines whether to send the sensing result to the network device based on a first condition, including at least one of the following: if the first condition is met, sending the sensing result to the network device; if the first condition is not met, stopping sending the sensing result to the network device.

[0031] In the above embodiments, the terminal sends the sensing result to the network device when the first condition is met, and stops sending the sensing result to the network device when the first condition is not met. This can reduce the signaling overhead of the terminal sending the sensing result to the network device and save the terminal's power consumption.

[0032] In conjunction with some embodiments of the first aspect, in some embodiments, the terminal sends sensing results to the network device, including: continuously sending sensing results to the network device; or periodically sending sensing results to the network device.

[0033] In the above embodiments, the terminal can continuously or periodically send the sensing results to the network device to ensure that the sensing results are accurately sent to the network device and to guarantee the quality of communication.

[0034] In some embodiments, in conjunction with the first aspect, the above method further includes: stopping the transmission of sensing results when the number of times the terminal periodically sends sensing results to the network device exceeds a threshold.

[0035] In the above embodiments, the terminal periodically sends the sensing results to the network device. If the number of periodic transmissions exceeds a threshold, the transmission can be stopped to reduce the signaling overhead of the terminal sending the sensing results to the network device and save the terminal's power consumption.

[0036] In conjunction with some embodiments of the first aspect, in some embodiments, satisfying the first condition includes at least one of the following:

[0037] A sensing signal was detected.

[0038] The detected signal strength is greater than the signal strength threshold;

[0039] The detected sensing signal exhibits Doppler frequency shift;

[0040] The detected Doppler frequency shift of the sensed signal is greater than the Doppler frequency shift threshold;

[0041] The change in the first feature of the detected sensing signal is greater than a first threshold;

[0042] The change in the first feature of the detected sensing signal within a first time period is greater than a first threshold;

[0043] The path of a previously undetected sensing signal was detected;

[0044] The path of the detected sensing signal disappeared;

[0045] The detected sensing signals include line-of-sight (LOS) path.

[0046] The LOS path of the detected sensing signal disappears;

[0047] A sensing signal was detected in the first area;

[0048] The path of the previously undetected sensing signal was detected in the first region;

[0049] An object that was not previously detected was detected;

[0050] The previously detected object has disappeared;

[0051] A change in the second characteristic of a previously detected object was detected;

[0052] The change in the second feature of a previously detected object is greater than the second threshold.

[0053] The second feature of a previously detected object was found to have changed more than a second threshold within a second time period.

[0054] An object that was not previously detected in the second region was detected;

[0055] The object previously detected in the second area has disappeared;

[0056] A change was detected in the second characteristic of an object previously detected in the second region;

[0057] A change in the second feature of an object previously detected in the second region is greater than the second threshold;

[0058] The second feature of an object previously detected in the second region was found to have changed more than the second threshold within the second time period;

[0059] An object has been detected entering the third region;

[0060] An object was detected leaving the third region;

[0061] The object was detected to have entered the third region for a duration equal to the third duration.

[0062] The object was detected to have been outside the third region for a duration equal to the third duration.

[0063] An object was detected;

[0064] An object was detected in the fourth region;

[0065] The object has been detected for four consecutive durations.

[0066] The duration for which an object was detected in the fourth region reached the fourth duration.

[0067] The signal quality of the detected sensing signal is greater than the signal quality threshold;

[0068] The signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold;

[0069] The duration of detected sensing signals reached the fifth duration;

[0070] The duration for which the detected sensing signal quality is greater than the signal quality threshold reaches the fifth duration;

[0071] The duration during which the signal quality of the sensed signal is detected to be greater than the signal quality threshold in the fourth region reaches the fifth duration;

[0072] The detected sensing signal exhibited a Doppler frequency shift greater than the Doppler frequency shift threshold during the sixth time period.

[0073] In conjunction with some embodiments of the first aspect, in some embodiments, the first threshold is the change value of the first feature in the perception result last sent by the terminal to the network device.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, the second threshold is the change value of the second feature in the perception result last sent by the terminal to the network device.

[0075] In conjunction with some embodiments of the first aspect, in some embodiments, the above method further includes: a terminal receiving first information sent by a network device, wherein the first information is used to indicate at least one of the following: an intensity threshold; a Doppler frequency shift threshold; a first threshold; a first duration; a first region; a second threshold; a second duration; a third threshold; a second region; a third region; a third duration; a fourth region; a fourth duration; a signal quality threshold; a fifth duration; a sixth duration;

[0076] Based on the first information, determine at least one of the following: intensity threshold; Doppler frequency shift threshold; first threshold; first duration; first region; second threshold; second duration; third threshold; second region; third duration; fourth region; fourth duration; signal quality threshold; fifth duration; sixth duration.

[0077] In conjunction with some embodiments of the first aspect, in some embodiments, the terminal receives first information sent by the network device, including: receiving first information sent by the network device via a broadcast message; or receiving first information sent by the network device via a Radio Resource Control (RRC) reconfiguration message; or receiving first information sent by the network device via a connection release message; or receiving first information sent by the network device via a Sensing Protocol message.

[0078] In conjunction with some embodiments of the first aspect, in some embodiments, at least one of the first region, second region, third region, and fourth region includes at least one of the following: a two-dimensional space region; a three-dimensional space region; a circular two-dimensional space region; an elliptical two-dimensional space region; a polygonal two-dimensional space region; a sphere three-dimensional space region; an ellipsoidal three-dimensional space region; a polygonal three-dimensional space region.

[0079] Secondly, embodiments of this disclosure propose a sensing processing method, executed by a network device, comprising: receiving a sensing result sent by a terminal, wherein the sensing result is sent by the terminal based on a first condition and determining that the first condition is met.

[0080] In the above embodiments, the network device can receive the sensing result sent by the terminal based on a first condition, which determines that the first condition is met, thereby reducing the signaling overhead of the terminal sending the sensing result to the network device and saving the terminal's power consumption.

[0081] In conjunction with some embodiments of the second aspect, in some embodiments, the network device receives the sensing results sent by the terminal, including:

[0082] The receiving terminal continuously transmits the sensing results; or

[0083] The receiving terminal periodically sends the sensing results.

[0084] In conjunction with some embodiments of the second aspect, in some embodiments, satisfying the first condition includes at least one of the following:

[0085] A sensing signal was detected.

[0086] The detected signal strength is greater than the signal strength threshold;

[0087] The detected sensing signal exhibits Doppler frequency shift;

[0088] The detected Doppler frequency shift of the sensed signal is greater than the Doppler frequency shift threshold;

[0089] The change in the first feature of the detected sensing signal is greater than a first threshold;

[0090] The change in the first feature of the detected sensing signal within a first time period is greater than a first threshold;

[0091] The path of a previously undetected sensing signal was detected;

[0092] The path of the detected sensing signal disappeared;

[0093] The detected sensing signals include line-of-sight (LOS) path.

[0094] The LOS path of the detected sensing signal disappears;

[0095] A sensing signal was detected in the first area;

[0096] The path of the previously undetected sensing signal was detected in the first region;

[0097] An object that was not previously detected was detected;

[0098] The previously detected object has disappeared;

[0099] A change in the second characteristic of a previously detected object was detected;

[0100] The change in the second feature of a previously detected object is greater than the second threshold.

[0101] The second feature of a previously detected object was found to have changed more than a second threshold within a second time period.

[0102] An object that was not previously detected in the second region was detected;

[0103] The object previously detected in the second area has disappeared;

[0104] A change was detected in the second characteristic of an object previously detected in the second region;

[0105] A change in the second feature of an object previously detected in the second region is greater than the second threshold;

[0106] The second feature of an object previously detected in the second region was found to have changed more than the second threshold within the second time period;

[0107] An object has been detected entering the third region;

[0108] An object was detected leaving the third region;

[0109] The object was detected to have entered the third region for a duration equal to the third duration.

[0110] The object was detected to have been outside the third region for a duration equal to the third duration.

[0111] An object was detected;

[0112] An object was detected in the fourth region;

[0113] The object has been detected for four consecutive durations.

[0114] The duration for which an object was detected in the fourth region reached the fourth duration.

[0115] The signal quality of the detected sensing signal is greater than the signal quality threshold;

[0116] The signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold;

[0117] The duration of detected sensing signals reached the fifth duration;

[0118] The duration for which the detected sensing signal quality is greater than the signal quality threshold reaches the fifth duration;

[0119] The duration during which the signal quality of the sensed signal is detected to be greater than the signal quality threshold in the fourth region reaches the fifth duration;

[0120] The detected sensing signal exhibited a Doppler frequency shift greater than the Doppler frequency shift threshold during the sixth time period.

[0121] In conjunction with some embodiments of the second aspect, in some embodiments, the first threshold is the change value of the first feature in the perception result last sent by the terminal to the network device.

[0122] In conjunction with some embodiments of the second aspect, in some embodiments, the second threshold is the change value of the second feature in the perception result last sent by the terminal to the network device.

[0123] In conjunction with some embodiments of the second aspect, in some embodiments, the above method further includes: a network device sending first information to a terminal, wherein the first information is used to indicate at least one of the following: an intensity threshold; a Doppler frequency shift threshold; a first threshold; a first duration; a first region; a second threshold; a second duration; a third threshold; a second region; a third region; a third duration; a fourth region; a fourth duration; a signal quality threshold; a fifth duration; and a sixth duration.

[0124] In conjunction with some embodiments of the second aspect, in some embodiments, the network device sends first information to the terminal, including: sending first information to the terminal via a broadcast message; or sending first information to the terminal via an RRC reconfiguration message; or sending first information to the terminal via a connection release message; or sending first information to the terminal via a sensing protocol message.

[0125] In conjunction with some embodiments of the second aspect, in some embodiments, at least one of the first region, the second region, the third region, and the fourth region includes at least one of the following: a two-dimensional space region; a three-dimensional space region; a circular two-dimensional space region; an elliptical two-dimensional space region; a polygonal two-dimensional space region; a sphere three-dimensional space region; an ellipsoidal three-dimensional space region; a polygonal three-dimensional space region.

[0126] Thirdly, embodiments of this disclosure provide a terminal, including: a processing module, configured to determine whether to send a sensing result to a network device based on a first condition.

[0127] Fourthly, embodiments of this disclosure propose a network device, including: a transceiver module, configured to receive a sensing result sent by a terminal, wherein the sensing result is sent by the terminal based on a first condition and determining that the first condition is met.

[0128] Fifthly, a terminal is proposed, comprising: one or more processors, wherein the terminal is used to execute the method described in the first aspect.

[0129] In a sixth aspect, a network device is proposed, comprising: one or more processors, wherein the network device is configured to perform the method described in the second aspect.

[0130] In a seventh aspect, embodiments of this disclosure provide a communication device, the communication device comprising: one or more processors; and a memory coupled to the processors, the memory storing instructions which, when executed by the processors, cause the communication device to perform the method described in at least one of the first and second aspects.

[0131] Eighthly, embodiments of this disclosure provide a communication system comprising: a terminal and a network device; wherein the terminal is configured to perform the method as described in the first aspect, and the network device is configured to perform the method as described in the second aspect.

[0132] Ninthly, embodiments of this disclosure provide a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method as described in at least one of the first and second aspects.

[0133] In a tenth aspect, embodiments of this disclosure provide a program product that, when executed by a communication device, causes the communication device to perform the method as described in at least one of the first and second aspects.

[0134] In one aspect, embodiments of this disclosure provide a computer program that, when run on a computer, causes the computer to perform the methods described in at least one of the first and second aspects.

[0135] In a twelfth aspect, embodiments of this disclosure provide a chip or chip system. The chip or chip system includes processing circuitry configured to perform the methods described in at least one of the first and second aspects described above.

