Communication method, communication device, communication system, storage medium, and program product

Abstract

Embodiments of the present disclosure relate to the technical field of communications, and provide a communication method, a communication device, a communication system, a storage medium, and a program product. The method is applied to a first device, and comprises: sending first indication information to a second device, the first indication information being used for indicating that a sensing error occurs in a first device. In the embodiments of the present disclosure, a first device sends first indication information to a second device, so that a sensing error can be reported when the sensing error occurs in the first device.

Description

Communication methods, communication equipment, communication systems, storage media and software products Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a communication method, communication device, communication system, storage medium, and program product. Background Technology

[0002] In Integrated Sensing and Communications (ISAC), a wireless signal transmitter sends sensing signals, and a wireless signal receiver receives the echo signals of the sensing signals. The sensing signals sent by the wireless signal transmitter and the echo signals received by the wireless signal receiver can be used to sense the target. Summary of the Invention

[0003] This disclosure provides a communication method, communication device, communication system, storage medium, and program product for reporting perceived errors.

[0004] According to a first aspect of the embodiments of this disclosure, a communication method is provided, performed by a first device, the method comprising:

[0005] Send a first indication message to the second device, the first indication message being used to indicate that a perception error has occurred in the first device.

[0006] In this embodiment of the disclosure, the first device can report a perception error when the first device experiences a perception error by sending a first instruction message to the second device.

[0007] According to a second aspect of the embodiments of this disclosure, a communication method is provided, performed by a second device, the method comprising:

[0008] Receive first indication information sent by the first device, the first indication information being used to indicate that the first device has experienced a perception error.

[0009] In this embodiment of the disclosure, the second device can determine that a perception error has occurred in the first device by receiving first indication information sent by the first device.

[0010] According to a third aspect of the embodiments of this disclosure, a first device is provided, comprising:

[0011] The transceiver module is used to send a first indication message to the second device, which is used to indicate that a perception error has occurred in the first device.

[0012] According to a fourth aspect of the embodiments of this disclosure, a second device is provided, comprising:

[0013] The transceiver module is used to receive first indication information sent by the first device, which is used to indicate that a perception error has occurred in the first device.

[0014] According to a fifth aspect of the present disclosure, a communication device is provided for performing the method described in the first aspect and an optional implementation thereof, or the method described in the second aspect and an optional implementation thereof.

[0015] According to a sixth aspect of the present disclosure, a communication system is provided, including a first device and a second device, wherein the first device is configured to implement the method described in the first aspect and optional implementations of the first aspect, and the second device is configured to implement the method described in the second aspect and optional implementations of the second aspect.

[0016] According to a seventh aspect of the present disclosure, a storage medium is provided that stores instructions, which, when executed on a communication device, cause the communication device to perform the method described in the first aspect and its optional implementation, or the method described in the second aspect and its optional implementation.

[0017] According to an eighth aspect of the present disclosure, a program product is provided, comprising at least one of a program and instructions, wherein when the program and instructions are executed by a communication device, the program implements the steps of the communication method described in any one of the first aspects, or implements the steps of the communication method described in any one of the second aspects. 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 1a is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure;

[0020] Figure 1b is a schematic diagram of a sensing mode provided according to an embodiment of the present disclosure;

[0021] Figure 1c is a schematic diagram of communication between an SF and an access network device according to an embodiment of the present disclosure;

[0022] Figure 1d is a second schematic diagram of communication between the SF and the access network device according to an embodiment of the present disclosure;

[0023] Figure 1e is a schematic diagram of communication between the SF and the access network device according to an embodiment of the present disclosure;

[0024] Figure 2a is an exemplary interactive schematic diagram of a communication method provided in an embodiment of this disclosure;

[0025] Figure 2b is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure;

[0026] Figure 2c is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure;

[0027] Figure 2d is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure;

[0028] Figure 3 is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure;

[0029] Figure 4a is an exemplary structural schematic diagram of the first device proposed in an embodiment of this disclosure;

[0030] Figure 4b is an exemplary structural schematic diagram of the second device proposed in an embodiment of this disclosure;

[0031] Figure 5a is an exemplary structural schematic diagram of the communication device proposed in an embodiment of this disclosure;

[0032] Figure 5b is an exemplary structural diagram of the chip proposed in an embodiment of this disclosure. Detailed Implementation

[0033] This disclosure provides a communication method, communication device, communication system, storage medium, and program product to achieve the reporting of perceived errors.

[0034] According to a first aspect of the embodiments of this disclosure, a communication method is provided, performed by a first device, the method comprising:

[0035] Send a first indication message to the second device, the first indication message being used to indicate that a perception error has occurred in the first device.

[0036] In this embodiment of the disclosure, the first device can report a perception error when the first device experiences a perception error by sending a first instruction message to the second device.

[0037] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device;

[0038] or,

[0039] The first device is a sensing device, and the second device is a terminal device or an access network device.

[0040] In this embodiment of the disclosure, if the first device is a terminal device or an access network device, and the second device is a sensing device, then in the event of a sensing error, the terminal device or access network device can send a first indication message to the sensing device, thereby realizing the reporting of sensing errors by the terminal device or access network device; if the first device is a sensing device, and the second device is a terminal device or an access network device, then in the event of a sensing error, the sensing device can send a first indication message to the terminal device or access network device, thereby realizing the reporting of sensing errors by the sensing device.

[0041] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device; the first indication information is also used to indicate the reason for the sensing error of the first device, the reason including at least one of the following:

[0042] The first device is outside the sensing area;

[0043] The first device failed to identify the first target;

[0044] The first device failed to perceive the first target;

[0045] The first device failed to send the sensing information of the first target. The sensing information is the information requested by the second device from the first device.

[0046] In this embodiment of the disclosure, the first indication information can indicate the reason for the perception error of the first device, and the second device can determine the reason for the perception error of the first device based on the first indication information, which helps the second device to perform the corresponding operation based on the reason for the perception error of the first device.

[0047] In conjunction with some embodiments of the first aspect, in some embodiments, the first device fails to identify the first target, including:

[0048] The first device is a terminal device or an access network device, and the first device cannot identify the type of the first target;

[0049] or,

[0050] The first device is a terminal device, and the first device does not have the ability to identify the type of the first target.

[0051] In this embodiment of the disclosure, the first instruction information can instruct the first device to identify the reason for the failure of the first target, and the second device can determine the reason for the failure of the first device to identify the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason for the failure of the first device to identify the first target.

[0052] In conjunction with some embodiments of the first aspect, in some embodiments, the first device fails to perceive the first target, including:

[0053] The first device loses auxiliary information, which is used by the first device to perceive the first target.

[0054] In this embodiment of the disclosure, the first instruction information can indicate the reason why the first device failed to perceive the first target, and the second device can determine the reason why the first device failed to perceive the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason why the first device failed to perceive the first target.

[0055] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a terminal device, and the failure of the first device to perceive the first target includes at least one of the following:

[0056] The battery level of the first device is less than or equal to the preset battery threshold;

[0057] The first device does not have the ability to sense the first target;

[0058] The first device lost its configuration information, which was used to configure the first device to send sensing signals.

[0059] The first device did not send a sensing signal.

[0060] In this embodiment of the disclosure, the first instruction information can indicate the reason why the terminal device failed to perceive the first target. The second device can determine the reason why the terminal device failed to perceive the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason why the terminal device failed to perceive the first target.

[0061] In conjunction with some embodiments of the first aspect, in some embodiments, the failure of the first device to transmit sensing information of the first target includes at least one of the following:

[0062] The first device does not support the sensing information requested by the second device;

[0063] The perceived information is unavailable.

[0064] The first device failed to receive the echo signal of the sensing signal, and the sensing information was obtained based on the echo signal.

[0065] The current time is outside the period when the first device supports the second device in acquiring sensing information;

[0066] The location of the first target has changed;

[0067] The first device cannot identify the type of the first target.

[0068] In this embodiment of the disclosure, the first indication information can indicate the reason why the first device failed to send the perception information of the first target. The second device can determine the reason why the first device failed to send the perception information of the first target based on the first indication information, which helps the second device to perform the corresponding operation based on the reason why the first device failed to send the perception information of the first target.

[0069] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a terminal device, and the method further includes at least one of the following:

[0070] The device receives auxiliary information sent by the second device, which is used by the first device to perceive the first target.

[0071] Receive configuration information sent by the second device, the configuration information being used to configure the first device to send sensing signals;

[0072] The first device receives a second instruction message sent by a second device. The second instruction message is used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop sending sensing signals; stop receiving echo signals of sensing signals; stop measuring echo signals of sensing signals; and delete configuration information, which is used to configure the first device to send sensing signals.

[0073] In this embodiment of the present disclosure, the terminal device receives auxiliary information sent by the sensing device, thereby assisting the terminal device in sensing the first target based on the auxiliary information; the terminal device receives configuration information, thereby assisting the terminal device in sending a sensing signal based on the configuration information; and the terminal device receives second instruction information, thereby assisting the terminal device in stopping the sensing operation based on the second instruction information.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is an access network device, and the method further includes:

[0075] The device receives auxiliary information sent by the second device, which is used by the first device to perceive the first target.

[0076] The device receives a third instruction message sent by the second device, which instructs the first device to perform at least one of the following operations: stop identifying the first target; stop receiving the echo signal of the sensing signal; and stop measuring the echo signal of the sensing signal.

[0077] In this embodiment of the present disclosure, the access network device receives auxiliary information sent by the sensing device, thereby assisting the access network device in sensing the first target based on the auxiliary information; the access network device receives configuration information, thereby assisting the access network device in sending sensing signals based on the configuration information; and the access network device receives a dispersion indication information, thereby assisting the access network device in stopping the sensing operation based on the dispersion indication information.

[0078] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a sensing device, and the second device is a terminal device or an access network device; the first indication information is also used to indicate the reason for the sensing error occurring in the first device, the reason being:

[0079] The first device did not send auxiliary information to the second device, which was used by the second device to perceive the first target.

[0080] In this embodiment of the disclosure, the first indication information can indicate the reason for the sensing error of the sensing device, and the second device can determine the reason for the sensing error of the sensing device based on the first indication information, which helps the second device to perform corresponding operations based on the reason for the sensing error of the sensing device.

[0081] In conjunction with some embodiments of the first aspect, in some embodiments, the first device does not send auxiliary information to the second device, including at least one of the following:

[0082] The first device does not support the assistance information requested by the second device;

[0083] The first device does not support auxiliary information that the first device did not send to the second device;

[0084] Auxiliary information is unavailable.

[0085] In this embodiment of the disclosure, the first indication information can indicate the reason why the sensing device did not send auxiliary information to the second device. The second device can determine the reason why the sensing device did not send auxiliary information based on the first indication information, which helps the second device to perform the corresponding operation based on the reason why the sensing device did not send auxiliary information.

[0086] In conjunction with some embodiments of the first aspect, in some embodiments, the first device is a sensing device and the second device is a terminal device; the first indication information is also used to indicate the reason for the sensing error occurring in the first device, the reason being:

[0087] The first device did not send configuration information to the second device. The configuration information is used to configure the second device to send sensing signals.

[0088] In this embodiment of the disclosure, the first indication information can indicate the reason for the sensing error of the sensing device. The terminal device can determine the reason for the sensing error of the sensing device based on the first indication information, which helps the terminal device to perform corresponding operations based on the reason for the sensing error of the sensing device.