[0136] It is understood that the aforementioned communication equipment, communication system, storage medium, program product, etc., are all used to execute the methods proposed in the embodiments of this disclosure. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0137] This disclosure provides a sensing processing method and apparatus. In some embodiments, the terms "sensing processing method" and "information processing method," "communication method," etc., can be used interchangeably.

[0138] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments. In all embodiments of this disclosure, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the embodiments are consistent and can be mutually referenced. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0139] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0140] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0141] In the embodiments disclosed herein, "multiple" refers to two or more.

[0142] In some embodiments, the terms “at least one of A or B, at least one of A and B”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0143] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "in response to one case A, in response to another case B", etc., may include the following technical solutions depending on the situation: in some embodiments, A (execute A regardless of whether there is a branch B); in some embodiments, B (execute B regardless of whether there is a branch A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, both A and B are executed. The same applies when there are more branches such as A, B, C, etc.

[0144] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execute A regardless of whether a branch B exists); in some embodiments, B (execute B regardless of whether a branch A exists); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, and C.

[0145] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0146] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0147] In some embodiments, terms such as "time / frequency" and "time-frequency domain" refer to the time domain and / or frequency domain.

[0148] In some embodiments, terms such as “in response to…”, “in response to determining…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably. These descriptions all refer to the device making a corresponding action under certain objective circumstances. They do not necessarily limit the time, nor do they require the device to make a judgment action when implementing it, nor do they mean that there must be other limitations.

[0149] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0150] In some embodiments, devices, etc., may be interpreted as physical or virtual, and their names are not limited to those described in the embodiments. Terms such as “device,” “equipment,” “circuit,” “network element,” “network function,” “network device,” “function,” “node,” “unit,” “section,” “system,” “network,” “chip,” “chip system,” “entity,” and “subject” are interchangeable.

[0151] In some embodiments, "network" can be interpreted as devices included in a network (e.g., access network devices, core network devices, etc.).

[0152] In some embodiments, the terms "access network device (AN device)," "radio access network device (RAN device)," "base station (BS)," "radio base station," "fixed station," "node," "access point," "transmission point (TP)," "reception point (RP)," "transmission / reception point (TRP)," "panel," "antenna panel," "antenna array," "cell," "macro cell," "small cell," "femto cell," "pico cell," "sector," "cell group," "serving cell," "carrier," "component carrier," and "bandwidth part (BWP)" can be used interchangeably.

[0153] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", "subscriber station", "mobile unit", "subscriber unit", "wireless unit", "remote unit", "mobile device", "wireless device", "wireless communication device", "remote device", "mobile subscriber station", "access terminal", "mobile terminal", "wireless terminal", "remote terminal", "handset", "user agent", "mobile client", and "client" can be used interchangeably.

[0154] In some embodiments, access network devices, core network devices, or network devices can be replaced by terminals. For example, embodiments of this disclosure can also be applied to structures where communication between access network devices, core network devices, or network devices and terminals is replaced by communication between multiple terminals (e.g., device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the structure can also be configured such that the terminal has all or part of the functions of the access network device. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminals (e.g., "sidelink"). For example, uplink channel, downlink channel, etc., can be replaced with sidelink channel, and uplink link, downlink, etc., can be replaced with sidelink link.

[0155] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, core network device, or network device may also be configured to have all or some of the functions of the terminal.

[0156] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0157] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0158] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0159] Figure 1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure.

[0160] Figure 1 is an architecture diagram of a communication system provided in an embodiment of this disclosure.

[0161] As shown in Figure 1, the communication system 100 includes a terminal 101 and a network device 102.

[0162] In some embodiments, terminal 101 includes, but is not limited to, at least one of the following: mobile phone, wearable device, Internet of Things device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal, augmented reality (AR) terminal, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, and wireless terminal in smart home.

[0163] In some embodiments, network device 102 may include at least one of access network device and core network device.

[0164] In some embodiments, the access network device is, for example, a node or device that connects a terminal to a wireless network. The access network device may include, but is not limited to, at least one of the following in a 5G communication system: evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), node B (NB), home node B (HNB), home evolved node B (HeNB), radio backhaul device, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open RAN, cloud RAN, base station in other communication systems, and access node in a Wi-Fi system.

[0165] In some embodiments, the access network device may be a satellite.

[0166] In some embodiments, the core network equipment may be a single device, multiple devices, or a group of devices, including all or part of a first network element, a second network element, a third network element, a fourth network element, etc. Network elements may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), a 6G Core Network (6GCN), and a Next Generation Core (NGC).

[0167] In some embodiments, the first network element is, for example, an access and mobility management function (AMF) network element.

[0168] In some embodiments, the second network element is, for example, a Location Management Function (LMF) network element.

[0169] In some embodiments, the third network element is, for example, a sensing function (SF) network element.

[0170] In some embodiments, the fourth network element is, for example, a network repository function (NRF) network element.

[0171] In some embodiments, the first network element is used to implement terminal access management and mobility management. It is responsible for terminal state maintenance, terminal reachability management, mobility management (MM), forwarding of non-access stratum (NAS) messages, and forwarding of session management (SM) N2 messages.

[0172] In some embodiments, the second network element is used to coordinate and schedule the resources required for the location of the terminal.

[0173] In some embodiments, the third network element is used to perform wireless sensing using access network equipment or terminals to realize sensing services.

[0174] In some embodiments, the fourth network element is used for dynamic registration of network function service capabilities and network function discovery.

[0175] In some embodiments, at least one of the first network element, the second network element, and the third network element can be independent of the core network equipment.

[0176] In some embodiments, at least one of the first network element, the second network element, and the third network element may be part of the core network equipment.

[0177] It is understood that the communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions proposed in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in this disclosure are also applicable to similar technical problems.

[0178] The following embodiments of this disclosure can be applied to the communication system 100 shown in FIG1, or to some of the main bodies, but are not limited thereto. The main bodies shown in FIG1 are illustrative. The communication system may include all or some of the main bodies in FIG1, or may include other main bodies outside of FIG1. ​​The number and form of each main body are arbitrary. Each main body may be physical or virtual. The connection relationship between the main bodies is illustrative. The main bodies may not be connected or may be connected. The connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0179] The embodiments disclosed herein can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), Super 3G, IMT-Advanced, 4th Generation Mobile Communication System (4G), 5th Generation Mobile Communication System (5G), 5G New Radio (NR), 6th Generation Mobile Communication System (6G), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New Radio Access (NX), Future Generation Radio Access (FX), Global System for Mobile Communications (GSM), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), and IEEE 802.20, ultra-wideband (UWB), Bluetooth, public land mobile network (PLMN), device-to-device (D2D) systems, machine-to-machine (M2M) systems, internet of things (IoT) systems, vehicle-to-everything (V2X) systems, systems utilizing other sensing and processing methods, and next-generation systems built upon them. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0180] In some embodiments, sensing technologies include a variety of different types, such as: lidar, millimeter-wave radar, cameras, sonar detection, infrared detection, and cellular sensing (e.g., sensing technologies based on 4G (e.g., LTE) or 5G (e.g., NR) or 6G cellular network technologies).

[0181] The camera technology includes any one of the following: a visual camera or a TOF (Time of Flight) camera.

[0182] The cellular network sensing technology includes any one of the following: communication base station sensing and communication terminal sensing.

[0183] Depending on the type of sensing device, the information that can be obtained about the target object includes:

[0184] Coordinate information (e.g., coordinates relative to the wireless signal receiver (e.g., distance, horizontal angle, and vertical angle));

[0185] Speed ​​information (e.g., moving speed and direction of movement relative to the wireless signal receiver);

[0186] Signal strength;

[0187] Behavioral pattern information (e.g., running, walking, approaching, falling, swinging, etc. or weather information (e.g., rain, snow, etc. or traffic information (e.g., congestion, accidents, etc.)).

[0188] In some embodiments of Integrated Sensing and Communications (ISAC), a wireless signal transmitter transmits radio waves, and a wireless signal receiver receives the radio waves. During the transmission of the radio waves, the transmission may be blocked by objects (hereinafter referred to as reflectors), resulting in wireless transmission effects such as reflection, diffraction, transmission, phase change, Doppler shift, and signal strength variation. The wireless signal receiver receives the radio waves and compares the transmitted and received signals, or records the historical changes in the received signal, thereby obtaining information about the reflectors (e.g., coordinate information, velocity information, signal strength, and behavioral pattern information).

[0189] The “signal transmitter” can be a terminal or a base station, and the “signal receiver” can be a terminal or a base station.

[0190] The wireless signal transmitter and receiver can be from the same device or different devices. For example:

[0191] Mode 1: Base station A transmits, base station B receives.

[0192] Mode 2: Base station A transmits, base station A receives.

[0193] Mode 3: Terminal A sends, Terminal B receives.

[0194] Mode 4: Terminal A sends, Terminal A receives.

[0195] Mode 5: Base station A transmits, terminal A receives.

[0196] Mode 6: Terminal A transmits, base station A receives.

[0197] When the wireless signal transmitter and receiver are co-located, this sensing method can be called mono-static sensing. When the wireless signal transmitter and receiver are not co-located, this sensing method can be called bi-static sensing.

[0198] In some embodiments, one application scenario of sensing is intrusion detection. In related technologies, in most cases, the terminal may not detect the intruder but continues to report the sensing results to the network device, which leads to increased signaling overhead for reporting sensing results and increased power consumption of the terminal.

[0199] Based on this, in this embodiment of the disclosure, the terminal determines whether to send the sensing result to the network device based on a first condition. This reduces the signaling overhead of the terminal sending the sensing result to the network device and saves the terminal's power consumption.

[0200] Figure 2 is an interactive schematic diagram of a perception processing method according to an embodiment of the present disclosure. As shown in Figure 2, the embodiments of the present disclosure relate to a perception processing method, which includes:

[0201] S201, the terminal determines whether to send the sensing result to the network device based on the first condition.

[0202] In some embodiments, the first condition is the condition for the terminal to send the sensing result to the network device.

[0203] In some embodiments, the terminal determines whether to send the sensing result to the network device based on a first condition, including at least one of the following:

[0204] If the first condition is met, send the sensing results to the network device;

[0205] If the first condition is not met, stop sending sensing results to network devices.

[0206] In this embodiment of the disclosure, the terminal sends the sensing result to the network device when the first condition is met.

[0207] In this embodiment of the present disclosure, the terminal stops sending the sensing results to the network device if the first condition is not met.

[0208] In some embodiments, the first condition is the condition for the terminal to cancel sending the sensing results to the network device.

[0209] In this embodiment of the disclosure, the terminal cancels sending the sensing results to the network device when the first condition is met.

[0210] In this embodiment of the disclosure, the terminal sends the sensing result to the network device if the first condition is not met.

[0211] In some embodiments, the first condition is a condition related to the object to be sensed; or the first condition is a condition related to any object; or the first condition is a condition related to a sensing signal; or the first condition is a condition related to indication information sent by a network device.

[0212] For example, the terminal sends a sensing result to the network device when it detects an object that needs to be sensed or when the object that needs to be sensed meets a first specific condition. Conversely, the terminal cancels sending the sensing result to the network device when it does not detect an object that needs to be sensed or when the object that needs to be sensed does not meet the first specific condition. For example, the first specific condition is that the object that needs to be sensed enters a designated area, or the object that needs to be sensed is detected in the designated area, or the object that needs to be sensed leaves the designated area, or the characteristics of the object that needs to be sensed meet a designated condition (at least one of speed, position, angle, and distance changes or the change is large enough), etc.

[0213] For example, the terminal sends the sensing result to the network device when it detects any object or when any detected object meets the second specified condition. Conversely, the terminal cancels sending the sensing result to the network device when it does not detect any object or when any detected object does not meet the second specified condition. For example, the first specific condition is that any object enters a specified area, or any object is detected in the specified area, or any object is detected leaving the specified area, or any feature of any object meets the specified condition (at least one of speed, position, angle, and distance changes or the change is large enough), etc.

[0214] For example, the terminal sends the sensing result to the network device when it detects a sensing signal or when the detected sensing signal meets a third specific condition. Conversely, if the terminal does not detect a sensing signal or when the detected sensing signal does not meet the third specific condition, it cancels sending the sensing result to the network device. For example, the third specific condition is that a sensing signal is detected in a specified area, or that a previously detected sensing signal has disappeared, or that the characteristics of the detected sensing signal meet specified conditions (at least one of signal strength, signal quality, Doppler shift, amplitude, and phase changes or the change is large enough), etc.

[0215] For example, if the terminal receives an instruction from the network device instructing it to report the sensing results, it sends the sensing results to the network device. Conversely, if the terminal does not receive an instruction from the network device, it cancels sending the sensing results to the network device.

[0216] In some embodiments, the terminal sends sensing results to the network device, including: continuously sending sensing results to the network device; or periodically sending sensing results to the network device.

[0217] In some embodiments, if the number of times the terminal periodically sends sensing results to the network device exceeds a threshold, the sending of sensing results is stopped.

[0218] In some embodiments, the terminal determines the threshold based on a protocol agreement, or based on an instruction from a network device, or based on the terminal's implementation.

[0219] For example, the protocol stipulates the value of the threshold (e.g., 3). The terminal determines the threshold based on the protocol and stops sending the sensing results when the number of times it periodically sends the sensing results to the network device is greater than 3.

[0220] For example, the terminal receives an indication message sent by the network device, the indication message indicating the value of a threshold (e.g., 3). Based on the indication message sent by the network device, the terminal can determine that if the number of times the sensing results are periodically sent to the network device is greater than 3, the terminal will stop sending the sensing results.

[0221] For example, if the terminal determines that the remaining battery power can only support the terminal to report the sensing results to the network device 3 more times, the terminal can determine that the threshold value is 3. The terminal can determine that if the number of times the sensing results are periodically sent to the network device is greater than 3, the terminal will stop sending the sensing results.

[0222] It should be noted that the above examples are for illustrative purposes only and are not intended to limit the specific embodiments of this disclosure. The threshold value can also be 2, 5, 10, etc.

[0223] In some embodiments, satisfying the first condition includes at least one of the following:

[0224] A sensing signal was detected.

[0225] The detected signal strength is greater than the signal strength threshold;

[0226] The detected sensing signal exhibits Doppler frequency shift;

[0227] The detected Doppler frequency shift of the sensed signal is greater than the Doppler frequency shift threshold;

[0228] The change in the first feature of the detected sensing signal is greater than a first threshold;

[0229] The change in the first feature of the detected sensing signal within a first time period is greater than a first threshold;

[0230] The path of a previously undetected sensing signal was detected;

[0231] The path of the detected sensing signal disappeared;

[0232] The detected sensing signals have a line of sight (LOS) diameter;

[0233] The LOS path of the detected sensing signal disappears;

[0234] A sensing signal was detected in the first area;

[0235] The path of the previously undetected sensing signal was detected in the first region;

[0236] An object that was not previously detected was detected;

[0237] The previously detected object has disappeared;

[0238] A change in the second characteristic of a previously detected object was detected;

[0239] The change in the second feature of a previously detected object is greater than the second threshold.

[0240] The second feature of a previously detected object was found to change more than the third threshold within a second time period;

[0241] An object that was not previously detected was detected in the second region;

[0242] The object previously detected in the second area has disappeared;

[0243] A change was detected in the second characteristic of an object previously detected in the second region;

[0244] A change in the second feature of an object previously detected in the second region is greater than the second threshold;

[0245] The second feature of an object previously detected in the second region was found to change more than the third threshold within the second time period;

[0246] An object has been detected entering the third region;

[0247] An object was detected leaving the third region;

[0248] The object was detected to have entered the third region for a duration equal to the third duration.

[0249] The object was detected to have been outside the third region for a duration equal to the third duration.

[0250] An object was detected;

[0251] An object was detected in the fourth region;

[0252] The object has been detected for four consecutive durations.

[0253] The duration for which an object was detected in the fourth region reached the fourth duration.

[0254] The signal quality of the detected sensing signal is greater than the signal quality threshold;

[0255] The signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold;

[0256] The duration of detected sensing signals reached the fifth duration;

[0257] The duration for which the detected sensing signal quality is greater than the signal quality threshold reaches the fifth duration;

[0258] The duration during which the signal quality of the sensed signal is detected to be greater than the signal quality threshold in the fourth region reaches the fifth duration;

[0259] The Doppler frequency shift of the sensed signal detected in the sixth time period is greater than the Doppler frequency shift threshold.

[0260] In this embodiment of the disclosure, the first condition is that a sensing signal is detected. Specifically, if a sensing signal is detected, the terminal sends the sensing result to the network device. If no sensing signal is detected, the terminal cancels sending the sensing result to the network device.

[0261] In this embodiment of the disclosure, the first condition is that the signal strength of the detected sensing signal is greater than a signal strength threshold. Specifically, if the signal strength of the detected sensing signal is greater than the signal strength threshold, the terminal sends the sensing result to the network device. If the signal strength of an undetected sensing signal is greater than the signal strength threshold, the terminal cancels sending the sensing result to the network device.

[0262] In some embodiments, the signal strength is the received signal strength indicator (RSSI).

[0263] In this embodiment of the disclosure, the first condition is that the RSSI of the detected sensing signal is greater than the RSSI threshold. Specifically, if the RSSI of the detected sensing signal is greater than the RSSI threshold, the terminal sends the sensing result to the network device. If the RSSI of an undetected sensing signal is not greater than the RSSI threshold, the terminal cancels sending the sensing result to the network device.

[0264] In some embodiments, the terminal determines the signal strength threshold based on protocol agreement, or based on instructions from network devices, or based on implementation.

[0265] In this embodiment of the disclosure, the first condition is that the detected sensing signal exhibits a Doppler frequency shift. Specifically, if the terminal detects a Doppler frequency shift in the sensing signal, it sends the sensing result to the network device. If the terminal does not detect a Doppler frequency shift in the sensing signal, it cancels sending the sensing result to the network device.

[0266] In this embodiment of the disclosure, the first condition is that the Doppler frequency shift of the detected sensing signal is greater than a Doppler frequency shift threshold. Specifically, if the terminal detects a Doppler frequency shift of the sensing signal greater than the Doppler frequency shift threshold, it sends the sensing result to the network device. If the terminal does not detect a Doppler frequency shift of the sensing signal greater than the Doppler frequency shift threshold, it cancels sending the sensing result to the network device.

[0267] In some embodiments, the terminal determines the Doppler frequency shift threshold based on protocol agreement, or based on instructions from the network device, or based on implementation.

[0268] In this embodiment of the disclosure, the first condition is met when the change in the first feature of the detected sensing signal is greater than a first threshold. Specifically, if the change in the first feature of the detected sensing signal is greater than the first threshold, the terminal sends the sensing result to the network device. If the change in the first feature of the undetected sensing signal is greater than the first threshold, the terminal cancels sending the sensing result to the network device.

[0269] In this embodiment of the disclosure, the first condition is met when the change of a first feature of the detected sensing signal within a first time period is greater than a first threshold. Specifically, if the change of the first feature of the detected sensing signal within the first time period is greater than the first threshold, the terminal sends the sensing result to the network device. If the change of the first feature of an undetected sensing signal within the first time period is greater than the first threshold, the terminal cancels sending the sensing result to the network device.

[0270] In some embodiments, the first feature includes at least one of the following:

[0271] Doppler shift;

[0272] Amplitude;

[0273] Phase.

[0274] In this embodiment of the disclosure, the first condition is met when the detected change in the Doppler frequency shift of the sensed signal, or the change within a first time period, exceeds a first threshold. Specifically, if the terminal detects a change in the Doppler frequency shift of the sensed signal, or the change within the first time period, exceeding the first threshold, it sends the sensed result to the network device. If the terminal does not detect a change in the Doppler frequency shift of the sensed signal, or the change within the first time period, exceeding the first threshold, it cancels sending the sensed result to the network device.

[0275] In this embodiment of the disclosure, the first condition is met when the change in the amplitude of the detected sensing signal or the change within a first time period exceeds a first threshold. Specifically, if the change in the amplitude of the detected sensing signal or the change within the first time period exceeds the first threshold, the terminal sends the sensing result to the network device. If no change in the amplitude of the undetected sensing signal or the change within the first time period exceeds the first threshold, the terminal cancels sending the sensing result to the network device.

[0276] In this embodiment of the disclosure, the first condition is met when the phase change of the detected sensing signal or the change within a first time period is greater than a first threshold. Specifically, if the terminal detects a phase change of the sensing signal or the change within the first time period that is greater than the first threshold, it sends a sensing result to the network device. If the terminal does not detect a phase change of the sensing signal or the change within the first time period that is greater than the first threshold, it cancels sending the sensing result to the network device.

[0277] In some embodiments, the terminal determines the first threshold based on a protocol agreement, or based on an instruction from a network device, or based on an implementation.

[0278] In some embodiments, the first threshold is the change value of the first feature in the perception result last sent by the terminal to the network device.

[0279] In some embodiments, the terminal determines the first duration based on a protocol agreement, or based on an instruction from a network device, or based on an implementation.

[0280] In this embodiment of the disclosure, the first condition is that a path of a previously undetected sensing signal is detected. Specifically, if the terminal detects a path of a previously undetected sensing signal, it sends a sensing result to the network device. If the terminal does not detect a path of a previously undetected sensing signal, it cancels sending the sensing result to the network device.

[0281] In this embodiment of the disclosure, the first condition is that the path of the detected sensing signal disappears. Specifically, if the path of the detected sensing signal disappears, the terminal sends the sensing result to the network device. If the path of the detected sensing signal has not disappeared, the terminal cancels sending the sensing result to the network device.

[0282] In this embodiment of the disclosure, the first condition is that the detected sensing signal has a LOS path. Specifically, if the detected sensing signal has a LOS path, the terminal sends the sensing result to the network device. If the detected sensing signal does not have a LOS path, the terminal cancels sending the sensing result to the network device.

[0283] In this embodiment of the disclosure, the first condition is that the LOS path of the detected sensing signal disappears. Specifically, if the LOS path of the detected sensing signal disappears, the terminal sends the sensing result to the network device. If the LOS path of the detected sensing signal has not disappeared, the terminal cancels sending the sensing result to the network device.

[0284] In this embodiment of the disclosure, the first condition is that a sensing signal is detected in the first area. Specifically, if the terminal detects a sensing signal in the first area, it sends a sensing result to the network device. If the terminal does not detect a sensing signal in the first area, it cancels sending the sensing result to the network device.

[0285] In this embodiment of the disclosure, the first condition is that a path of a previously undetected sensing signal is detected in the first region. Specifically, if the terminal detects a previously undetected sensing signal path in the first region, it sends a sensing result to the network device. If the terminal does not detect a previously undetected sensing signal path in the first region, it cancels sending the sensing result to the network device.

[0286] In some embodiments, the number of sensing signals is one or more.

[0287] In some embodiments, the terminal determines the first region based on a protocol agreement, or based on an instruction from a network device, or based on an implementation.

[0288] In some embodiments, the first region includes at least one of the following:

[0289] A region in two-dimensional space;

[0290] A region in three-dimensional space;

[0291] A circular two-dimensional region;

[0292] An elliptical region in two-dimensional space;

[0293] A region in two-dimensional space of a polygon;

[0294] The region of a sphere in three-dimensional space;

[0295] The region of three-dimensional space of an ellipsoid;

[0296] A region in the three-dimensional space of a polygon.