[0089] In conjunction with some embodiments of the first aspect, in some embodiments, the sensing device does not send configuration information to the terminal device, including:

[0090] The first device does not support the configuration information requested by the second device; and / or,

[0091] Configuration information is unavailable.

[0092] In this embodiment of the disclosure, the first indication information can indicate the reason why the sensing device did not send configuration information to the terminal device. The terminal device can determine the reason why the sensing device did not send configuration information based on the first indication information, which helps the terminal device to perform the corresponding operation based on the reason why the sensing device did not send configuration information.

[0093] According to a second aspect of the embodiments of this disclosure, a communication method is provided, performed by a second device, the method comprising:

[0094] Receive first indication information sent by the first device, the first indication information being used to indicate that the first device has experienced a perception error.

[0095] In this embodiment of the disclosure, the second device can determine that a perception error has occurred in the first device by receiving first indication information sent by the first device.

[0096] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device;

[0097] or,

[0098] The first device is a sensing device, and the second device is a terminal device or an access network device.

[0099] In this embodiment of the disclosure, if the first device is a terminal device or an access network device and the second device is a sensing device, the sensing device can know that a sensing error has occurred in the terminal device or the access network device by receiving the first indication information sent by the first device; if the first device is a sensing device and the second device is a terminal device or an access network device, the terminal device or the access network device can know that a sensing error has occurred in the sensing device by receiving the first indication information sent by the sensing device.

[0100] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device; the first indication information is also used to indicate the reason for the sensing error of the first device, the reason including at least one of the following:

[0101] The first device is outside the sensing area;

[0102] The first device failed to identify the first target;

[0103] The first device failed to perceive the first target;

[0104] The first device failed to send the sensing information of the first target. The sensing information is the information requested by the second device from the first device.

[0105] In this embodiment of the disclosure, the first indication information can indicate the reason for the perception error of the first device, and the second device can determine the reason for the perception error of the first device based on the first indication information, which helps the second device to perform the corresponding operation based on the reason for the perception error of the first device.

[0106] In conjunction with some embodiments of the second aspect, in some embodiments, the first device fails to identify the first target, including:

[0107] The first device is a terminal device or an access network device, and the first device cannot identify the type of the first target;

[0108] or,

[0109] The first device is a terminal device, and the first device does not have the ability to identify the type of the first target.

[0110] In this embodiment of the disclosure, the first instruction information can instruct the first device to identify the reason for the failure of the first target, and the second device can determine the reason for the failure of the first device to identify the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason for the failure of the first device to identify the first target.

[0111] In conjunction with some embodiments of the second aspect, in some embodiments, the first device fails to perceive the first target, including:

[0112] The first device loses auxiliary information, which is used by the first device to perceive the first target.

[0113] In this embodiment of the disclosure, the first instruction information can indicate the reason why the first device failed to perceive the first target, and the second device can determine the reason why the first device failed to perceive the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason why the first device failed to perceive the first target.

[0114] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a terminal device, and the failure of the first device to perceive the first target includes at least one of the following:

[0115] The battery level of the first device is less than or equal to the preset battery threshold;

[0116] The first device does not have the ability to sense the first target;

[0117] The first device lost its configuration information, which was used to configure the first device to send sensing signals.

[0118] The first device did not send a sensing signal.

[0119] In this embodiment of the disclosure, the first instruction information can indicate the reason why the terminal device failed to perceive the first target. The second device can determine the reason why the terminal device failed to perceive the first target based on the first instruction information, which helps the second device to perform corresponding operations based on the reason why the terminal device failed to perceive the first target.

[0120] In conjunction with some embodiments of the second aspect, in some embodiments, the failure of the first device to transmit the sensing information of the first target includes at least one of the following:

[0121] The first device does not support the sensing information requested by the second device;

[0122] The perceived information is unavailable.

[0123] The first device failed to receive the echo signal of the sensing signal, and the sensing information was obtained based on the echo signal.

[0124] The current time is outside the period when the first device supports the second device in acquiring sensing information;

[0125] The location of the first target has changed;

[0126] The first device cannot identify the type of the first target.

[0127] In this embodiment of the disclosure, the first indication information can indicate the reason why the first device failed to send the perception information of the first target. The second device can determine the reason why the first device failed to send the perception information of the first target based on the first indication information, which helps the second device to perform the corresponding operation based on the reason why the first device failed to send the perception information of the first target.

[0128] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a terminal device, and the method further includes at least one of the following:

[0129] Send auxiliary information to the first device, which is used by the first device to perceive the first target;

[0130] Send configuration information to the first device, the configuration information being used to configure the first device to send sensing signals;

[0131] Stop requesting perception information of the first target from the first device;

[0132] Stop requesting sensing information of the first target from the first device;

[0133] Send a second instruction message to the first device, the second instruction message being used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop sending sensing signals; stop receiving echo signals of sensing signals; stop measuring echo signals of sensing signals; delete configuration information, the configuration information being used to configure the first device to send sensing signals.

[0134] In this embodiment of the present disclosure, the sensing device sends auxiliary information to the terminal device, thereby assisting the terminal device in sensing the first target based on the auxiliary information; the sensing device sends configuration information to the terminal device, thereby assisting the terminal device in sending sensing signals based on the configuration information; the sensing device can reduce system overhead by stopping or suspending the request for sensing information of the first target from the terminal device; and the sensing device sends second indication information to the terminal device, thereby assisting the terminal device in stopping the sensing operation based on the second indication information.

[0135] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is an access network device, and the method further includes at least one of the following:

[0136] Send auxiliary information to the first device, which is used by the first device to perceive the first target;

[0137] Stop requesting perception information of the first target from the first device;

[0138] Stop requesting sensing information of the first target from the first device;

[0139] Send a third instruction message to the first device, the third instruction message being used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop receiving the echo signal of the sensing signal; stop measuring the echo signal of the sensing signal.

[0140] In this embodiment of the present disclosure, the sensing device sends auxiliary information to the access network device, thereby assisting the access network device in sensing the first target based on the auxiliary information; the sensing device sends configuration information to the access network device, thereby assisting the access network device in sending sensing signals based on the configuration information; the sensing device can reduce system overhead by stopping or suspending the request for sensing information of the first target from the access network device; and the sensing device sends third indication information to the access network device, thereby assisting the access network device in stopping the sensing operation based on the third indication information.

[0141] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a sensing device, and the second device is a terminal device or an access network device; the first indication information is also used to indicate the reason for the sensing error occurring in the first device, the reason being:

[0142] The first device did not send auxiliary information to the second device, which was used by the second device to perceive the first target.

[0143] In this embodiment of the disclosure, the first indication information can indicate the reason for the sensing error of the sensing device, and the second device can determine the reason for the sensing error of the sensing device based on the first indication information, which helps the second device to perform corresponding operations based on the reason for the sensing error of the sensing device.

[0144] In conjunction with some embodiments of the second aspect, in some embodiments, the first device does not send auxiliary information to the second device, including at least one of the following:

[0145] The first device does not support the assistance information requested by the second device;

[0146] The first device does not support auxiliary information that the first device did not send to the second device;

[0147] Auxiliary information is unavailable.

[0148] In this embodiment of the disclosure, the first indication information can indicate the reason why the sensing device did not send auxiliary information to the second device. The second device can determine the reason why the sensing device did not send auxiliary information based on the first indication information, which helps the second device to perform the corresponding operation based on the reason why the sensing device did not send auxiliary information.

[0149] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0150] The second device stops requesting auxiliary information from the first device; or...

[0151] The second device stopped requesting auxiliary information from the first device.

[0152] In this embodiment of the disclosure, when the sensing device does not send auxiliary information to the second device, the signaling overhead can be reduced by stopping or suspending the request for auxiliary information from the sensing device.

[0153] In conjunction with some embodiments of the second aspect, in some embodiments, the first device is a sensing device and the second device is a terminal device; the first indication information is also used to indicate the reason why the first device has a sensing error, the reason being:

[0154] The first device did not send configuration information to the second device. The configuration information is used to configure the second device to send sensing signals.

[0155] In this embodiment of the disclosure, the first indication information can indicate the reason for the sensing error of the sensing device. The terminal device can determine the reason for the sensing error of the sensing device based on the first indication information, which helps the terminal device to perform corresponding operations based on the reason for the sensing error of the sensing device.

[0156] In conjunction with some embodiments of the second aspect, in some embodiments, the sensing device does not send configuration information to the terminal device, including:

[0157] The first device does not support the configuration information requested by the second device; and / or,

[0158] Configuration information is unavailable.

[0159] In this embodiment of the disclosure, the first indication information can indicate the reason why the sensing device did not send configuration information to the terminal device. The terminal device can determine the reason why the sensing device did not send configuration information based on the first indication information, which helps the terminal device to perform the corresponding operation based on the reason why the sensing device did not send configuration information.

[0160] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0161] The second device stops requesting configuration information from the first device.

[0162] In this embodiment of the disclosure, when the sensing device does not send configuration information to the terminal device, the signaling overhead can be reduced by stopping the request for configuration information from the sensing device.

[0163] According to a third aspect of the embodiments of this disclosure, a first device is provided, comprising:

[0164] The transceiver module is used to send a first indication message to the second device, which is used to indicate that a perception error has occurred in the first device.

[0165] According to a fourth aspect of the embodiments of this disclosure, a second device is provided, comprising:

[0166] The transceiver module is used to receive first indication information sent by the first device, which is used to indicate that a perception error has occurred in the first device.

[0167] According to a fifth aspect of the present disclosure, a communication device is provided for performing the method described in the first aspect and an optional implementation thereof, or the method described in the second aspect and an optional implementation thereof.

[0168] According to a sixth aspect of the present disclosure, a communication system is provided, including a first device and a second device, wherein the first device is configured to implement the method described in the first aspect and optional implementations of the first aspect, and the second device is configured to implement the method described in the second aspect and optional implementations of the second aspect.

[0169] According to a seventh aspect of the present disclosure, a storage medium is provided that stores instructions, which, when executed on a communication device, cause the communication device to perform the method described in the first aspect and its optional implementation, or the method described in the second aspect and its optional implementation.

[0170] According to an eighth aspect of the present disclosure, a program product is provided, comprising at least one of a program and instructions, wherein when the program and at least one of the instructions are executed by a communication device, the program implements the method described in the first aspect and the optional implementation of the first aspect, or implements the method described in the second aspect and the optional implementation of the second aspect.

[0171] According to a ninth aspect of the present disclosure, a computer program is provided that, when run on a computer, causes the computer to perform the method as described in the first aspect and an optional implementation thereof, or the method as described in the second aspect and an optional implementation thereof.

[0172] According to a tenth aspect of the present disclosure, a chip or chip system is provided. The chip or chip system includes processing circuitry configured to perform the methods described in the first aspect and optional implementations thereof, or the methods described in the second aspect and optional implementations thereof.

[0173] It is understood that the aforementioned first device, second device, communication device, 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 that can be achieved can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0174] This disclosure provides communication methods, communication devices, communication systems, storage media, and program products. In some embodiments, the terms "communication method" and "error reporting method" or "information transmission method" can be used interchangeably; the terms "communication device" and "error reporting device" or "information transmission device" can be used interchangeably; and the terms "communication system" and "error reporting system" or "information transmission system" can be used interchangeably.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] In the embodiments disclosed herein, "multiple" refers to two or more.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0184] In some embodiments, terms such as "time / frequency" and "time-frequency domain" refer to the time domain and / or frequency domain.

[0185] 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.

[0186] 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”.

[0187] 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.

[0188] In some embodiments, "network" can be interpreted as devices included in a network (e.g., access network devices, core network devices, etc.).

[0189] 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.

[0190] 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.

[0191] In some embodiments, access network devices, core network devices, or network devices can be replaced with terminal devices. 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 terminal devices is replaced with communication between multiple terminal devices (e.g., device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the terminal devices can also be configured to have all or part of the functions of the access network devices. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminal devices (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.

[0192] In some embodiments, the terminal device 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 device.

[0193] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0194] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0195] 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.

[0196] Figure 1a is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure. As shown in Figure 1a, the communication system 1100 includes a first device 1101 and a second device 1102.

[0197] In some embodiments, the first device 1101 is a terminal device or an access network device, and the second device 1102 is a sensing device.

[0198] In some embodiments, the first device 1101 is a sensing device, and the second device 1102 is a terminal device or an access network device.

[0199] In some embodiments, the terminal device 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 device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, and wireless terminal device in smart home.

[0200] In some embodiments, the access network device is, for example, a node or device that connects a terminal device to a wireless network. The access network device may include 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, but is not limited thereto.

[0201] In some embodiments, the technical solutions of this disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within access network devices involved in the embodiments of this disclosure can be transformed into internal interfaces of Open RAN. The processes and information interactions between these internal interfaces can be implemented by software or programs.

[0202] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the access network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0203] In some embodiments, a core network device can be a single device, including sensing devices (which may belong to core network elements), or it can be multiple devices or a group of devices, each including all or part of the sensing devices, etc. Network elements can be virtual or physical. The core network includes, for example, at least one of the following: Evolved Packet Core (EPC), 5G Core Network (5GCN), Next Generation Core (NGC), and 6G Core Network.

[0204] 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.

[0205] The following embodiments of this disclosure can be applied to the communication system 1100 shown in FIG1a, or to some of the main bodies, but are not limited thereto. The main bodies shown in FIG1a are illustrative. The communication system may include all or some of the main bodies in FIG1a, or it may include other main bodies outside of FIG1a. 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 may be in any way, such as direct connection or indirect connection, wired connection or wireless connection.

[0206] 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 (a registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X) systems, systems utilizing other communication methods, and next-generation systems built upon them, etc. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0207] Sensing technology is a technology that integrates sensing capabilities into communication systems. It can obtain rich environmental information based on the basic network architecture and air interface enhancement design, and realize basic sensing applications by utilizing the characteristics of wireless channels.

[0208] In sensing technology, targets or states in the surrounding environment can be sensed based on radio waves. These radio waves can also be called wireless signals, sensing signals, etc. Specifically, a wireless signal transmitter emits radio waves. During transmission, these waves may be blocked by objects (hereinafter referred to as reflectors), resulting in wireless transmission effects such as reflection, diffraction, transmission, phase changes, Doppler shift, and signal strength changes. The wireless signal receiver receives the radio waves and compares them with those emitted by the transmitter, or records historical changes in the radio waves, thereby obtaining information about the reflectors. For example, information such as signal strength, delay, phase change, and Doppler shift can be collected and processed to output the reflector's information. In this process, sensing services can be triggered, modified, or terminated according to business needs, wireless resources can be scheduled for data processing, and reflector information can be made available, etc.

[0209] In some embodiments, the information of the reflector may include, for example, coordinate information, such as the coordinates of the reflector relative to the wireless signal transmitter / receiver; speed information, such as the moving speed and direction of the reflector relative to the wireless signal transmitter / receiver; and behavior pattern information, such as the motion information of the reflector (e.g., running, walking, approaching, falling, swinging, etc.), weather information (e.g., rain, snow, etc.), and traffic information (e.g., congestion, accidents, etc.).

[0210] In some embodiments, the wireless signal transmitter may be at least one of the following: a network device (e.g., a base station), a wireless access point, or a terminal device; in some embodiments, the wireless signal receiver may be at least one of the following: a network device (e.g., a base station), a wireless access point, or a terminal device. In some embodiments, the wireless access point may be, for example, a Wi-Fi access point (AP).

[0211] In some embodiments, the wireless signal transmitter and the wireless signal receiver may be the same device or different devices, thus resulting in a variety of different sensing modes.

[0212] Figure 1b is a schematic diagram of the sensing modes provided according to an embodiment of the present disclosure. As shown in Figure 1b, taking the wireless signal transmitter as a terminal device or base station and the wireless signal receiver as a terminal device or base station as an example, the following sensing modes can be included:

[0213] Sensing mode 1: Terminal device A sends a sensing signal and receives the sensing signal. For details, please refer to example (1) in Figure 1b.

[0214] Sensing mode 2: Base station A sends a sensing signal and base station A receives the sensing signal. For details, please refer to example (2) in Figure 1b.

[0215] Sensing mode 3: Base station A sends a sensing signal and terminal device A receives the sensing signal. For details, please refer to example (3) in Figure 1b.

[0216] Sensing mode 4: Base station A sends a sensing signal and base station B receives the sensing signal. For details, please refer to example (4) in Figure 1b.

[0217] Sensing mode 5: Terminal device A sends a sensing signal and base station A receives the sensing signal. For details, please refer to example (5) in Figure 1b.

[0218] Sensing mode 6: Terminal device A sends a sensing signal and terminal device B receives the sensing signal. For details, please refer to example (6) in Figure 1b.

[0219] In some embodiments, if the wireless signal transmitter and the wireless signal receiver are the same device, the corresponding sensing mode belongs to the mono-static sensing mode. For example, in Figure 1b, for sensing mode 1, both the wireless signal transmitter and the wireless signal receiver are terminal device A, and for sensing mode 2, both the wireless signal transmitter and the wireless signal receiver are base station A. Therefore, both sensing mode 1 and sensing mode 2 belong to the mono-static sensing mode.

[0220] In some embodiments, if the wireless signal transmitter and the wireless signal receiver are not the same device, the corresponding sensing mode belongs to a bi-static or multi-static sensing mode. In the example of Figure 1b, sensing modes 3, 4, 5, and 6 all belong to bi-static or multi-static sensing modes.

[0221] In sensing technology, sensing functions (SFs) can be introduced to provide sensing services. In some embodiments, the SF can be a core network element; in other embodiments, the functionality of the SF can be integrated into the access network device. If the SF is a core network element independent of the access network device, the SF and the access network device can communicate in a certain way.

[0222] Figure 1c is a schematic diagram of communication between the SF and the access network device according to an embodiment of the present disclosure. As shown in Figure 1c, the network architecture includes multiple different network elements, such as Policy Control Function (PCF) network elements, Network Exposure Function (NEF) network elements, Application Function (AF) network elements, Access and Mobility Management Function (AMF) network elements, Unified Data Management (UDM) network elements, Network Data Analytics Function (NWDAF) network elements, Location Management Function (LMF) network elements, etc. The terminal device accesses the data network (DN) through the access network device. The architectural relationship between the network elements can be seen in the example of Figure 1c.

[0223] Figure 1c illustrates communication interfaces between different devices, such as the N1, N2, N5, N8, N33, NS1 to NS6 interfaces, etc. in Figure 1c.

[0224] In the example of Figure 1c, the SF communicates with the access network device through the AMF network element. The data that the SF interacts with the access network device through the AMF network element may include control plane data and data plane data.

[0225] Figure 1d is a second schematic diagram of communication between SF and access network equipment according to an embodiment of the present disclosure. The network elements included in this network architecture can be seen in the example in Figure 1c, and will not be described again here.

[0226] Figure 1d illustrates communication interfaces between different devices, such as the N1, N2, N5, N8, N33, NS1 to NS8 interfaces, etc. in Figure 1d.

[0227] Figure 1d illustrates a network architecture that separates the control plane and data plane. In this architecture, the SF communicates with the access network devices through the AMF network element to achieve the interaction of control plane data; the SF communicates with the access network devices through the UPF network element to achieve the interaction of data plane data.

[0228] Figure 1e is a schematic diagram of communication between SF and access network equipment according to an embodiment of the present disclosure. The network elements included in this network architecture can be seen in the example in Figure 1c, and will not be described again here.

[0229] Figure 1e illustrates communication interfaces between different devices, such as the Uu interface, N2 interface, N33 interface, NS1 to NS4 interfaces, etc. in Figure 1e.

[0230] As shown in Figure 1e, the SF can communicate directly with access network devices to exchange control plane and data plane data. In other words, in this network architecture, the SF can communicate with access network devices without going through core network elements.

[0231] In the above embodiments, Figures 1c to 1e illustrate different communication methods between the SF and the access network equipment. In some embodiments, the SF can communicate with the terminal equipment through the access network equipment, thereby realizing data interaction between the SF and the terminal equipment. It is understood that different communication methods between the SF and the access network equipment will result in different communication methods between the SF and the terminal equipment.

[0232] In some embodiments, the SF (Sensitive Detection System) has the following functions: triggering sensing services; terminating sensing services; performing sensing quality of service (QoS) parameter conversion in sensing services; controlling corresponding devices to perform sensing according to the needs of sensing services; efficiently processing sensing measurement data; and providing or distributing sensing results. The sensing QoS parameters may include, for example, information such as sensing service type, sensing service identifier, QoS requirements, and sensing measurement data reporting cycle. In some embodiments, QoS parameter conversion is required to meet the QoS requirements of sensing services. For example, in some cases, it is necessary to send information such as sensing service type, sensing service identifier, QoS requirements, and sensing measurement data reporting cycle to the device performing sensing. If the needs of the sensing service change (e.g., sensing area, data reporting time, QoS requirements), the SF can trigger a modification process to convert the sensing QoS parameters.

[0233] In some cases, terminal devices, access network devices, and sensing devices may encounter sensing errors during the execution of sensing services. Therefore, embodiments of this disclosure provide a communication method to achieve the reporting of sensing errors.

[0234] Figure 2a is an exemplary interactive schematic diagram of a communication method provided in this embodiment of the present disclosure. As shown in Figure 2a, the communication method includes the following steps:

[0235] In step S2101, the terminal device sends a first indication message to the sensing device. The first indication message is used to indicate that a sensing error has occurred in the terminal device.

[0236] In some embodiments, a perception error in a terminal device refers to an error occurring during the execution of a perception service by the terminal device. In some embodiments, the perception service may be, for example, sensing a first target within a certain perception area to identify the first target, or sensing information such as the position and speed of the first target.

[0237] In some embodiments, the process of performing a sensing service may include, for example, a wireless signal transmitter sending a sensing signal; a wireless signal receiver receiving an echo signal of the sensing signal, wherein the echo signal may include, for example, a signal obtained by reflecting the sensing signal by a first target; the wireless signal receiver performing a measurement based on the echo signal to obtain sensing information of the first target, and so on.

[0238] In some embodiments, a terminal device is a functional node for performing sensing services. For example, a terminal device is a device for transmitting sensing signals, i.e., a wireless signal transmitter; or a terminal device is a device for receiving echo signals of sensing signals, i.e., a wireless signal receiver.