[0297] In this embodiment of the disclosure, the first condition is that an object that was not previously detected is detected. Specifically, if the terminal detects a previously undetected object, it sends a sensing result to the network device. If the terminal does not detect a previously undetected object, it cancels sending the sensing result to the network device.

[0298] In this embodiment of the disclosure, the first condition is that the previously detected object has disappeared. Specifically, if the terminal detects the disappearance of a previously detected object, it sends a sensing result to the network device. If the terminal does not detect the disappearance of a previously detected object, it cancels sending the sensing result to the network device.

[0299] In this embodiment of the disclosure, the first condition is met when a change in the second feature of a previously detected object is detected. Specifically, if the terminal detects a change in the second feature of a previously detected object, it sends a sensing result to the network device. If the terminal does not detect a change in the second feature of a previously detected object, it cancels sending the sensing result to the network device.

[0300] In this embodiment of the disclosure, the first condition is met when a change in the second feature of a previously detected object is detected to be greater than a second threshold. Specifically, if the terminal detects a change in the second feature of a previously detected object greater than the second threshold, it sends the perception result to the network device. If the terminal does not detect a change in the second feature of a previously detected object greater than the second threshold, it cancels sending the perception result to the network device.

[0301] In this embodiment of the disclosure, the first condition is that an object that was not previously detected is detected in the second area. Specifically, if the terminal detects an object that was not previously detected in the second area, it sends a sensing result to the network device. If the terminal does not detect an object that was not previously detected in the second area, it cancels sending the sensing result to the network device.

[0302] In this embodiment of the disclosure, the first condition is that an object previously detected in the second area has disappeared. Specifically, if the terminal detects the disappearance of an object previously detected in the second area, it sends a sensing result to the network device. If the terminal does not detect the disappearance of an object previously detected in the second area, it cancels sending the sensing result to the network device.

[0303] In this embodiment of the disclosure, the first condition is met when a change is detected in the second feature of an object previously detected in the second region. Specifically, if the terminal detects a change in the second feature of an object previously detected in the second region, it sends a sensing result to the network device. If the terminal does not detect a change in the second feature of an object previously detected in the second region, it cancels sending the sensing result to the network device.

[0304] In this embodiment of the disclosure, the first condition is met when a change in the second feature of an object previously detected in the second region is detected to be greater than a second threshold. Specifically, if the terminal detects that the change in the second feature of an object previously detected in the second region is greater than the second threshold, it sends the sensing result to the network device. If the terminal does not detect a change in the second feature of an object previously detected in the second region greater than the second threshold, it cancels sending the sensing result to the network device.

[0305] In this embodiment of the disclosure, the first condition is met when the change in the second feature of an object previously detected in the second region within a second time period is greater than a second threshold. Specifically, if the terminal detects that the change in the second feature of an object previously detected in the second region within a second time period is greater than the second threshold, it sends the sensing result to the network device. If the terminal does not detect that the change in the second feature of an object previously detected in the second region within a second time period is greater than the second threshold, it cancels sending the sensing result to the network device.

[0306] In some embodiments, the second feature includes at least one of the following:

[0307] Location;

[0308] speed;

[0309] angle;

[0310] distance.

[0311] In this embodiment of the disclosure, the first condition is met when the location of a previously detected object changes or the change exceeds a second threshold, or when the location of a previously detected object in the second region changes or the change exceeds a second threshold. Specifically, if the terminal detects a change in the location of a previously detected object or the change exceeds the second threshold, or if the location of a previously detected object in the second region changes or the change exceeds the second threshold, the terminal sends a sensing result to the network device. If the terminal does not detect a change in the location of a previously detected object or the change exceeds the second threshold, or if the location of a previously detected object in the second region does not change or the change exceeds the second threshold, the terminal cancels sending the sensing result to the network device.

[0312] In this embodiment of the disclosure, the first condition is met when the speed of a previously detected object changes or the change exceeds a second threshold, or the position of a previously detected object in the second region changes or the change exceeds a second threshold. Specifically, if the terminal detects a change in the speed of a previously detected object or the change exceeds the second threshold, or if the terminal detects a change in the position of a previously detected object in the second region or the change exceeds the second threshold, it sends a sensing result to the network device. If the terminal does not detect a change in the speed of a previously detected object or the change exceeds the second threshold, or if it does not detect a change in the position of a previously detected object in the second region or the change exceeds the second threshold, it cancels sending the sensing result to the network device.

[0313] In this embodiment of the disclosure, the first condition is met when the angle of a previously detected object changes or the change exceeds a second threshold, or the position of a previously detected object in the second region changes or the change exceeds a second threshold. Specifically, if the terminal detects a change in the angle of a previously detected object or the change exceeds the second threshold, or if the terminal detects a change in the position of a previously detected object in the second region or the change exceeds the second threshold, it sends a sensing result to the network device. If the terminal does not detect a change in the angle of a previously detected object or the change exceeds the second threshold, or if it does not detect a change in the position of a previously detected object in the second region or the change exceeds the second threshold, it cancels sending the sensing result to the network device.

[0314] In this embodiment of the disclosure, the first condition is met when the distance to a previously detected object changes or the change exceeds a second threshold, or the position of a previously detected object in the second area changes or the change exceeds a second threshold. Specifically, if the terminal detects a change in the distance to a previously detected object or a change exceeding the second threshold, or a change in the position of a previously detected object in the second area, or a change exceeding the second threshold, it sends a sensing result to the network device. If the terminal does not detect a change in the distance to a previously detected object or a change exceeding the second threshold, or a change in the position of a previously detected object in the second area, or a change exceeding the second threshold, it cancels sending the sensing result to the network device.

[0315] In some embodiments, the terminal determines the second duration based on a protocol agreement, or based on an instruction from a network device, or based on an implementation.

[0316] In some embodiments, the terminal determines the second region based on protocol agreements, or based on instructions from network devices, or based on implementation.

[0317] In some embodiments, the second region includes at least one of the following:

[0318] A region in two-dimensional space;

[0319] A region in three-dimensional space;

[0320] A circular two-dimensional region;

[0321] An elliptical region in two-dimensional space;

[0322] A region in two-dimensional space of a polygon;

[0323] The region of a sphere in three-dimensional space;

[0324] The region of three-dimensional space of an ellipsoid;

[0325] A region in the three-dimensional space of a polygon.

[0326] In some embodiments, the terminal determines the second threshold based on a protocol agreement, or based on an instruction from a network device, or based on an implementation.

[0327] In some embodiments, the second threshold is the change value of the second feature in the perception result last sent by the terminal to the network device.

[0328] In this embodiment of the disclosure, the first condition is that an object is detected entering the third area. Specifically, if the terminal detects that an object has entered the third area, it sends a sensing result to the network device. If the terminal does not detect that an object has entered the third area, it cancels sending the sensing result to the network device.

[0329] In this embodiment of the disclosure, the first condition is that an object is detected leaving the third area. Specifically, if the terminal detects that an object has left the third area, it sends a sensing result to the network device. If the terminal does not detect that an object has left the third area, it cancels sending the sensing result to the network device.

[0330] In this embodiment of the disclosure, the first condition is met when the duration for which an object is detected entering the third area reaches a third duration. Specifically, if the terminal detects that the duration for which an object has entered the third area has reached the third duration, it sends a sensing result to the network device. If the terminal does not detect that the duration for which an object has entered the third area has reached the third duration, it cancels sending the sensing result to the network device.

[0331] In this embodiment of the disclosure, the first condition is met when the duration for which the object has been detected leaving the third area reaches a third duration. Specifically, if the terminal detects that the duration for which the object has been detected leaving the third area has reached the third duration, it sends a sensing result to the network device. If the terminal does not detect that the duration for which the object has been detected leaving the third area has reached the third duration, it cancels sending the sensing result to the network device.

[0332] In some embodiments, the terminal determines the third region based on protocol agreement, or based on instructions from network devices, or based on implementation.

[0333] In some embodiments, the third region includes at least one of the following:

[0334] A region in two-dimensional space;

[0335] A region in three-dimensional space;

[0336] A circular two-dimensional region;

[0337] An elliptical region in two-dimensional space;

[0338] A region in two-dimensional space of a polygon;

[0339] The region of a sphere in three-dimensional space;

[0340] The region of three-dimensional space of an ellipsoid;

[0341] A region in the three-dimensional space of a polygon.

[0342] In some embodiments, the terminal determines the third duration based on a protocol agreement, an instruction from a network device, or an implementation.

[0343] In this embodiment of the disclosure, the first condition is that an object is detected. Specifically, if an object is detected, the terminal sends a sensing result to the network device. If no object is detected, the terminal cancels sending the sensing result to the network device.

[0344] In this embodiment of the disclosure, the first condition is that an object is detected in the fourth region. Specifically, if the terminal detects an object in the fourth region, it sends a sensing result to the network device. If the terminal does not detect an object in the fourth region, it cancels sending the sensing result to the network device.

[0345] In this embodiment of the disclosure, the first condition is met when the duration of object detection reaches a fourth duration. Specifically, if the duration of object detection reaches a fourth duration, the terminal sends the sensing result to the network device. If the duration of object detection does not reach a fourth duration, the terminal cancels sending the sensing result to the network device.

[0346] In this embodiment of the disclosure, the first condition is met when the duration for which an object is detected in the fourth region reaches a fourth duration. Specifically, if the terminal detects an object in the fourth region for a duration of four hours, it sends the sensing result to the network device. If the terminal does not detect an object in the fourth region for a duration of four hours, it cancels sending the sensing result to the network device.

[0347] In some embodiments, the number of objects is one or more.

[0348] In some embodiments, the object is a specific object, such as the target object that needs to be perceived.

[0349] In some embodiments, the terminal determines the fourth duration based on a protocol agreement, an instruction from a network device, or an implementation.

[0350] In this embodiment of the disclosure, the first condition is that the signal quality of the detected sensing signal is greater than a signal quality threshold. Specifically, if the signal quality of the detected sensing signal is greater than the signal quality threshold, the terminal sends the sensing result to the network device. If the signal quality of an undetected sensing signal is not greater than the signal quality threshold, the terminal cancels sending the sensing result to the network device.

[0351] In this embodiment of the disclosure, the first condition is met when the signal quality of the sensed signal detected in the fourth region is greater than a signal quality threshold. Specifically, if the signal quality of the sensed signal detected by the terminal in the fourth region is greater than the signal quality threshold, the terminal sends the sensed result to the network device. If the signal quality of the sensed signal not detected in the fourth region is greater than the signal quality threshold, the terminal cancels sending the sensed result to the network device.

[0352] In this embodiment of the disclosure, the first condition is met when the duration of detecting the sensing signal reaches a fifth duration. Specifically, if the terminal detects the sensing signal for a duration of five durations, it sends the sensing result to the network device. If the terminal does not detect the sensing signal for a duration of five durations, it cancels sending the sensing result to the network device.

[0353] In this embodiment of the disclosure, the first condition is met when the signal quality of the detected sensing signal is greater than a signal quality threshold for a duration of five durations. Specifically, if the terminal detects a sensing signal whose signal quality is greater than the signal quality threshold for a duration of five durations, it sends the sensing result to the network device. If the terminal does not detect a sensing signal whose signal quality is greater than the signal quality threshold for a duration of five durations, it cancels sending the sensing result to the network device.

[0354] In this embodiment of the disclosure, the first condition is met when the signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold for a duration of five. Specifically, if the terminal detects that the signal quality of the sensed signal in the fourth region is greater than the signal quality threshold for a duration of five, it sends the sensing result to the network device. If the terminal does not detect that the signal quality of the sensed signal in the fourth region is greater than the signal quality threshold for a duration of five, it cancels sending the sensing result to the network device.