[0239] In some embodiments, a perception error in the terminal device refers to the terminal device being unable to continue performing perception services due to certain reasons. If a perception error occurs in the terminal device, the terminal device sends a first indication message to the perception device. Correspondingly, the perception device receives the first indication message sent by the terminal device and can determine that a perception error has occurred based on the first indication message.

[0240] 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.

[0241] In some embodiments, the first indication information is further used to indicate the reason for the perception error occurring in the terminal device, the reason including at least one of the following 1.1 to 1.4:

[0242] 1.1 The terminal device is outside the sensing area.

[0243] The sensing area is the area where the devices configured to perform sensing services are located. For example, the sensing device may pre-instruct devices within the sensing area to perform sensing services. Devices within the sensing area include terminal devices. A terminal device initially located within the sensing area can perform sensing services under the instruction of the sensing device. Performing sensing services by the terminal device may include at least one of the following: transmitting a sensing signal, receiving the echo signal of the sensing signal, measuring the echo signal of the sensing signal, and identifying a first target.

[0244] In some embodiments, the terminal device can obtain its own location and determine whether it is outside the sensing area based on its location. For example, the terminal device can obtain its own location through its own positioning, or by its serving base station sending its location to it, or by an LMF network element sending its location to it, etc. The terminal device's location can be, for example, its latitude and longitude, its coordinates, its position relative to a reference point, the area where it is located, etc.

[0245] In some embodiments, the location of the terminal device may change over time, moving from within the sensing area to outside the sensing area. Since devices within the sensing area perform sensing services, if the terminal device is outside the sensing area, the terminal device determines that a sensing error has occurred. In this case, the terminal device may send first indication information to the sensing device, the first indication information indicating that a sensing error has occurred. In some embodiments, the first indication information further indicates the reason for the sensing error, namely that the terminal device is outside the sensing area.

[0246] 1.2 The terminal device failed to identify the first target.

[0247] The first target is the object to be sensed, such as a vehicle, person, or other object. In some embodiments, the terminal device can receive the echo signal of the sensing signal, then measure the echo signal of the sensing signal, and identify the first target based on the measured data.

[0248] In some embodiments, the terminal device's failure to identify the first target includes: the terminal device being unable to identify the type of the first target. For example, if the first target is obscured, the terminal device will be unable to identify the type of the first target.

[0249] In some embodiments, the failure of the terminal device to identify the first target includes: the terminal device lacks the ability to identify the type of the first target. For example, if the first target is a car in a building, the terminal device can only identify targets at the building level and cannot identify targets at the car level; therefore, the terminal device lacks the ability to identify the type of the first target.

[0250] If the terminal device fails to identify the first target, the terminal device may send a first indication message to the sensing device. The first indication message indicates that a sensing error has occurred. In some embodiments, the first indication message further indicates the reason for the sensing error, namely, that the terminal device failed to identify the first target.

[0251] 1.3 The terminal device failed to perceive the first target.

[0252] The terminal device fails to perceive the first target, which means that the terminal device is unable to continue to perceive the first target, which is the target to be perceived.

[0253] In some embodiments, the failure of the terminal device to perceive the first target includes at least one of the following a to e:

[0254] a. The terminal device loses auxiliary information.

[0255] The auxiliary information is used by the terminal device to perceive the first target. For example, the auxiliary information is used to indicate the perception area, which is the area where the device configured to perform the perception service is located. If the terminal device is within the perception area, the terminal device performs the perception service and perceives the first target. For example, the auxiliary information includes relevant data of the first target, such as the auxiliary information indicating the attribute information of the first target, which may include the speed, possible movement trajectory, size, etc. of the first target.

[0256] In some embodiments, if the terminal device loses auxiliary information, the terminal device cannot perceive the first target based on the auxiliary information, thereby causing the terminal device to fail to perceive the first target.

[0257] For example, auxiliary information is used to indicate the sensing area. If the terminal device loses the auxiliary information, the terminal device cannot determine whether it is within the sensing area, and therefore cannot sense the first target.

[0258] For example, auxiliary information is used to indicate the attribute information of the first target. If the terminal device loses the auxiliary information, it cannot obtain the attribute information of the first target, cannot determine the first target based on the attribute information, and therefore cannot perceive the first target. In the event that the terminal device loses the auxiliary information, the terminal device can send first indication information to the sensing device. The first indication information is used to indicate that a perception error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the perception error, which is that the terminal device has lost auxiliary information.

[0259] b. The battery level of the terminal device is less than or equal to the preset battery threshold.

[0260] The terminal device can obtain the battery level and compare it with a preset battery level threshold to determine whether the terminal device's battery level is less than or equal to the preset battery level threshold.

[0261] In some embodiments, "the battery level of the terminal device is less than or equal to a preset battery threshold" and "the terminal device is in a low battery state" can be interchanged.

[0262] If the terminal device's battery level is less than or equal to the preset battery threshold, it indicates that the terminal device's battery is low and it may need to enter power-saving mode, thus becoming unable to continue sensing the first target.

[0263] In some embodiments, when the terminal device's power is insufficient to enable the terminal device to perform sensing services, it may send a first instruction message to the sensing device.

[0264] In some embodiments, whether the terminal device has sufficient power to perform sensing services is determined by the terminal device itself.

[0265] c. The terminal device does not have the ability to sense the primary target.

[0266] In some embodiments, the terminal device may temporarily lack the ability to perceive the first target, or it may never have the ability to perceive the first target.

[0267] For example, the process of a terminal device sensing the first target requires certain computing resources. If the terminal device is currently performing other services and does not have enough computing resources to sense the first target, then the terminal device will temporarily not have the ability to sense the first target.

[0268] For example, the process of a terminal device sensing a first target requires certain computing resources. If the terminal device itself does not have enough computing resources, then the terminal device will never have the ability to sense the first target.

[0269] d. The terminal device has lost or has not enabled the configuration information, which is used to configure the terminal device to send sensing signals.

[0270] In some embodiments, the configuration information is used to configure the terminal device to transmit sensing signals. For example, the configuration information may be used to indicate at least one of the following: the time-frequency domain resources used by the terminal device to transmit the sensing signals, the beam used by the terminal device to transmit the sensing signals, the direction of the terminal device to transmit the sensing signals, the power of the terminal device to transmit the sensing signals, etc.

[0271] In some embodiments, the configuration information is configured by the access network device for the terminal device, and the access network device may be, for example, the serving base station of the terminal device.

[0272] In some embodiments, the configuration information may be configured by the sensing device for the terminal device.

[0273] If the terminal device loses its configuration information or fails to enable the configuration information, the terminal device will be unable to generate a sensing signal based on the configuration information. In this case, the terminal device will fail to sense the first target.

[0274] In the event that the terminal device loses its configuration information, the terminal device may send a first indication message to the sensing device. The first indication message indicates that a sensing error has occurred. In some embodiments, the first indication message further indicates the reason for the sensing error, namely, that the terminal device has lost its configuration information.

[0275] e. The terminal device did not send a sensing signal.

[0276] In some embodiments, the terminal device is configured to send a sensing signal for sensing a first target. If the terminal device does not send a sensing signal, the terminal device fails to sense the first target.

[0277] For example, situations in which the terminal device fails to send a sensing signal may include: time-frequency domain resources for the terminal device to send the sensing signal conflict with time-frequency domain resources of other signals; the terminal device fails to receive configuration information; and so on.

[0278] If the terminal device fails to send a sensing signal, it may send a first indication message to the sensing device. The first indication message indicates that a sensing error has occurred. In some embodiments, the first indication message further indicates the reason for the sensing error, namely, that the terminal device failed to send a sensing signal.

[0279] 1.4 The terminal device failed to send the sensing information of the first target. The sensing information of the first target is the information requested by the sensing device from the terminal device.

[0280] The perception information of the first target is relevant information obtained by sensing the first target, such as sensing measurement results. In some embodiments, if the terminal device receives the echo signal of the sensing signal, the perception information of the first target can be obtained by performing preliminary measurement on the echo signal.

[0281] In some embodiments, the perception information of the first target may include one or more of the following: the position of the first target, the velocity of the first target, the direction of the first target, the type of the first target, the channel impulse response, the time of flight, etc.

[0282] In some embodiments, the sensing device may send a request message to the terminal device, the request message being used to request sensing information of the first target.

[0283] In some embodiments, "the terminal device failed to send the sensing information of the first target requested by the sensing device" and "the terminal device did not send the sensing information of the first target requested by the sensing device to the sensing device" can be interchanged.

[0284] In some embodiments, the failure of the terminal device to send sensing information of the first target requested by the sensing device includes at least one of the following a to f:

[0285] a. The terminal device does not support the sensing information requested by the sensing device.

[0286] In some embodiments, if the terminal device cannot obtain the sensing information of the first target, then the terminal device does not support the sensing information requested by the sensing device. For example, the terminal device cannot measure the echo signal of the sensing signal to obtain the sensing information of the first target.

[0287] If the terminal device fails to send sensing information for the first target requested by the sensing device, the terminal device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the terminal device does not support the sensing information requested by the sensing device.

[0288] b. The perceived information is unavailable.

[0289] For example, the sensing information of the first target may be in an unavailable state, such as when the current time is not within the available time period corresponding to the sensing information. The available time period corresponding to the sensing information may be a preset time period, a time period configured by the access network device, or a time period configured by the sensing device, etc.

[0290] For example, the perception information of the first target may be in an unavailable state, for example, the terminal device may not have calculated the perception information of the first target, or the terminal device may have failed to calculate the perception information of the first target, and so on. If the terminal device has not yet calculated the perception information of the first target, or the terminal device has failed to calculate the perception information of the first target, then the perception information of the first target is in an unavailable state.

[0291] If the terminal device fails to send sensing information of the first target, the terminal device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the sensing information is unavailable.

[0292] c. The terminal device fails to receive the echo signal of the sensing signal, and the sensing information is obtained based on the echo signal.

[0293] In some embodiments, the terminal device can obtain sensing information of the first target based on the echo signal of the sensing signal. For example, the terminal device can determine the time of flight of the sensing signal by receiving the echo signal, thereby determining the position of the first target relative to the terminal device; for example, the terminal device can determine the speed, direction, etc. of the first target by receiving the echo signal of the sensing signal and combining it with relevant information from the echo signal.

[0294] Since the perception information of the first target is obtained based on the echo signal, if the terminal device fails to receive the echo signal of the perception signal, the terminal device cannot obtain the perception information of the first target based on the echo signal, which will cause the terminal device to fail to send the perception information of the first target requested by the perception device.

[0295] If the terminal device fails to send sensing information for the first target requested by the sensing device, the terminal device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the terminal device failed to receive the echo signal of the sensing signal.

[0296] d. The current time is outside the period when the terminal device supports the sensing device to obtain sensing information.

[0297] In some embodiments, the terminal device supports the sensing device to acquire sensing information of the first target within a certain time period, and outside of that time period, the terminal device does not support the sensing device to acquire sensing information of the first target. In some embodiments, terms such as "moment", "point in time", "time", and "time location" can be used interchangeably, and terms such as "duration", "time period", "time window", "window", and "time" can be used interchangeably.