[0355] In this embodiment of the disclosure, the first condition is that the Doppler frequency shift of the detected sensing signal during the sixth time period is greater than a Doppler frequency shift threshold. Specifically, if the terminal detects that the Doppler frequency shift of the sensing signal during the sixth time period is greater than the Doppler frequency shift threshold, the terminal sends the sensing result to the network device. If the terminal does not detect that the Doppler frequency shift of the sensing signal during the sixth time period is greater than the Doppler frequency shift threshold, the terminal cancels sending the sensing result to the network device.

[0356] In some embodiments, signal quality includes at least one of the following:

[0357] Reference Signal Received Power (RSRP);

[0358] Received signal strength indicator (RSSI);

[0359] Reference signal received quality (RSRQ).

[0360] In this embodiment of the disclosure, the first condition is that the RSRP of the detected sensing signal is greater than the RSRP threshold. Specifically, if the RSRP of the detected sensing signal is greater than the RSRP threshold, the terminal sends the sensing result to the network device. If the RSRP of an undetected sensing signal is not greater than the RSRP threshold, the terminal cancels sending the sensing result to the network device.

[0361] In this embodiment of the disclosure, the first condition is that the RSSI of the detected sensing signal is greater than the RSSI threshold. Specifically, if the RSSI of the detected sensing signal is greater than the RSSI threshold, the terminal sends the sensing result to the network device. If the RSSI of an undetected sensing signal is not greater than the RSSI threshold, the terminal cancels sending the sensing result to the network device.

[0362] In this embodiment of the disclosure, the first condition is that the RSRQ of the detected sensing signal is greater than the RSRQ threshold. Specifically, if the RSRQ of the detected sensing signal is greater than the RSRQ threshold, the terminal sends the sensing result to the network device. If the RSRQ of an undetected sensing signal is not greater than the RSRQ threshold, the terminal cancels sending the sensing result to the network device.

[0363] In some embodiments, the terminal determines the signal quality threshold based on protocol agreement, or based on instructions from network devices, or based on implementation.

[0364] In some embodiments, the terminal determines the fifth duration based on a protocol agreement, an instruction from a network device, or an implementation.

[0365] In some embodiments, the terminal determines the sixth duration based on a protocol agreement, an instruction from a network device, or an implementation.

[0366] In some embodiments, the terminal determines the fourth region based on protocol agreement, or based on instructions from network devices, or based on implementation.

[0367] In some embodiments, the fourth region includes at least one of the following:

[0368] A region in two-dimensional space;

[0369] A region in three-dimensional space;

[0370] A circular two-dimensional region;

[0371] An elliptical region in two-dimensional space;

[0372] A region in two-dimensional space of a polygon;

[0373] The region of a sphere in three-dimensional space;

[0374] The region of three-dimensional space of an ellipsoid;

[0375] A region in the three-dimensional space of a polygon.

[0376] In some embodiments, the first condition is a condition under which the terminal cancels sending the sensing result to the network device, and satisfying the first condition includes at least one of the following:

[0377] No sensing signal was detected;

[0378] The signal strength of the detected sensing signal is not greater than the signal strength threshold;

[0379] Undetected sensing signals exhibit Doppler frequency shift;

[0380] The detected Doppler frequency shift of the sensed signal was not greater than the Doppler frequency shift threshold;

[0381] The change in the first feature of the detected sensing signal did not exceed the first threshold;

[0382] The change in the first feature of the detected sensing signal within the first time period did not exceed the first threshold;

[0383] The path of previously undetected sensing signals was not detected;

[0384] The path of the undetected sensing signal disappears;

[0385] Undetected sensing signals include line-of-sight (LOS) paths;

[0386] The LOS path of the undetected sensing signal disappears;

[0387] No sensing signal was detected in the first area;

[0388] The path of the previously undetected sensing signal was not detected in the first region;

[0389] No previously undetected objects were detected;

[0390] Previously detected objects have disappeared;

[0391] No change in the second characteristic of previously detected objects was detected;

[0392] The change in the second feature of the previously detected object did not exceed the second threshold.

[0393] The change in the second feature of the previously detected object within the second time period did not exceed the second threshold.

[0394] No objects that were previously not detected in the second region were detected;

[0395] The object previously detected in the second region has disappeared;

[0396] The second characteristic of an object previously detected in the second region has changed and was not detected.

[0397] The change in the second feature of the object previously detected in the second region was not greater than the second threshold.

[0398] The change in the second feature of the object previously detected in the second region within the second time period did not exceed the second threshold.

[0399] No object was detected entering the third region;

[0400] No object was detected leaving the third region;

[0401] The object was detected to have entered the third region for less than the required third duration.

[0402] The object was detected to have left the third region for less than the required third duration.

[0403] No object detected;

[0404] No object was detected in the fourth region;

[0405] The object was detected before the fourth duration.

[0406] The duration for which an object was detected in the fourth region did not reach the fourth duration.

[0407] The signal quality of the detected sensing signal is not greater than the signal quality threshold;

[0408] The signal quality of the sensed signal detected in the fourth region was not greater than the signal quality threshold;

[0409] The duration of the detected sensing signal did not reach the fifth duration;

[0410] The duration for which the detected sensing signal quality is greater than the signal quality threshold has not reached the fifth duration;

[0411] The duration during which the signal quality of the sensed signal was detected to be greater than the signal quality threshold in the fourth region did not reach the fifth duration;

[0412] The detected sensing signal did not exceed the Doppler frequency shift threshold during the sixth time period.

[0413] In this embodiment of the disclosure, the first condition is that no sensing signal is detected. Specifically, if no sensing signal is detected, the terminal cancels sending the sensing result to the network device. If a sensing signal is detected, the terminal sends the sensing result to the network device.

[0414] In this embodiment of the disclosure, the first condition is that the signal strength of the detected sensing signal is not greater than a signal strength threshold. Specifically, if the terminal detects that the signal strength of the sensing signal is not greater than the signal strength threshold, it cancels sending the sensing result to the network device. If the terminal detects that the signal strength of the sensing signal is greater than the signal strength threshold, it sends the sensing result to the network device.

[0415] In this embodiment of the disclosure, the first condition is that the undetected sensing signal exhibits a Doppler frequency shift. Specifically, if the terminal detects a Doppler frequency shift in the undetected sensing signal, it cancels sending the sensing result to the network device. If the terminal detects a Doppler frequency shift in the sensing signal, it sends the sensing result to the network device.

[0416] In this embodiment of the disclosure, the first condition is that the Doppler frequency shift of the detected sensing signal is not greater than a Doppler frequency shift threshold. Specifically, if the terminal detects that the Doppler frequency shift of the sensing signal is not greater than the Doppler frequency shift threshold, it cancels sending the sensing result to the network device. If the terminal detects that the Doppler frequency shift of the sensing signal is greater than the Doppler frequency shift threshold, it sends the sensing result to the network device.

[0417] In this embodiment of the disclosure, the first condition is met when the change in the first feature of the detected sensing signal does not exceed a first threshold. Specifically, if the change in the first feature of the detected sensing signal does not exceed the first threshold, the terminal cancels sending the sensing result to the network device. If the change in the first feature of the detected sensing signal exceeds the first threshold, the terminal sends the sensing result to the network device.

[0418] In this embodiment of the disclosure, the first condition is met when the change of the first feature of the detected sensing signal within a first time period does not exceed a first threshold. Specifically, if the change of the first feature of the detected sensing signal within the first time period does not exceed the first threshold, the terminal cancels sending the sensing result to the network device. If the change of the first feature of the detected sensing signal within the first time period exceeds the first threshold, the terminal sends the sensing result to the network device.

[0419] In this embodiment of the disclosure, the first condition is that no path of a previously undetected sensing signal is detected. Specifically, if the terminal does not detect a path of a previously undetected sensing signal, it cancels sending the sensing result to the network device. If the terminal detects a path of a previously undetected sensing signal, it sends the sensing result to the network device.

[0420] In this embodiment of the disclosure, the first condition is that no path of a previously undetected sensing signal is detected. Specifically, if the terminal does not detect a path of a previously undetected sensing signal, it cancels sending the sensing result to the network device. If the terminal detects a path of a previously undetected sensing signal, it sends the sensing result to the network device.

[0421] In this embodiment of the disclosure, the first condition is that the path of the undetected sensing signal disappears. Specifically, if the path of the undetected sensing signal disappears, the terminal cancels sending the sensing result to the network device. If the path of the detected sensing signal disappears, the terminal sends the sensing result to the network device.

[0422] In this embodiment of the disclosure, the first condition is that the undetected sensing signal has a line-of-sight (LOS) path. Specifically, if the undetected sensing signal has a LOS path, the terminal cancels sending the sensing result to the network device. If the detected sensing signal has a LOS path, the terminal sends the sensing result to the network device.

[0423] In this embodiment of the disclosure, the first condition is that the LOS path of the undetected sensing signal disappears. Specifically, if the LOS path of the undetected sensing signal disappears, the terminal cancels sending the sensing result to the network device. If the LOS path of the detected sensing signal disappears, the terminal sends the sensing result to the network device.

[0424] In this embodiment of the disclosure, the first condition is that no sensing signal is detected in the first area. Specifically, if no sensing signal is detected in the first area, the terminal cancels sending the sensing result to the network device. If a sensing signal is detected in the first area, the terminal sends the sensing result to the network device.

[0425] In this embodiment of the disclosure, the first condition is that no path containing a previously undetected sensing signal is detected in the first area. Specifically, if the terminal does not detect a path containing a previously undetected sensing signal in the first area, it cancels sending the sensing result to the network device. If the terminal detects a path containing a previously undetected sensing signal in the first area, it sends the sensing result to the network device.

[0426] In this embodiment of the disclosure, the first condition is that no previously undetected object is detected. Specifically, if the terminal does not detect a previously undetected object, it cancels sending the sensing result to the network device. If the terminal detects a previously undetected object, it sends the sensing result to the network device.

[0427] In this embodiment of the disclosure, the first condition is that no previously detected object has disappeared. Specifically, if the terminal does not detect the disappearance of a previously detected object, it cancels sending the sensing result to the network device. If the terminal detects the disappearance of a previously detected object, it sends the sensing result to the network device.

[0428] In this embodiment of the disclosure, the first condition is that no change in the second feature of a previously detected object is detected. Specifically, if the terminal does not detect a change in the second feature of a previously detected object, it cancels sending the sensing result to the network device. If the terminal detects a change in the second feature of a previously detected object, it sends the sensing result to the network device.

[0429] In this embodiment of the disclosure, the first condition is met when the change in the second feature of a previously detected object is not greater than a second threshold. Specifically, if the terminal detects that the change in the second feature of a previously detected object is not greater than the second threshold, it cancels sending the sensing result to the network device. If the terminal detects that the change in the second feature of a previously detected object is greater than the second threshold, it sends the sensing result to the network device.

[0430] In this embodiment of the disclosure, the first condition is met when the change in the second feature of a previously detected object within a second time period does not exceed a second threshold. Specifically, if the terminal detects that the change in the second feature of a previously detected object within a second time period does not exceed the second threshold, it cancels sending the sensing result to the network device. If the terminal detects that the change in the second feature of a previously detected object within a second time period exceeds the second threshold, it sends the sensing result to the network device.

[0431] In this embodiment of the disclosure, the first condition is that no object previously undetected in the second area is detected. Specifically, if the terminal does not detect an object previously undetected in the second area, it cancels sending the sensing result to the network device. If the terminal detects an object previously undetected in the second area, it sends the sensing result to the network device.

[0432] In this embodiment of the disclosure, the first condition is that the previously detected object in the second area has disappeared. Specifically, if the terminal does not detect the disappearance of the previously detected object in the second area, it cancels sending the sensing result to the network device. If the terminal detects the disappearance of the previously detected object in the second area, it sends the sensing result to the network device.

[0433] In this embodiment of the disclosure, the first condition is met when a change in the second feature of an object previously detected in the second region is not detected. Specifically, if the terminal does not detect a change in the second feature of an object previously detected in the second region, it cancels sending the sensing result to the network device. If the terminal detects a change in the second feature of an object previously detected in the second region, it sends the sensing result to the network device.

[0434] In this embodiment of the disclosure, the first condition is met when the change in the second feature of an object previously detected in the second region is not greater than a second threshold. Specifically, if the terminal detects that the change in the second feature of an object previously detected in the second region is not greater than the second threshold, it cancels sending the sensing result to the network device. If the terminal detects that the change in the second feature of an object previously detected in the second region is greater than the second threshold, it sends the sensing result to the network device.

[0435] In this embodiment of the disclosure, the first condition is met when the change in the second feature of an object previously detected in the second region within a second time period does not exceed a second threshold. Specifically, if the terminal detects that the change in the second feature of an object previously detected in the second region within a second time period does not exceed the second threshold, it cancels sending the sensing result to the network device. If the terminal detects that the change in the second feature of an object previously detected in the second region within a second time period exceeds the second threshold, it sends the sensing result to the network device.

[0436] In this embodiment of the disclosure, the first condition is that no object is detected entering the third area. Specifically, if no object is detected entering the third area, the terminal cancels sending the sensing result to the network device. If an object is detected entering the third area, the terminal sends the sensing result to the network device.

[0437] In this embodiment of the disclosure, the first condition is that no object is detected leaving the third area. Specifically, if no object is detected leaving the third area, the terminal cancels sending the sensing result to the network device. If the terminal detects that an object has left the third area, it sends the sensing result to the network device.

[0438] In this embodiment of the disclosure, the first condition is met when the duration for which the object is detected to have entered the third area does not reach the third duration. Specifically, if the terminal detects that the duration for which the object is detected to have entered the third area has not reached the third duration, it cancels sending the sensing result to the network device. If the terminal detects that the duration for which the object is detected to have entered the third area has reached the third duration, it sends the sensing result to the network device.

[0439] In this embodiment of the disclosure, the first condition is met when the duration for which the object has been detected leaving the third area does not reach a third duration. Specifically, if the terminal detects that the duration for which the object has been detected leaving the third area has not reached the third duration, it cancels sending the sensing result to the network device. If the terminal detects that the duration for which the object has been detected leaving the third area has reached the third duration, it sends the sensing result to the network device.

[0440] In this embodiment of the disclosure, the first condition is that no object is detected. Specifically, if no object is detected, the terminal cancels sending the sensing result to the network device. If an object is detected, the terminal sends the sensing result to the network device.

[0441] In this embodiment of the disclosure, the first condition is that no object is detected in the fourth region. Specifically, if no object is detected in the fourth region, the terminal cancels sending the sensing result to the network device. If an object is detected in the fourth region, the terminal sends the sensing result to the network device.

[0442] In this embodiment of the disclosure, the first condition is that the duration of object detection has not reached the fourth duration. Specifically, if the terminal detects the object for less than the fourth duration, it cancels sending the sensing result to the network device. If the terminal detects the object for a duration of at least the fourth duration, it sends the sensing result to the network device.

[0443] In this embodiment of the disclosure, the first condition is met when the duration of object detection in the fourth region does not reach the fourth duration. Specifically, if the terminal detects an object in the fourth region for less than the fourth duration, it cancels sending the sensing result to the network device. If the terminal detects an object in the fourth region for a duration reaching the fourth duration, it sends the sensing result to the network device.

[0444] In this embodiment of the disclosure, the first condition is that the signal quality of the detected sensing signal is not greater than a signal quality threshold. Specifically, if the signal quality of the detected sensing signal is not greater than the signal quality threshold, the terminal cancels sending the sensing result to the network device. If the signal quality of the detected sensing signal is greater than the signal quality threshold, the terminal sends the sensing result to the network device.

[0445] In this embodiment of the disclosure, the first condition is met when the signal quality of the sensing signal detected in the fourth region is not greater than a signal quality threshold. Specifically, if the signal quality of the sensing signal detected by the terminal in the fourth region is not greater than the signal quality threshold, the terminal cancels the transmission of the sensing result to the network device. If the signal quality of the sensing signal detected by the terminal in the fourth region is greater than the signal quality threshold, the terminal transmits the sensing result to the network device.

[0446] In this embodiment of the disclosure, the first condition is that the duration of detecting the sensing signal has not reached the fifth duration. Specifically, if the terminal detects that the duration of the sensing signal has not reached the fifth duration, it cancels sending the sensing result to the network device. If the terminal detects that the duration of the sensing signal has reached the fifth duration, it sends the sensing result to the network device.

[0447] In this embodiment of the disclosure, the first condition is met when the duration for which the signal quality of the detected sensing signal is greater than the signal quality threshold does not reach a fifth duration. Specifically, if the duration for which the signal quality of the detected sensing signal is greater than the signal quality threshold does not reach a fifth duration, the terminal cancels sending the sensing result to the network device. If the duration for which the signal quality of the detected sensing signal is greater than the signal quality threshold reaches a fifth duration, the terminal sends the sensing result to the network device.

[0448] In this embodiment of the disclosure, the first condition is met when the duration for which the signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold does not reach a fifth duration. Specifically, if the duration for which the terminal detects that the signal quality of the sensed signal in the fourth region is greater than the signal quality threshold does not reach a fifth duration, the terminal cancels the transmission of the sensed result to the network device. If the duration for which the terminal detects that the signal quality of the sensed signal in the fourth region is greater than the signal quality threshold reaches a fifth duration, the terminal transmits the sensed result to the network device.

[0449] In this embodiment of the disclosure, the first condition is that the Doppler frequency shift of the detected sensing signal during the sixth time period is not greater than a Doppler frequency shift threshold. Specifically, if the terminal detects that the Doppler frequency shift of the sensing signal during the sixth time period is not greater than the Doppler frequency shift threshold, it cancels sending the sensing result to the network device. If the terminal detects that the Doppler frequency shift of the sensing signal during the sixth time period is greater than the Doppler frequency shift threshold, it sends the sensing result to the network device.

[0450] It should be noted that, in the above embodiments, the description of at least one of the object, sensed signal, signal strength, first feature, second feature, intensity threshold, Doppler frequency shift threshold, first threshold, first duration, first region, second threshold, second duration, third threshold, second region, third region, third duration, fourth region, fourth duration, signal quality threshold, fifth duration, and sixth duration can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0451] By implementing this disclosure, the terminal can determine whether to send the sensing result to the network device based on a first condition, thereby reducing the signaling overhead of the terminal sending the sensing result to the network device and saving the terminal's power consumption.

[0452] In some embodiments, the names of information, etc., are not limited to the names described in the embodiments. Terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0453] In some embodiments, terms such as “moment,” “point in time,” “time,” and “time location” can be used interchangeably, as can terms such as “duration,” “segment,” “time window,” “window,” and “time.”

[0454] In some embodiments, "acquire," "get," "obtain," "receive," "transmit," "bidirectional transmission," and "send and / or receive" can be used interchangeably and can be interpreted as receiving from other entities, acquiring from protocols, acquiring from higher layers, obtaining through self-processing, or autonomous implementation. Protocols include, for example, at least one of the 3GPP protocol, Wi-Fi protocol, and audio and / or video protocols.

[0455] In some embodiments, terms such as “send,” “transmit,” “report,” “distribute,” “transfer,” “bidirectional transmission,” “send and / or receive” can be used interchangeably.

[0456] In some embodiments, terms such as "certain," "preset," "default," "set," "indicated," "a certain," "any," and "first" can be used interchangeably. "Certain A," "preset A," "default A," "set A," "indicated A," "a certain A," "any A," and "first A" can be interpreted as A pre-defined in a protocol or the like, or as A obtained through setting, configuration, or instruction, or as specific A, a certain A, any A, or first A, but are not limited thereto.

[0457] In some embodiments, the determination or judgment can be made by a value represented by 1 bit (0 or 1), or by a true or false value (boolean), or by a comparison of numerical values ​​(e.g., a comparison with a predetermined value), but is not limited thereto.

[0458] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0459] Figure 3A is an interactive schematic diagram illustrating a perception processing method according to an embodiment of the present disclosure. As shown in Figure 3A, the embodiments of the present disclosure relate to a perception processing method, which includes:

[0460] S301A, the network device sends the first information to the terminal.

[0461] In some embodiments, the terminal receives first information sent by a network device, but is not limited thereto. The terminal may also receive first information sent by other entities other than the network device, in which case S301A may be omitted.

[0462] In some embodiments, the terminal obtains the first information specified by the protocol, in which case S301A can be omitted.

[0463] In some embodiments, the terminal obtains the first information from the upper layer(s), in which case S301A can be omitted.

[0464] In some embodiments, the terminal processes the information to obtain the first information, in which case S301A can be omitted.

[0465] In some embodiments, the terminal autonomously implements the function indicated by the first information, or the above function is a default or default setting, in which case S301A can be omitted.

[0466] In some embodiments, the first information is used to indicate at least one of an intensity threshold, a Doppler frequency shift threshold, a first threshold, a first duration, a first region, a second threshold, a second duration, a third threshold, a second region, a third region, a third duration, a fourth region, a fourth duration, a signal quality threshold, a fifth duration, and a sixth duration.

[0467] In some embodiments, the network device sends first information to the terminal, including:

[0468] The first information is sent to the terminal via broadcast message; or

[0469] Send the first information to the terminal via an RRC reconfiguration message; or

[0470] Send the first message to the terminal via a connection release message; or

[0471] The first information is sent to the terminal via the perception protocol message.

[0472] S302A, the terminal determines at least one of the following based on the first information: intensity threshold, Doppler frequency shift threshold, first threshold, first duration, first region, second threshold, second duration, third threshold, second region, third region, third duration, fourth region, fourth duration, signal quality threshold, fifth duration, and sixth duration.

[0473] The optional implementations of S301A and S302A can be found in the optional implementation of S201 in Figure 2 and other related parts in the embodiments involved in Figure 2, which will not be repeated here.

[0474] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0475] Figure 3B is an interactive schematic diagram illustrating a perception processing method according to an embodiment of the present disclosure. As shown in Figure 3B, the embodiments of the present disclosure relate to a perception processing method, which includes:

[0476] S301B: The terminal sends the sensing results to the network device.

[0477] In some embodiments, the network device receives the sensing results sent by the terminal, but is not limited thereto. The network device may also receive the sensing results sent by other entities other than the terminal, in which case S301B can be omitted.

[0478] In some embodiments, the network device obtains the perception results specified by the protocol, in which case S301B can be omitted.

[0479] In some embodiments, the network device obtains the perception results from the upper layer(s), in which case S301B can be omitted.

[0480] In some embodiments, the network device processes the data to obtain the sensing results, in which case S301B can be omitted.

[0481] In some embodiments, the network device autonomously implements the function indicated by the sensing result, or the above function is a default or default value, in which case S301B can be omitted.

[0482] In some embodiments, the perception result is sent by the terminal when it determines that the first condition is met based on the first condition.

[0483] In some embodiments, the network device receives sensing results sent by the terminal, including: receiving sensing results continuously sent by the terminal; or receiving sensing results periodically sent by the terminal.

[0484] The optional implementation of S301B can be found in the optional implementation of S201 in Figure 2 and other related parts in the embodiments involved in Figure 2, which will not be repeated here.

[0485] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0486] To facilitate understanding of the embodiments of this disclosure, an exemplary embodiment is provided.

[0487] In an exemplary embodiment, a method for reporting perception results is proposed.