[0298] In some embodiments, the time period for the sensing device to acquire sensing information can be a preset time period, a time period configured by the access network device, or a time period configured by the sensing device itself, etc. Taking the time period for the sensing device to acquire sensing information as configured by the access network device as an example, the access network device can send indication information to the terminal device. This indication information is used to indicate the time period for the sensing device to acquire sensing information. For example, if the time period for the sensing device to acquire sensing information is time period S, the indication information may include at least one of the following: the start time of time period S, the end time of time period S, and the duration of time period S.

[0299] For example, if the terminal device calculates the perception information of the first target at time t1 and deletes the perception information of the first target based on its own implementation at time t2, then the terminal device supports obtaining the perception information of the first target within the time period of t1-t2, and does not support the perception device to obtain the perception information of the first target in other time periods.

[0300] If the current time is outside the period when the terminal device supports the sensing device to obtain sensing information, the terminal device will not send the sensing information of the first target to the sensing device, thus causing the terminal device to fail to send the sensing information of the first target requested by the sensing device.

[0301] If the terminal device fails to send sensing information for the first target requested by the sensing device, the terminal device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the current time is outside the time period during which the terminal device supports the sensing device in acquiring sensing information.

[0302] e. The position of the first target has changed.

[0303] In some embodiments, a change in the position of the first target may be, for example, the first target being located outside the first area, where the first area is the region where the first target is sensed. For example, the sensing device instructs the terminal device to sense targets within the first area. If the first target is initially within the first area, the terminal device senses the first target to obtain its sensing information. If the first target moves outside the first area, the terminal device will not sense the first target to obtain its sensing information.

[0304] In some embodiments, the position of the first target changes, for example, the first target moves away from the terminal device or moves out of the coverage area of ​​the sensing signal, so that the first target cannot reflect the sensing signal to obtain an echo signal, and the first terminal device cannot receive the echo signal to obtain the sensing information of the first target.

[0305] If the terminal device fails to send sensing information of the first target requested by the sensing device, the terminal device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the position of the first target has changed.

[0306] f. The terminal device cannot identify the type of the first target.

[0307] The first target is the object to be sensed, such as a vehicle, person, or other object. In some embodiments, the terminal device can receive the echo signal of the sensing signal, then measure the echo signal of the sensing signal, and identify the first target based on the measured data.

[0308] In some embodiments, the failure of the terminal device to send sensing information of the first target requested by the sensing device includes: the terminal device being unable to identify the type of the first target. For example, if the first target is occluded, the terminal device will be unable to identify the type of the first target.

[0309] In step S2102, the sensing device sends auxiliary information to the terminal device, which is used by the terminal device to sense the first target.

[0310] After receiving the first indication information sent by the terminal device, the sensing device can determine that a sensing error has occurred in the terminal device based on the first indication information. In some embodiments, if a sensing error occurs in the terminal device, the sensing device can send auxiliary information to the terminal device. Accordingly, the terminal device receives the auxiliary information and can perceive the first target based on the auxiliary information, thereby reducing the probability of the terminal device recurring a sensing error.

[0311] In some embodiments, the first indication information is further used to indicate the reason for the perception error of the terminal device. The reason for the perception error of the terminal device may include at least one of 1.1 to 1.4 above.

[0312] In some embodiments, if the first indication information indicates that the terminal device experienced a perception error because the first device failed to perceive the first target, the sensing device can send auxiliary information to the terminal device. Accordingly, the terminal device receives the auxiliary information and, based on this information, can perceive the first target, thereby reducing the probability of the terminal device experiencing a perception error again.

[0313] In some embodiments, if the first indication information indicates that the reason for the perception error of the terminal device is that the first device failed to perceive the first target (specifically, the terminal device lost auxiliary information), then the sensing device sends auxiliary information to the terminal device. Accordingly, the terminal device receives the auxiliary information and perceives the first target based on the auxiliary information, thereby reducing the probability that the terminal device fails to perceive the first target due to the loss of auxiliary information.

[0314] In step S2103, the sensing device sends configuration information to the terminal device. The configuration information is used to configure the terminal device to send sensing signals.

[0315] After receiving the first indication information sent by the terminal device, the sensing device can determine that a sensing error has occurred in the terminal device based on the first indication information. In some embodiments, if a sensing error occurs in the terminal device, the sensing device can send configuration information to the terminal device. Accordingly, the terminal device receives the configuration information and sends a sensing signal based on the configuration information, thereby reducing the probability of the terminal device recurring a sensing error.

[0316] In some embodiments, the first indication information is further used to indicate the reason for the perception error of the terminal device. The reason for the perception error of the terminal device may include at least one of 1.1 to 1.4 above.

[0317] In some embodiments, if the first indication information indicates that the terminal device has failed to perceive the first target, the sensing device may send configuration information to the terminal device. Accordingly, the terminal device receives the configuration information and sends a sensing signal based on it, thereby reducing the probability of the terminal device experiencing a perception error again.

[0318] In some embodiments, if the first indication information indicates that the reason for the perception error of the terminal device is that the first device failed to perceive the first target (specifically, the terminal device lost configuration information and / or the terminal device did not send a perception signal), then the sensing device sends configuration information to the terminal device. Correspondingly, the terminal device receives the configuration information and sends a perception signal according to the configuration information, thereby realizing the perception of the first target, thereby reducing the probability that the terminal device will fail to perceive the first target due to the loss of configuration information and / or failure to send a perception signal.

[0319] In some embodiments, if the first indication information indicates that the terminal device experienced a perception error because the first device failed to send perception information for the first target, the perception device may send configuration information to the terminal device. Accordingly, the terminal device receives the configuration information and sends a perception signal based on it, thereby reducing the probability of the terminal device experiencing a perception error again.

[0320] In some embodiments, if the first indication information indicates that the terminal device experienced a sensing error because the first device failed to send sensing information about the first target (specifically, the terminal device failed to receive the echo signal of the sensing signal), then the sensing device can send configuration information to the terminal device. Accordingly, the terminal device receives the configuration information and sends a sensing signal based on it, thereby reducing the probability of the terminal device experiencing a sensing error again.

[0321] In step S2104, the sensing device sends a second instruction message to the terminal device. The second instruction message is used to instruct the terminal device to perform at least one of the following operations: stop identifying the first target; stop sending sensing signals; stop receiving echo signals of sensing signals; stop measuring echo signals of sensing signals; and delete configuration information, which is used to configure the terminal device to send sensing signals.

[0322] After receiving the first indication information sent by the terminal device, the sensing device can determine that a sensing error has occurred in the terminal device based on the first indication information. In some embodiments, if a sensing error occurs in the terminal device, the sensing device may send a second indication information to the terminal device.

[0323] In some embodiments, if at least one of the following conditions is met, the sensing device sends a second indication message to the terminal device: the terminal device is outside the sensing area; the terminal device fails to identify the first target; the terminal device fails to sense the first target; or the terminal device fails to send the sensing information of the first target requested by the sensing device.

[0324] Accordingly, the terminal device receives the second indication information sent by the sensing device, and performs at least one of the following operations a to e based on the second indication information: operation a. stop identifying the first target; operation b. stop sending the sensing signal; operation c. stop receiving the echo signal of the sensing signal; operation d. stop measuring the echo signal of the sensing signal; operation e. delete the configuration information, which is used to configure the terminal device to send the sensing signal.

[0325] For example, if the terminal device is outside the sensing area, the second indication information is used to instruct the terminal device to perform at least one of operations a to e; in some embodiments, if the terminal device fails to identify the first target, the second indication information is used to instruct the terminal device to perform operation a; in some embodiments, if the terminal device fails to sense the first target, the second indication information is used to instruct the terminal device to perform at least one of operations a to e; if the terminal device fails to send sensing information of the first target, the second indication information is used to instruct the terminal device to perform at least one of operations b to e, and so on.

[0326] In step S2105, the sensing device stops requesting sensing information of the first target from the terminal device.

[0327] After receiving the first indication information sent by the terminal device, the sensing device can determine that a sensing error has occurred in the terminal device based on the first indication information. In some embodiments, if a sensing error occurs in the terminal device, the sensing device stops requesting sensing information of the first target from the terminal device, thereby reducing system overhead.

[0328] In some embodiments, if the terminal device fails to send the sensing information of the first target, the sensing device stops requesting the sensing information of the first target from the terminal device.

[0329] In some embodiments, if the terminal device fails to send the sensing information of the first target, and the failure to send the sensing information of the first target is due to at least one of the following reasons, the sensing device stops requesting the sensing information of the first target from the terminal device: the terminal device does not support the sensing information requested by the sensing device, the sensing information is in an unavailable state, the terminal device fails to receive the echo signal of the sensing signal, the position of the first target changes, or the terminal device cannot identify the type of the first target.

[0330] Step S2106: The sensing device stops requesting sensing information of the first target from the terminal device.

[0331] After receiving the first indication information sent by the terminal device, the sensing device can determine that a sensing error has occurred in the terminal device based on the first indication information. In some embodiments, if a sensing error occurs in the terminal device, the sensing device stops requesting sensing information of the first target from the terminal device, thereby reducing system overhead.

[0332] In some embodiments, if the terminal device fails to send the sensing information of the first target, the sensing device stops requesting the sensing information of the first target from the terminal device.

[0333] In some embodiments, if the terminal device fails to send the sensing information of the first target, and the failure to send the sensing information of the first target is due to at least one of the following reasons, the sensing device stops requesting the sensing information of the first target from the terminal device: the sensing information is unavailable, the terminal device fails to receive the echo signal of the sensing signal, or the position of the first target changes.

[0334] In some embodiments, the sensing device may also send a fourth instruction message to the third device, the fourth instruction message being used to instruct the third device to sense the first target.

[0335] The communication method involved in the embodiments of this disclosure may include at least one of steps S2101 to S2106. For example, step S2101 may be implemented as a standalone embodiment, step S2101 + step S2102 may be implemented as a standalone embodiment, step S2101 + step S2103 may be implemented as a standalone embodiment, step S2101 + step S2104 may be implemented as a standalone embodiment, step S2101 + step S2105 may be implemented as a standalone embodiment, and step S2101 + step S2106 may be implemented as a standalone embodiment, but is not limited thereto.

[0336] In some embodiments, steps S2102, S2103, S2104, S2105, and S2106 may be performed in an interchangeable order or simultaneously. Steps S2102, S2103, S2104, S2105, and S2106 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0337] 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.

[0338] Figure 2b is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure. As shown in Figure 2b, the communication method includes the following steps:

[0339] Step S2201: The access network device sends a first indication message to the sensing device. The first indication message is used to indicate that a sensing error has occurred in the access network device.

[0340] In some embodiments, a sensing error in an access network device refers to an error occurring during the execution of a sensing service by the access network device. In some embodiments, the sensing service may be, for example, sensing a first target within a certain sensing area to identify the first target, or sensing information such as the position and speed of the first target.

[0341] In some embodiments, the process of performing a sensing service may include, for example, a wireless signal transmitter sending a sensing signal; a wireless signal receiver receiving an echo signal of the sensing signal, wherein the echo signal may include, for example, a signal obtained by reflecting the sensing signal by a first target; the wireless signal receiver performing a measurement based on the echo signal to obtain sensing information of the first target, and so on.

[0342] In some embodiments, the access network device is a functional node for performing sensing services. For example, the access network device is a device for receiving echo signals of sensing signals, i.e., a wireless signal receiver.

[0343] In some embodiments, a sensing error in the access network device refers to the access network device being unable to continue performing sensing services due to certain reasons. If a sensing error occurs in the access network device, the access network device sends a first indication message to the sensing device. Correspondingly, the sensing device receives the first indication message sent by the access network device and can determine that a sensing error has occurred based on the first indication message.

[0344] In some embodiments, the first indication information is further used to indicate the cause of a perception error in the access network device, the cause including at least one of the following 2.1 to 2.4:

[0345] 2.1 The access network equipment is located outside the sensing area.

[0346] The sensing area is the area where the devices configured to perform sensing services are located. For example, the sensing device can pre-instruct devices within the sensing area to perform sensing services. Devices within the sensing area include access network devices. If an access network device is within the sensing area, it can perform sensing services under the instruction of the sensing device. The execution of sensing services by the access network device may include at least one of the following: transmitting a sensing signal, receiving the echo signal of the sensing signal, measuring the echo signal of the sensing signal, and identifying a first target.

[0347] In some embodiments, the access network device can obtain its own location and determine whether it is outside the sensing area based on its location. For example, the access network device can obtain its own location through positioning, or the LMF network element can send its location to the access network device, etc. The location of the access network device can be, for example, its latitude and longitude, its coordinates, its position relative to a reference point, the area where the access network device is located, etc.

[0348] In some embodiments, if the access network device is outside the sensing area, the access network device determines that a sensing error has occurred. In this case, the access network device may send first indication information to the sensing device, the first indication information indicating that a sensing error has occurred. In some embodiments, the first indication information further indicates the reason for the sensing error, which is that the access network device is outside the sensing area.

[0349] 2.2 The access network device failed to identify the first target.

[0350] The first target is the object to be sensed, which may be a vehicle, a person, or other object. In some embodiments, the access network device may receive the echo signal of the sensing signal, then measure the echo signal of the sensing signal, and identify the first target based on the measured data.

[0351] In some embodiments, the failure of the access network device to identify the first target includes: the access network device being unable to identify the type of the first target. For example, if the first target is obstructed, the access network device will be unable to identify the type of the first target.

[0352] If the access network device fails to identify the first target, the access network device may send a first indication message to the sensing device. The first indication message indicates that a sensing error has occurred in the access network device. In some embodiments, the first indication message further indicates the reason for the sensing error, namely, that the access network device failed to identify the first target.

[0353] 2.3 The access network device failed to detect the first target.

[0354] The failure of the access network device to perceive the first target means that the access network device is unable to continue to perceive the first target, which is the target to be perceived.

[0355] In some embodiments, the failure of the access network device to perceive the first target includes: the access network device losing auxiliary information.

[0356] The auxiliary information is used by the access network device to sense the first target. For example, the auxiliary information indicates a sensing area, which is the area where the device configured to perform sensing services is located. If the access network device is within this sensing area, it performs the sensing service and senses the first target. For example, the auxiliary information includes relevant data about the first target, such as attribute information indicating the first target, including, for example, the target's speed, possible movement trajectory, size, etc.

[0357] In some embodiments, if the access network device loses auxiliary information, the access network device cannot perceive the first target based on the auxiliary information, thereby causing the access network device to fail to perceive the first target.

[0358] For example, auxiliary information is used to indicate the sensing area. If the access network device loses the auxiliary information, the access network device cannot determine whether the access network device is within the sensing area, and therefore cannot sense the first target.

[0359] For example, auxiliary information is used to indicate the attribute information of the first target. If the access network device loses the auxiliary information, the access network device cannot know the attribute information of the first target, cannot determine the first target based on the attribute information, and therefore cannot perceive the first target.

[0360] In the event that the access network device loses auxiliary information, the access network device may send a first indication message to the sensing device. The first indication message is used to indicate that a sensing error has occurred in the access network device. In some embodiments, the first indication message is also used to indicate the reason for the sensing error in the access network device, which is that the access network device has lost auxiliary information.

[0361] 2.4 The access network device failed to send the sensing information of the first target requested by the sensing device.

[0362] The perception information of the first target is relevant information obtained by sensing the first target, such as sensing measurement results. In some embodiments, if the access network device receives the echo signal of the sensing signal, the perception information of the first target can be obtained by performing preliminary measurement on the echo signal.

[0363] In some embodiments, the perception information of the first target may include one or more of the following: the position of the first target, the velocity of the first target, the direction of the first target, the type of the first target, the channel impulse response, the time of flight, etc.

[0364] In some embodiments, the sensing device may send a request message to the access network device, the request message being used to request sensing information of a first target.

[0365] In some embodiments, "the access network device failed to send the sensing information of the first target requested by the sensing device" and "the access network device did not send the sensing information of the first target requested by the sensing device to the sensing device" can be interchanged.

[0366] In some embodiments, the failure of the access network device to send sensing information of the first target requested by the sensing device includes at least one of the following a to f:

[0367] a. The access network device does not support the sensing information requested by the sensing device.

[0368] In some embodiments, if the access network device cannot obtain sensing information of the first target, the access network device does not support the sensing information requested by the sensing device. For example, the access network device cannot measure the echo signal of the sensing signal to obtain the sensing information of the first target.

[0369] If the access network device fails to send sensing information for the first target requested by the sensing device, the access network device may send first indication information to the sensing device. The first indication information indicates that a sensing error has occurred. In some embodiments, the first indication information further indicates the reason for the sensing error, namely that the access network device does not support the sensing information requested by the sensing device.

[0370] b. The perceived information is unavailable.

[0371] In some embodiments, the sensing information of the first target is in an unavailable state, for example, the access network device has not yet calculated the sensing information of the first target, or the access network device has failed to calculate the sensing information of the first target, etc.

[0372] If the access network device has not yet calculated the sensing information of the first target, or if the access network device fails to calculate the sensing information of the first target, then the sensing information of the first target is in an unavailable state.

[0373] If the access network device fails to send sensing information for the first target requested by the sensing device, the access network device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred in the access network device. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the sensing information is unavailable.

[0374] c. The access network device failed to receive the echo signal of the sensing signal, and the sensing information was obtained based on the echo signal.

[0375] In some embodiments, the access network device can obtain sensing information of a first target based on the echo signal of the sensing signal. For example, the access network device can determine the time of flight of the sensing signal by receiving the echo signal, thereby determining the position of the first target relative to the access network device; for example, the access network device can determine the speed, direction, etc. of the first target by receiving the echo signal and combining it with relevant information from the echo signal.

[0376] Since the sensing information of the first target is obtained based on the echo signal, if the access network device fails to receive the echo signal of the sensing signal, the access network device cannot obtain the sensing information of the first target based on the echo signal, which will cause the access network device to fail to send the sensing information of the first target requested by the sensing device.

[0377] If the access network device fails to send sensing information for the first target requested by the sensing device, the access network device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred in the access network device. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the access network device failed to receive the echo signal of the sensing signal.

[0378] d. The current time is outside the period when the access network equipment supports the sensing equipment to obtain sensing information.

[0379] In some embodiments, the access network device supports the sensing device to acquire sensing information of the first target within a certain period of time, while outside of that period, the access network device does not support the sensing device to acquire sensing information of the first target.

[0380] For example, if an access network device calculates the sensing information of the first target at time t1 and deletes the sensing information of the first target based on its own implementation at time t2, then the access network device supports obtaining the sensing information of the first target within the time period of t1-t2, and does not support the sensing device to obtain the sensing information of the first target in other time periods.

[0381] If the current time is outside the period when the access network device supports the sensing device in obtaining sensing information, the access network device will not send the sensing information of the first target to the sensing device, thus causing the access network device to fail to send the sensing information of the first target requested by the sensing device.

[0382] If the access network device fails to send sensing information for the first target requested by the sensing device, the access network device may send first indication information to the sensing device. The first indication information is used to indicate that a sensing error has occurred. In some embodiments, the first indication information is also used to indicate the reason for the sensing error, which is that the current time is outside the time period during which the access network device supports the sensing device in acquiring sensing information.

[0383] e. The position of the first target has changed.

[0384] In some embodiments, a change in the position of the first target may be, for example, the first target being located outside the first area, where the first area is the region where the first target is sensed. For example, the sensing device instructs the access network device to sense targets within the first area. If the first target is initially within the first area, the access network device senses the first target to obtain its sensing information. If the first target moves outside the first area, the access network device will not sense the first target to obtain its sensing information.

[0385] In some embodiments, the position of the first target changes, for example, the first target moves away from the access network device or moves out of the coverage area of ​​the sensing signal, so that the first target cannot reflect the sensing signal to obtain an echo signal, and the first access network device cannot receive the echo signal to obtain the sensing information of the first target.

[0386] If the access network device fails to send sensing information for the first target requested by the sensing device, the access network device may send first indication information to the sensing device. The first indication information indicates that a sensing error has occurred. In some embodiments, the first indication information further indicates the reason for the sensing error, namely, that the location of the first target has changed.

[0387] f. The access network equipment cannot identify the type of the first target.

[0388] The first target is the object to be sensed, which may be a vehicle, a person, or other object. In some embodiments, the access network device may receive the echo signal of the sensing signal, then measure the echo signal of the sensing signal, and identify the first target based on the measured data.

[0389] In some embodiments, the failure of the access network device to send sensing information of the first target requested by the sensing device includes: the access network device being unable to identify the type of the first target. For example, if the first target is in an obstructed state, the access network device will be unable to identify the type of the first target.

[0390] In step S2202, the sensing device sends auxiliary information to the access network device, which is used by the access network device to sense the first target.

[0391] After receiving the first indication information sent by the access network device, the sensing device can determine that a sensing error has occurred in the access network device based on the first indication information. In some embodiments, if a sensing error occurs in the access network device, the sensing device can send auxiliary information to the access network device. Accordingly, the access network device receives the auxiliary information and can sense the first target based on the auxiliary information, thereby reducing the probability of the access network device recurring a sensing error.

[0392] In some embodiments, the first indication information is further used to indicate the cause of a perception error in the access network device. The cause of the perception error in the access network device may include at least one of the reasons described in 2.1 to 2.4 above.

[0393] In some embodiments, if the first indication information indicates that the access network device has failed to perceive the first target, the sensing device may send auxiliary information to the access network device. Accordingly, the access network device receives the auxiliary information and, based on this information, can perceive the first target, thereby reducing the probability of the access network device experiencing a perception error again.

[0394] In some embodiments, if the first indication information indicates that the reason for the perception error of the access network device is that the first device failed to perceive the first target (specifically, the access network device lost auxiliary information), then the sensing device sends auxiliary information to the access network device. Correspondingly, the access network device receives the auxiliary information and perceives the first target based on the auxiliary information, thereby reducing the probability that the access network device fails to perceive the first target due to the loss of auxiliary information.

[0395] In step S2203, the sensing device sends a third indication message to the access network device. The third indication message is used to instruct the access network device to perform at least one of the following operations: stop identifying the first target; stop receiving the echo signal of the sensing signal; and stop measuring the echo signal of the sensing signal.

[0396] After receiving the first indication information sent by the access network device, the sensing device can determine that a sensing error has occurred in the access network device based on the first indication information. In some embodiments, if a sensing error occurs in the access network device, the sensing device may send a third indication information to the access network device.

[0397] In some embodiments, if at least one of the following conditions is met, the sensing device sends a third indication message to the access network device: the access network device is outside the sensing area; the access network device fails to identify the first target; the access network device fails to sense the first target; or the access network device fails to send the sensing information of the first target requested by the sensing device.