[0488] One application scenario for sensing is intrusion detection. In most cases, intruders are not actually detected, and in such situations, it is unnecessary for the terminal to continue reporting the sensing results. Therefore, the terminal can be limited to reporting the sensing results only when an intrusion is detected, which can reduce the signaling overhead of sensing result reporting and the terminal's power consumption.

[0489] Taking network equipment, including base stations and sensing function nodes, as an example, the methods for reporting sensing results performed by the terminal include:

[0490] 1: In response to the detection of a specific event, trigger the reporting of perception results or stop the reporting of perception results.

[0491] In some embodiments, when a terminal detects a specific event that triggers perception reporting, the terminal continues to perform perception reporting until it detects a specific event that satisfies the requirement to stop reporting perception results.

[0492] In some embodiments, when the terminal detects a specific event that triggers perception reporting, the terminal only periodically reports the perception results a specific number of times (>=1), and after reaching the specified number, it stops reporting.

[0493] 1.1: The specific event includes one or more of the following:

[0494] -A sensing signal was detected;

[0495] - The signal strength of the sensed signal was detected to be greater than a certain threshold;

[0496] - A Doppler frequency shift was detected in the sensed signal;

[0497] - The Doppler frequency shift of the sensed signal was detected to be greater than a certain threshold;

[0498] - The Doppler frequency shift / signal amplitude / phase change of the sensed signal is detected to be greater than a certain threshold;

[0499] - A new sensing signal path was detected;

[0500] - The path of the sensing signal was detected to have disappeared;

[0501] - A LOS path was detected in the sensing signal;

[0502] - The detection signal LOS path disappeared.

[0503] 1.1.1: The signal strength of the sensing signal is represented by RSRP, RSSI, or RSRQ, and the signal strength threshold is configured to the terminal by the base station or sensing function node.

[0504] In some embodiments, the base station configures the threshold via broadcast messages, RRC reconfiguration messages, or connection release messages. Alternatively, the sensing function node configures the threshold via sensing protocol messages.

[0505] 1.1.2: The Doppler frequency shift of the sensed signal is configured to the terminal by the base station or the sensed functional node.

[0506] In some embodiments, the base station configures the threshold via broadcast messages, RRC reconfiguration messages, or connection release messages. Alternatively, the sensing function node configures the threshold via sensing protocol messages.

[0507] 1.1.3: The Doppler frequency shift / signal amplitude / phase change threshold of the sensed signal is configured to the terminal by the base station or sense function node.

[0508] In some embodiments, the base station configures the threshold via broadcast messages, RRC reconfiguration messages, or connection release messages. Alternatively, the sensing function node configures the threshold via sensing protocol messages.

[0509] 1.1.3.1: The terminal evaluates the Doppler frequency shift / signal amplitude / phase change of the sensed signal over a period of time. If the change value is greater than the threshold, it triggers a report.

[0510] In some embodiments, the duration of the time period is configured to the terminal by the base station or sensing function node.

[0511] 1.1.3.2: The terminal evaluates the changes in the Doppler frequency shift / signal amplitude / phase of the current sensed signal relative to the last reported measurement report. If the changes are greater than the threshold, a report is triggered.

[0512] In some embodiments, the duration of the time period is configured to the terminal by the base station or sensing function node.

[0513] 1.1.4: Measurement reporting is triggered only when the specific event occurs in the designated area.

[0514] In some embodiments, the designated area is configured by the base station through broadcast messages, RRC reconfiguration messages, or connection release messages, or by the sensing function node through sensing protocol messages.

[0515] In some embodiments, the region is a two-dimensional space or a three-dimensional space. Two-dimensional space can be represented by a circle, ellipse, polygon, etc. Three-dimensional space can be represented by a sphere, ellipsoid, polygon, etc.

[0516] 1.2: The specific event includes one or more of the following:

[0517] - One or more new objects were detected;

[0518] - One or more previously detected objects have disappeared;

[0519] - The position / velocity / angle / distance of one or more previously detected objects has changed or the change exceeds a certain threshold.

[0520] 1.2.1: The terminal evaluates the changes in the position / velocity / angle / distance of an object over a period of time. If the change value is greater than the threshold, it triggers a report.

[0521] In some embodiments, the duration of the time period is configured to the terminal by the base station or sensing function node.

[0522] 1.2.2: The change in the position / velocity / angle / distance of the terminal evaluation object relative to the last reported measurement report. If the change value is greater than the threshold, a report is triggered.

[0523] In some embodiments, the duration of the time period is configured to the terminal by the base station or sensing function node.

[0524] 1.2.3: Measurement reporting is triggered only when the specific event occurs in the designated area.

[0525] In some embodiments, the designated area is configured by the base station through broadcast messages, RRC reconfiguration messages, or connection release messages, or by the sensing function node through sensing protocol messages.

[0526] 1.3: The specific event includes one or more of the following:

[0527] - Detected one or more objects entering or leaving the specified area;

[0528] - Continuously detect one or more objects entering or leaving a specified area for a period of time.

[0529] In some embodiments, the region is a two-dimensional space or a three-dimensional space. Two-dimensional space can be represented by a circle, ellipse, polygon, etc. Three-dimensional space can be represented by a sphere, ellipsoid, polygon, etc.

[0530] 1.4: The terminal stops reporting measurements when one or more of the following events are met:

[0531] - No object / specific object was detected, or no object / specific object was detected within the specified area;

[0532] - No object / specific object was detected for a period of time, or no object / specific object was detected within a specific area for a period of time;

[0533] - No sensing signal was detected or no sensing signal with signal quality greater than the threshold was detected, or no sensing signal was detected in the specific area, or no sensing signal with signal quality greater than the threshold was detected in the specific area;

[0534] - No sensing signal was detected or no sensing signal with signal quality greater than the threshold was detected for a period of time, or no sensing signal was detected in a specific area or no sensing signal with signal quality greater than the threshold was detected in a specific area for a period of time.

[0535] - No Doppler frequency shift of the sensed signal was detected that was greater than the threshold value, or no Doppler frequency shift of the sensed signal was detected that was greater than the threshold value within a certain period of time.

[0536] In some embodiments, the signal quality of the sensed signal is represented by RSRP, RSSI, or RSRQ, and the signal quality threshold is configured to the terminal by the base station or sense function node.

[0537] This disclosure also proposes an apparatus (also referred to as a communication device, etc.) for implementing any of the above methods. For example, an apparatus is proposed that includes units or modules for implementing the steps performed by the terminal in any of the above methods. Furthermore, another apparatus is proposed that includes units or modules for implementing the steps performed by a network device (e.g., an access network device, a core network functional node, a core network device, etc.) in any of the above methods.

[0538] It should be understood that the division of units or modules in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units or modules in the device can be implemented by a processor calling software: for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules in the above device. The processor can be, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functionality of some or all of the units or modules can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the units or modules is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functionality of some or all of the units or modules. All units or modules of the above device can be implemented entirely through processor-called software, entirely through hardware circuits, or partially through processor-called software with the remaining parts implemented through hardware circuits.

[0539] In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the aforementioned hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), a Tensor Processing Unit (TPU), or a Deep Learning Processing Unit (DPU).

[0540] Figure 4A is a schematic diagram of the structure of a terminal proposed in an embodiment of this disclosure. As shown in Figure 4A, the terminal 101 may include at least one of a transceiver module 1011, a processing module 1012, etc.

[0541] In some embodiments, the processing module 1012 is configured to determine whether to send the sensing result to the network device based on a first condition.

[0542] Optionally, the transceiver module 1011 is used to perform at least one of the communication steps such as sending and / or receiving performed by the terminal 101 in any of the above methods (e.g., the communication steps such as sending and / or receiving performed by the terminal in S201, S301A to S302A, and S301B, but not limited thereto), which will not be elaborated here. Optionally, the processing module 1012 is used to perform at least one of the other steps performed by the terminal 101 in any of the above methods (e.g., other steps besides the communication steps such as sending and / or receiving performed by the terminal in S201, S301A to S302A, and S301B, but not limited thereto), which will not be elaborated here.

[0543] In some embodiments, the transceiver module may include a sending module and / or a receiving module, which may be separate or integrated together.

[0544] In some embodiments, the processing module may be a single module or may include multiple sub-modules. Optionally, the multiple sub-modules may each perform all or part of the steps required by the processing module.

[0545] In some embodiments, the processing module can be replaced by the processor, and the transceiver module can be replaced by the transceiver.

[0546] Figure 4B is a schematic diagram of the structure of a network device proposed in an embodiment of this disclosure. As shown in Figure 4B, the network device 102 may include at least one of a transceiver module 1021, a processing module 1022, etc.

[0547] In some embodiments, the transceiver module 1021 is configured to receive a sensing result sent by a terminal, wherein the sensing result is sent by the terminal after determining that the first condition is met based on a first condition.

[0548] Optionally, the transceiver module 1021 is used to perform at least one of the communication steps such as sending and / or receiving performed by the network device 102 in any of the above methods (e.g., the communication steps such as sending and / or receiving performed by the network device in S201, S301A to S302A, and S301B, but not limited thereto), which will not be elaborated here. Optionally, the processing module 1022 is used to perform at least one of the other steps performed by the network device 102 in any of the above methods (e.g., other steps besides the communication steps such as sending and / or receiving performed by the network device in S201, S301A to S302A, and S301B, but not limited thereto), which will not be elaborated here.

[0549] In some embodiments, the transceiver module may include a sending module and / or a receiving module, which may be separate or integrated together.

[0550] In some embodiments, the processing module may be a single module or may include multiple sub-modules. Optionally, the multiple sub-modules may each perform all or part of the steps required by the processing module.

[0551] In some embodiments, the processing module can be replaced by the processor, and the transceiver module can be replaced by the transceiver.

[0552] Figure 5A is a schematic diagram of the structure of the communication device 5100 proposed in an embodiment of this disclosure. The communication device 5100 can be a network device (e.g., access network device, core network device, etc.), a terminal (e.g., user equipment, etc.), a chip, chip system, or processor that supports the network device in implementing any of the above methods, or a chip, chip system, or processor that supports the terminal in implementing any of the above methods. The communication device 5100 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0553] As shown in Figure 5A, the communication device 5100 is used to execute any of the above methods. In some embodiments, the communication device 5100 includes one or more processors 5101. The processor 5101 may be a general-purpose processor or a special-purpose processor, such as a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control communication devices (e.g., base stations, baseband chips, terminals, terminal chips, DUs or CUs, etc.), execute programs, and process program data. Optionally, the communication device 5100 is used to execute any of the above methods. Optionally, one or more processors 5101 are used to invoke instructions to cause the communication device 5100 to execute any of the above methods.

[0554] In some embodiments, the communication device 5100 further includes one or more transceivers 5102. When the communication device 5100 includes one or more transceivers 5102, the transceiver 5102 performs at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., the sending and / or receiving steps in S201, S301A to S302A, S301B, but not limited thereto), and the processor 5101 performs at least one of other steps (e.g., other steps besides sending and / or receiving in S201, S301A to S302A, S301B, but not limited thereto). In optional embodiments, the transceiver may include a receiver and / or a transmitter, which may be separate or integrated together. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, interface, etc., can be used interchangeably; the terms transmitter, sending unit, transmitter, sending circuit, etc., can be used interchangeably; the terms receiver, receiving unit, receiver, receiving circuit, etc., can be used interchangeably.

[0555] In some embodiments, the communication device 5100 further includes one or more memories 5103 for storing data and / or instructions. Optionally, one or more processors 5101 are used to invoke instructions stored in the memory 5103 to cause the communication device 5100 to perform any of the above methods. Optionally, all or part of the memory 5103 may also be located outside the communication device 5100. In an optional embodiment, the communication device 5100 may include one or more interface circuits 5104. Optionally, the interface circuit 5104 is connected to the memory 5103 and can be used to receive data and / or instructions from the memory 5103 or other devices, and can be used to send data and / or instructions to the memory 5103 or other devices. For example, the interface circuit 5104 can read data and / or instructions stored in the memory 5103 and send the data and / or instructions to the processor 5101.