[0398] Accordingly, the access network device receives the third indication information sent by the sensing device, and performs at least one of the following operations a to c based on the third indication information: operation a. stop identifying the first target; operation b. stop receiving the echo signal of the sensing signal; operation c. stop measuring the echo signal of the sensing signal.

[0399] For example, if the access network device is outside the sensing area, the third indication information is used to instruct the terminal device to perform at least one of operations a to c; in some embodiments, if the access network device fails to identify the first target, the third indication information is used to instruct the terminal device to perform operation a; in some embodiments, if the access network device fails to sense the first target, the third indication information is used to instruct the access network device to perform at least one of operations a to c; if the access network device fails to send sensing information of the first target, the third indication information is used to instruct the access network device to perform at least one of operations b to c, and so on.

[0400] Step S2204: The sensing device stops requesting sensing information of the first target from the access network device;

[0401] After receiving the first indication information sent by the access network device, the sensing device can determine that a sensing error has occurred in the access network device based on the first indication information. In some embodiments, if a sensing error occurs in the access network device, the sensing device stops requesting sensing information of the first target from the access network device, thereby reducing system overhead.

[0402] In some embodiments, if the access network device fails to send the sensing information of the first target, the sensing device stops requesting the sensing information of the first target from the access network device.

[0403] In some embodiments, if the access network device fails to send sensing information of the first target, and the failure of the access network device to send sensing information of the first target requested by the sensing device is due to at least one of the following reasons, the sensing device stops requesting sensing information of the first target from the access network device: the access network device does not support the sensing information requested by the sensing device, the sensing information is in an unavailable state, the access network device fails to receive the echo signal of the sensing signal, the position of the first target changes, or the access network device cannot identify the type of the first target.

[0404] Step S2205: The sensing device stops requesting sensing information of the first target from the access network device;

[0405] After receiving the first indication information sent by the access network device, the sensing device can determine that a sensing error has occurred in the access network device based on the first indication information. In some embodiments, if a sensing error occurs in the access network device, the sensing device stops requesting sensing information for the first target from the access network device, thereby reducing system overhead.

[0406] In some embodiments, if the access network device fails to send the sensing information of the first target requested by the sensing device, the sensing device stops requesting the sensing information of the first target from the access network device.

[0407] In some embodiments, if the access network device fails to send sensing information of the first target requested by the sensing device, and the failure to send sensing information of the first target requested by the sensing device is due to at least one of the following reasons, the sensing device will stop requesting sensing information of the first target from the access network device: the sensing information is unavailable, the access network device fails to receive the echo signal of the sensing signal, or the position of the first target changes.

[0408] In some embodiments, the sensing device may also send a fourth instruction message to the third device, the fourth instruction message being used to instruct the third device to sense the first target.

[0409] The communication method involved in the embodiments of this disclosure may include at least one of steps S2201 to S2205. For example, step S2201 may be implemented as a standalone embodiment, step S2201 + step S2202 may be implemented as a standalone embodiment, step S2201 + step S2203 may be implemented as a standalone embodiment, step S2201 + step S2204 may be implemented as a standalone embodiment, and step S2201 + step S2205 may be implemented as a standalone embodiment, but is not limited thereto.

[0410] In some embodiments, steps S2202, S2203, S2204, and S2205 may be performed in an interchangeable order or simultaneously. Steps S2202, S2203, S2204, and S2205 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0411] 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.

[0412] Figure 2c is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure. As shown in Figure 2c, the communication method includes the following steps:

[0413] Step S2301: The sensing device sends a first indication message to the terminal device. The first indication message is used to indicate that a sensing error has occurred in the sensing device.

[0414] In some embodiments, a sensing error in a sensing device refers to an error occurring during the execution of a sensing service by the sensing device. In some embodiments, the sensing service may be, for example, sensing a first target within a certain sensing area to identify the first target, or sensing information such as the position and speed of the first target.

[0415] In some embodiments, the process of performing a sensing service may include, for example, a wireless signal transmitter sending a sensing signal; a wireless signal receiver receiving an echo signal of the sensing signal, wherein the echo signal may include, for example, a signal obtained by reflecting the sensing signal by a first target; the wireless signal receiver performing a measurement based on the echo signal to obtain sensing information of the first target; and the sensing device calculating a sensing result based on the sensing information of the first target, etc.

[0416] In some embodiments, a sensing device experiencing a sensing error refers to a situation where the sensing device is unable to continue performing sensing services due to certain reasons. If a sensing device experiences a sensing error, it sends a first indication message to the terminal device. Correspondingly, the terminal device receives the first indication message sent by the sensing device and can determine that a sensing error has occurred based on the first indication message.

[0417] In some embodiments, the first indication information is further used to indicate the cause of a sensing error in the sensing device, the cause including at least one of the following 3.1 to 3.2:

[0418] 3.1 The sensing device did not send auxiliary information to the terminal device. The auxiliary information is used by the terminal device to sense the first target.

[0419] For details on the auxiliary information, please refer to the relevant description in item 1.3 of the embodiment shown in Figure 2a, which will not be repeated here.

[0420] In some embodiments, the sensing device does not send auxiliary information to the terminal device, including at least one of the following: the sensing device does not support the auxiliary information requested by the terminal device; the auxiliary information is unavailable; the sensing device does not support the auxiliary information that the sensing device has not sent to the terminal device.

[0421] For example, if a terminal device requests auxiliary information from a sensing device, but the sensing device does not support the auxiliary information requested by the terminal device, the sensing device will not send the auxiliary information to the terminal device.

[0422] For example, if the auxiliary information is unavailable, the sensing device will not send the auxiliary information to the terminal device.

[0423] In some embodiments, "the sensing device does not support auxiliary information that the sensing device has not sent to the terminal device" and "the sensing device does not support auxiliary information that the sensing device has not provided to the terminal device" can be interchanged.

[0424] For example, if the terminal device requires a total of M pieces of auxiliary information, and the sensing device sends N pieces of auxiliary information out of the M pieces of auxiliary information to the terminal device (M>N, where M and N are both positive integers), and the sensing device does not support the auxiliary information it did not send to the terminal device (i.e., the remaining (MN) pieces of auxiliary information), then the sensing device will not send the auxiliary information it does not support to the terminal device, and the terminal device will not continue to request the remaining (MN) pieces of auxiliary information from the sensing device.

[0425] 3.2 The sensing device did not send configuration information to the terminal device. The configuration information is used to configure the terminal device to send sensing signals.

[0426] For a description of the configuration information, please refer to the relevant description in item 1.3 of the embodiment shown in Figure 2a, which will not be repeated here.

[0427] In some embodiments, the sensing device does not send configuration information to the terminal device, including: the sensing device does not support the configuration information requested by the terminal device; and / or the configuration information is unavailable.

[0428] In step S2302, the terminal device stops requesting auxiliary information from the sensing device.

[0429] In some embodiments, if a sensing device experiences a sensing error, the terminal device stops requesting auxiliary information from the sensing device to reduce system overhead.

[0430] In some embodiments, if the sensing device does not send auxiliary information to the terminal device, the terminal device stops requesting auxiliary information from the sensing device.

[0431] In some embodiments, if the sensing device does not support the auxiliary information requested by the terminal device, the terminal device stops requesting auxiliary information from the sensing device.

[0432] In some embodiments, if the sensing device does not support auxiliary information that the sensing device has not sent to the terminal device, the terminal device stops requesting auxiliary information from the sensing device.

[0433] In some embodiments, if the auxiliary information is unavailable, the terminal device stops requesting auxiliary information from the sensing device.

[0434] In step S2303, the terminal device stops requesting auxiliary information from the sensing device.

[0435] In some embodiments, if a sensing device experiences a sensing error, the terminal device stops requesting auxiliary information from the sensing device to reduce system overhead.

[0436] In some embodiments, if the sensing device does not send auxiliary information to the terminal device, the terminal device stops requesting auxiliary information from the sensing device.

[0437] In some embodiments, if the sensing device does not support the auxiliary information requested by the terminal device, the terminal device stops requesting auxiliary information from the sensing device.

[0438] In some embodiments, if the sensing device does not support auxiliary information that the sensing device has not sent to the terminal device, the terminal device will stop requesting auxiliary information from the sensing device.

[0439] In some embodiments, if the auxiliary information is unavailable, the terminal device stops requesting auxiliary information from the sensing device.

[0440] In step S2304, the terminal device stops requesting configuration information from the sensing device.

[0441] In some embodiments, if a sensing device experiences a sensing error, the terminal device stops requesting configuration information from the sensing device to reduce system overhead.

[0442] In some embodiments, if the sensing device does not send configuration information to the terminal device, the terminal device stops requesting configuration information from the sensing device.

[0443] In some embodiments, if the sensing device does not support the configuration information requested by the terminal device, the terminal device stops requesting configuration information from the sensing device.

[0444] In some embodiments, if the configuration information is unavailable, the terminal device stops requesting configuration information from the sensing device.

[0445] The communication method involved in the embodiments of this disclosure may include at least one of steps S2301 to S2304. For example, step S2301 may be implemented as a standalone embodiment, step S2301 + step S2302 may be implemented as a standalone embodiment, step S2301 + step S2303 may be implemented as a standalone embodiment, and step S2301 + step S2304 may be implemented as a standalone embodiment, but is not limited thereto.

[0446] In some embodiments, steps S2302, S2303, and S2304 may be performed in an interchangeable order or simultaneously. Steps S2302, S2303, and S2304 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0447] 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.

[0448] Figure 2d is an exemplary interactive schematic diagram of the communication method provided in this embodiment of the present disclosure. As shown in Figure 2d, the communication method includes the following steps:

[0449] In step S2401, the sensing device sends a first indication message to the access network device. The first indication message is used to indicate that a sensing error has occurred in the sensing device.

[0450] In some embodiments, a sensing error in a sensing device refers to an error occurring during the execution of a sensing service by the sensing device. In some embodiments, the sensing service may be, for example, sensing a first target within a certain sensing area to identify the first target, or sensing information such as the position and speed of the first target.

[0451] In some embodiments, the process of performing a sensing service may include, for example, a wireless signal transmitter sending a sensing signal; a wireless signal receiver receiving an echo signal of the sensing signal, wherein the echo signal may include, for example, a signal obtained by reflecting the sensing signal by a first target; the wireless signal receiver performing a measurement based on the echo signal to obtain sensing information of the first target; and the sensing device calculating a sensing result based on the sensing information of the first target, etc.

[0452] In some embodiments, a sensing device experiencing a sensing error refers to a sensing device being unable to continue performing sensing services due to certain reasons. If a sensing device experiences a sensing error, it sends a first indication message to the access network device. Correspondingly, the access network device receives the first indication message sent by the sensing device and can determine that a sensing error has occurred based on the first indication message.

[0453] In some embodiments, the first indication information is further used to indicate the reason for the sensing device's sensing error, including the sensing device failing to send auxiliary information to the access network device, the auxiliary information being used by the access network device to sense the first target.

[0454] For details on the auxiliary information, please refer to the relevant description in item 2.3 of the embodiment shown in Figure 2b, which will not be repeated here.

[0455] In some embodiments, the sensing device does not send auxiliary information to the access network device, including at least one of the following: the sensing device does not support the auxiliary information requested by the access network device; the auxiliary information is unavailable; the sensing device does not support the auxiliary information that the sensing device did not send to the access network device.