[0556] The communication device 5100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 5100 described in this disclosure is not limited thereto, and the structure of the communication device 5100 may not be limited by FIG. 5A. The communication device may be a standalone device or may be part of a larger device. For example, the communication device may be: (1) a standalone integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include storage components for storing data, programs and / or instructions; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal, smart terminal, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0557] Figure 5B is a schematic diagram of the structure of chip 5200 according to an embodiment of this disclosure. For cases where the communication device 5100 can be a chip or a chip system, please refer to the schematic diagram of chip 5200 shown in Figure 5B, but it is not limited thereto.

[0558] Chip 5200 includes one or more processors 5201. Chip 5200 is used to perform any of the methods described above.

[0559] In some embodiments, chip 5200 further includes one or more interface circuits 5202. Optionally, terms such as interface circuit, interface, and transceiver pin can be used interchangeably. In some embodiments, chip 5200 further includes one or more memories 5203 for storing data and / or instructions. Optionally, all or part of the memories 5203 may be located outside of chip 5200. Optionally, the interface circuit 5202 is connected to the memories 5203, and the interface circuit 5202 can be used to receive data and / or instructions from the memories 5203 or other devices, and the interface circuit 5202 can be used to send data and / or instructions to the memories 5203 or other devices. For example, the interface circuit 5202 can read data and / or instructions stored in the memories 5203 and send the data and / or instructions to the processor 5201.

[0560] In some embodiments, the interface circuit 5202 performs at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., the sending and / or receiving steps in S201, S301A to S302A, and S301B, but not limited thereto). The interface circuit 5202 performing the communication steps such as sending and / or receiving in the above-described method refers, for example, to the interface circuit 5202 performing data and / or instruction interaction between the processor 5201, the chip 5200, the memory 5203, or the transceiver device. In some embodiments, the processor 5201 performs at least one of other steps (e.g., steps other than sending and / or receiving in S201, S301A to S302A, and S301B, but not limited thereto).

[0561] The modules and / or devices described in the various embodiments, such as virtual devices, physical devices, and chips, can be combined or separated arbitrarily as needed. Optionally, some or all steps can also be performed collaboratively by multiple modules and / or devices, which is not limited here.

[0562] This disclosure also proposes a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but not limited thereto; it may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but not limited thereto; it may also be a temporary storage medium.

[0563] This disclosure also proposes a program product, including a program and / or instructions, which, when executed by a communication device, cause the communication device to perform any of the above methods. Optionally, the program product is a computer program product. Optionally, the program product is stored on the storage medium.

[0564] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0565] 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 disclosure.

[0566] 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.

[0567] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A sensing processing method, characterized in that, The method is executed at the terminal, including: Based on the first condition, determine whether to send the sensing results to the network device.

2. The method as described in claim 1, characterized in that, The step of determining whether to send the sensing result to the network device based on the first condition includes at least one of the following: If the terminal meets the first condition, it sends the sensing result to the network device; If the terminal does not meet the first condition, the transmission of sensing results to the network device will be stopped.

3. The method as described in claim 2, characterized in that, Sending the sensing results to the network device includes: Continuously send sensing results to the network device; or The sensing results are periodically sent to the network device.

4. The method as described in claim 3, characterized in that, The method further includes: If the number of times the sensing results are periodically sent to the network device exceeds a threshold, the sending of sensing results will stop.

5. The method according to any one of claims 1 to 4, characterized in that, The condition of satisfying the first condition includes at least one of the following: A sensing signal was detected. The detected signal strength is greater than the signal strength threshold; The detected sensing signal exhibits Doppler frequency shift; The detected Doppler frequency shift of the sensed signal is greater than the Doppler frequency shift threshold; The change in the first feature of the detected sensing signal is greater than a first threshold; The change in the first feature of the detected sensing signal within a first time period is greater than a first threshold; The path of a previously undetected sensing signal was detected; The path of the detected sensing signal disappeared; The detected sensing signals include line-of-sight (LOS) paths; The LOS path of the detected sensing signal disappears; A sensing signal was detected in the first area; The path of the previously undetected sensing signal was detected in the first region; An object that was not previously detected was detected; The previously detected object has disappeared; A change in the second characteristic of a previously detected object was detected; The change in the second feature of a previously detected object is greater than the second threshold. The second feature of a previously detected object was found to have changed more than a second threshold within a second time period. An object that was not previously detected in the second region was detected; The object previously detected in the second area has disappeared; A change was detected in the second characteristic of an object previously detected in the second region; A change in the second feature of an object previously detected in the second region is greater than the second threshold; The second feature of an object previously detected in the second region was found to have changed more than the second threshold within the second time period; An object has been detected entering the third region; An object was detected leaving the third region; The object was detected to have entered the third region for a duration equal to the third duration. The object was detected to have been outside the third region for a duration equal to the third duration. An object was detected; An object was detected in the fourth region; The object has been detected for four consecutive durations. The duration for which an object was detected in the fourth region reached the fourth duration. The signal quality of the detected sensing signal is greater than the signal quality threshold; The signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold; The duration of detected sensing signals reached the fifth duration; The duration for which the detected sensing signal quality is greater than the signal quality threshold reaches the fifth duration; The duration during which the signal quality of the sensed signal is detected to be greater than the signal quality threshold in the fourth region reaches the fifth duration; The detected sensing signal exhibited a Doppler frequency shift greater than the Doppler frequency shift threshold during the sixth time period.

6. The method as described in claim 5, characterized in that, The first threshold is the change value of the first feature in the perception result last sent by the terminal to the network device.

7. The method as described in claim 5 or 6, characterized in that, The second threshold is the change value of the second feature in the perception result last sent by the terminal to the network device.

8. The method as described in claim 5, characterized in that, The method further includes: Receive first information sent by the network device, wherein the first information is used to indicate at least one of the following: The strength threshold; The Doppler frequency shift threshold; The first threshold; The first duration; The first region; The second threshold; The second duration; The second region; The third region; The third duration; The fourth region; The fourth duration; The signal quality threshold; The fifth duration; The sixth duration; Based on the first information, at least one of the following is determined: The strength threshold; The Doppler frequency shift threshold; The first threshold; The first duration; The first region; The second threshold; The second duration; The second region; The third region; The third duration; The fourth region; The fourth duration; The signal quality threshold; The fifth duration; The sixth duration.

9. The method as described in claim 8, characterized in that, The receipt of the first information sent by the network device includes: Receive the first information sent by the network device via a broadcast message; or Receive the first information sent by the network device via a Radio Resource Control (RRC) reconfiguration message; or Receive the first information sent by the network device through the connection release message; or Receive the first information sent by the network device via the perception protocol message.

10. The method according to any one of claims 5 to 9, characterized in that, At least one of the first region, the second region, the third region, and the fourth region includes at least one of the following: A region in two-dimensional space; A region in three-dimensional space; A circular two-dimensional region; An elliptical region in two-dimensional space; A region in two-dimensional space of a polygon; The region of a sphere in three-dimensional space; The region of three-dimensional space of an ellipsoid; A region in the three-dimensional space of a polygon.

11. A sensing processing method, characterized in that, The method is executed by a network device and includes: The receiving terminal sends a perception result, wherein the perception result is sent by the terminal based on a first condition and after determining that the first condition is met.

12. The method as described in claim 11, characterized in that, The sensing results sent by the receiving terminal include: Receive the sensing results continuously sent by the terminal; or Receive the sensing results periodically sent by the terminal.

13. The method as described in claim 11 or 12, characterized in that, The condition of satisfying the first condition includes at least one of the following: A sensing signal was detected. The detected signal strength is greater than the signal strength threshold; The detected sensing signal exhibits Doppler frequency shift; The detected Doppler frequency shift of the sensed signal is greater than the Doppler frequency shift threshold; The change in the first feature of the detected sensing signal is greater than a first threshold; The change in the first feature of the detected sensing signal within a first time period is greater than a first threshold; The path of a previously undetected sensing signal was detected; The path of the detected sensing signal disappeared; The detected sensing signals include line-of-sight (LOS) paths; The LOS path of the detected sensing signal disappears; A sensing signal was detected in the first area; The path of the previously undetected sensing signal was detected in the first region; An object that was not previously detected was detected; The previously detected object has disappeared; A change in the second characteristic of a previously detected object was detected; The change in the second feature of a previously detected object is greater than the second threshold. The second feature of a previously detected object was found to have changed more than a second threshold within a second time period. An object that was not previously detected in the second region was detected; The object previously detected in the second area has disappeared; A change was detected in the second characteristic of an object previously detected in the second region; A change in the second feature of an object previously detected in the second region is greater than the second threshold; The second feature of an object previously detected in the second region was found to have changed more than the second threshold within the second time period; An object has been detected entering the third region; An object was detected leaving the third region; The object was detected to have entered the third region for a duration equal to the third duration. The object was detected to have been outside the third region for a duration equal to the third duration. An object was detected; An object was detected in the fourth region; The object has been detected for four consecutive durations. The duration for which an object was detected in the fourth region reached the fourth duration. The signal quality of the detected sensing signal is greater than the signal quality threshold; The signal quality of the sensed signal detected in the fourth region is greater than the signal quality threshold; The duration of detected sensing signals reached the fifth duration; The duration for which the detected sensing signal quality is greater than the signal quality threshold reaches the fifth duration; The duration during which the signal quality of the sensed signal is detected to be greater than the signal quality threshold in the fourth region reaches the fifth duration; The detected sensing signal exhibited a Doppler frequency shift greater than the Doppler frequency shift threshold during the sixth time period.

14. The method as described in claim 13, characterized in that, The first threshold is the change value of the first feature in the perception result last sent by the terminal to the network device.

15. The method as described in claim 13 or 14, characterized in that, The second threshold is the change value of the second feature in the perception result last sent by the terminal to the network device.

16. The method as described in claim 13, characterized in that, The method further includes: Sending first information to the terminal, wherein the first information is used to indicate at least one of the following: The strength threshold; The Doppler frequency shift threshold; The first threshold; The first duration; The first region; The second threshold; The second duration; The second region; The third region; The third duration; The fourth region; The fourth duration; The signal quality threshold; The fifth duration; The sixth duration.

17. The method as described in claim 16, characterized in that, Sending the first information to the terminal includes: The first information is sent to the terminal via broadcast message; or The first information is sent to the terminal via an RRC reconfiguration message; or The first information is sent to the terminal via a connection release message; or The first information is sent to the terminal via a perception protocol message.

18. The method according to any one of claims 13 to 17, characterized in that, At least one of the first region, the second region, the third region, and the fourth region includes at least one of the following: A region in two-dimensional space; A region in three-dimensional space; A circular two-dimensional region; An elliptical region in two-dimensional space; A region in two-dimensional space of a polygon; The region of a sphere in three-dimensional space; The region of three-dimensional space of an ellipsoid; A region in the three-dimensional space of a polygon.

19. A communication device, characterized in that, The communication device is used to perform the method according to any one of claims 1 to 10, 11 to 18.

20. A communication system, characterized in that, The device includes a terminal and a network device, wherein the terminal is configured to implement the method of any one of claims 1 to 10, and the network device is configured to implement the method of any one of claims 11 to 18.

21. A storage medium storing instructions, characterized in that, When the instructions are executed on a communication device, the communication device performs the method as described in any one of claims 1 to 10, 11 to 18.

22. A program product comprising at least one of a program and instructions, characterized in that, When at least one of the programs or instructions is executed by a communication device, it implements the method of any one of claims 1 to 10, 11 to 18.

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