[0456] For example, if an access network device requests auxiliary information from a sensing device, but the sensing device does not support the auxiliary information requested by the access network device, the sensing device will not send the auxiliary information to the access network device.

[0457] For example, if the auxiliary information is unavailable, the sensing device will not send the auxiliary information to the access network device.

[0458] For example, if the access network device requires a total of M pieces of auxiliary information, and the sensing device sends N pieces of auxiliary information out of the M pieces of auxiliary information to the access network device (M>N, where M and N are both positive integers), and the sensing device does not support the auxiliary information it did not send to the access network device (i.e., the remaining (MN) pieces of auxiliary information), then the sensing device will not send the auxiliary information it does not support to the access network device, and the access network device will not continue to request the remaining (MN) pieces of auxiliary information from the sensing device.

[0459] In step S2402, the access network device stops requesting auxiliary information from the sensing device.

[0460] In some embodiments, if a sensing device experiences a sensing error, the access network device stops requesting auxiliary information from the sensing device to reduce system overhead.

[0461] In some embodiments, if the sensing device does not send auxiliary information to the access network device, the access network device stops requesting auxiliary information from the sensing device.

[0462] In some embodiments, if the sensing device does not support the auxiliary information requested by the access network device, the access network device stops requesting auxiliary information from the sensing device.

[0463] In some embodiments, if the sensing device does not support auxiliary information that the sensing device has not sent to the access network device, the access network device stops requesting auxiliary information from the sensing device.

[0464] In some embodiments, if the auxiliary information is unavailable, the access network device stops requesting auxiliary information from the sensing device.

[0465] Step S2403: The access network device stops requesting auxiliary information from the sensing device.

[0466] In some embodiments, if a sensing device experiences a sensing error, the access network device stops requesting auxiliary information from the sensing device to reduce system overhead.

[0467] In some embodiments, if the sensing device does not send auxiliary information to the access network device, the access network device stops requesting auxiliary information from the sensing device.

[0468] In some embodiments, if the sensing device does not support the auxiliary information requested by the access network device, the access network device stops requesting auxiliary information from the sensing device.

[0469] In some embodiments, if the sensing device does not support auxiliary information that the sensing device has not sent to the access network device, the access network device will stop requesting auxiliary information from the sensing device.

[0470] In some embodiments, if the auxiliary information is unavailable, the access network device stops requesting auxiliary information from the sensing device.

[0471] The communication method involved in the embodiments of this disclosure may include at least one of steps S2401 to S2404. For example, step S2401 may be implemented as a standalone embodiment, step S2401 + step S2402 may be implemented as a standalone embodiment, and step S2401 + step S2403 may be implemented as a standalone embodiment, but is not limited thereto.

[0472] In some embodiments, steps S2402 and S2403 may be performed in an alternate order or simultaneously. Steps S2402 and S2403 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0473] 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.

[0474] Figure 3 is an exemplary interactive schematic diagram of the communication method provided in this disclosure. As shown in Figure 3, the communication method includes the following steps:

[0475] In step S3101, the first device sends a first indication message to the second device, the first indication message being used to indicate that a perception error has occurred in the first device.

[0476] In some embodiments, a perception error in the first device refers to an error occurring during the execution of a perception service by the first device. In some embodiments, the perception service may be, for example, sensing a first target within a certain perception area to identify the first target, or sensing information such as the position and speed of the first target.

[0477] In the event of a perception error in the first device, the first device may send a first indication message to the second device. Correspondingly, the second device receives the first indication message sent by the first device. The first indication message is used to indicate that a perception error has occurred in the first device.

[0478] In some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device. The first indication information is also used to indicate the reason for the sensing error of the first device, the reason including at least one of the following: the first device is outside the sensing area; the first device fails to identify the first target; the first device fails to sense the first target; the first device fails to send sensing information of the first target requested by the sensing device.

[0479] In some embodiments, the failure of the first device to identify the first target includes: the first device being unable to identify the type of the first target; or, the first device being a terminal device, and the first device not having the ability to identify the type of the first target.

[0480] In some embodiments, the failure of the first device to perceive the first target includes: the first device losing auxiliary information, which is used by the first device to perceive the first target.

[0481] In some embodiments, the first device is a terminal device, and the failure of the first device to sense the first target includes at least one of the following: the battery level of the first device is less than or equal to a preset battery threshold; the first device does not have the ability to sense the first target; the first device loses configuration information, which is used to configure the first device to send a sensing signal; or the first device does not send a sensing signal.

[0482] In some embodiments, the failure of the first device to send sensing information of the first target includes at least one of the following: the first device does not support the sensing information requested by the second device; the sensing information is unavailable; the first device fails to receive the echo signal of the sensing signal, and the sensing information is obtained based on the echo signal; the current time is outside the time period during which the first device supports the second device in acquiring sensing information; the position of the first target has changed; or the first device cannot identify the type of the first target.

[0483] In some embodiments, the first device is a sensing device, and the second device is a terminal device or an access network device. In some embodiments, the first indication information is further used to indicate the reason for the sensing error of the first device, namely: the first device failed to send auxiliary information to the second device, the auxiliary information being used by the second device to sense the first target.

[0484] In some embodiments, the first device does not send auxiliary information to the second device, including at least one of the following: the first device does not support the auxiliary information requested by the second device; the auxiliary information is unavailable; the first device does not support the auxiliary information that the first device did not send to the second device.

[0485] In some embodiments, the first device is a sensing device and the second device is a terminal device; the first indication information is also used to indicate the reason for the sensing error of the first device, the reason being: the first device did not send configuration information to the second device, the configuration information being used to configure the second device to send sensing signals.

[0486] In some embodiments, the first device does not send configuration information to the second device, including: the first device does not support the configuration information requested by the second device; and / or the configuration information is unavailable.

[0487] 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.

[0488] 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, which includes units or modules for implementing the steps performed by the terminal device in any of the above methods.

[0489] 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.

[0490] 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).

[0491] Figure 4a is an exemplary structural schematic diagram of a first device according to an embodiment of this disclosure. The first device 4100 is used to perform any of the above methods. In some embodiments, as shown in Figure 4a, the first device 4100 may include:

[0492] The transceiver module 4101 is used to send first indication information to the second device, the first indication information being used to indicate that a perception error has occurred in the first device.

[0493] In some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device;

[0494] or,

[0495] The first device is a sensing device, and the second device is a terminal device or an access network device.

[0496] In some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device; the first indication information is further used to indicate the reason for the sensing error of the first device, and the reason includes at least one of the following:

[0497] The first device is outside the sensing area;

[0498] The first device failed to identify the first target;

[0499] The first device failed to perceive the first target;

[0500] The first device failed to send the sensing information of the first target. The sensing information is the information requested by the second device from the first device.

[0501] In some embodiments, the first device identifies the first target as failing, including:

[0502] The first device is a terminal device or an access network device, and the first device cannot identify the type of the first target;

[0503] or,

[0504] The first device is a terminal device, and the first device does not have the ability to identify the type of the first target.

[0505] In some embodiments, the failure of the first device to perceive the first target includes:

[0506] The first device loses auxiliary information, which is used by the first device to perceive the first target.

[0507] In some embodiments, the first device is a terminal device, and the failure of the first device to perceive the first target includes at least one of the following:

[0508] The battery level of the first device is less than or equal to the preset battery threshold;

[0509] The first device does not have the ability to sense the first target;

[0510] The first device lost its configuration information, which was used to configure the first device to send sensing signals.

[0511] The first device did not send a sensing signal.

[0512] In some embodiments, the failure of the first device to transmit sensing information of the first target includes at least one of the following:

[0513] The first device does not support the sensing information requested by the second device;

[0514] The perceived information is unavailable.

[0515] The first device failed to receive the echo signal of the sensing signal, and the sensing information was obtained based on the echo signal.

[0516] The current time is outside the period when the first device supports the second device in acquiring sensing information;

[0517] The location of the first target has changed;

[0518] The first device cannot identify the type of the first target.

[0519] In some embodiments, the first device is a terminal device, and the transceiver module 4101 is further configured to perform at least one of the following:

[0520] The device receives auxiliary information sent by the second device, which is used by the first device to perceive the first target.

[0521] Receive configuration information sent by the second device, the configuration information being used to configure the first device to send sensing signals;

[0522] The first device receives a second instruction message sent by a second device. The second instruction message is used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop sending sensing signals; stop receiving echo signals of sensing signals; stop measuring echo signals of sensing signals; and delete configuration information, which is used to configure the first device to send sensing signals.

[0523] In some embodiments, the first device is an access network device, and the transceiver module 4101 is further configured to:

[0524] The device receives auxiliary information sent by the second device, which is used by the first device to perceive the first target.

[0525] The device receives a third instruction message sent by the second device, which instructs the first device to perform at least one of the following operations: stop identifying the first target; stop receiving the echo signal of the sensing signal; and stop measuring the echo signal of the sensing signal.

[0526] In some embodiments, the first device is a sensing device, and the second device is a terminal device or an access network device; the first indication information is further used to indicate the reason for the sensing error in the first device, the reason being:

[0527] The first device did not send auxiliary information to the second device, which was used by the second device to perceive the first target.

[0528] In some embodiments, the first device does not send auxiliary information to the second device, including at least one of the following:

[0529] The first device does not support the assistance information requested by the second device;

[0530] The first device does not support auxiliary information that the first device did not send to the second device;

[0531] Auxiliary information is unavailable.

[0532] In some embodiments, the first device is a sensing device, and the second device is a terminal device; the first indication information is further used to indicate the reason for the sensing error in the first device, the reason being:

[0533] The first device did not send configuration information to the second device. The configuration information is used to configure the second device to send sensing signals.

[0534] In some embodiments, the first device does not send configuration information to the second device, including:

[0535] The first device does not support the configuration information requested by the second device; and / or,

[0536] Configuration information is unavailable.

[0537] Optionally, the transceiver module 4101 is used to perform at least one of the communication steps such as sending and / or receiving performed by the first device 4100 in any of the above methods (e.g., steps S2101, S2102, S2103, S2104, S2201, S2202, S2203, S2301, S2401, S3101, but not limited thereto), which will not be elaborated here.

[0538] Figure 4b is an exemplary structural diagram of the second device proposed in an embodiment of this disclosure. The second device 4200 is used to perform any of the above methods. In some embodiments, as shown in Figure 4b, the second device 4200 may include at least one of a transceiver module 4201 and a processing module 4202:

[0539] The transceiver module 4201 is used to receive first indication information sent by the first device, which is used to indicate that the first device has experienced a perception error.

[0540] In some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device;

[0541] or,

[0542] The first device is a sensing device, and the second device is a terminal device or an access network device.

[0543] In some embodiments, the first device is a terminal device or an access network device, and the second device is a sensing device; the first indication information is further used to indicate the reason for the sensing error of the first device, and the reason includes at least one of the following:

[0544] The first device is outside the sensing area;

[0545] The first device failed to identify the first target;

[0546] The first device failed to perceive the first target;

[0547] The first device failed to send the sensing information of the first target. The sensing information is the information requested by the second device from the first device.

[0548] In some embodiments, the first device identifies the first target as failing, including:

[0549] The first device is a terminal device or an access network device, and the first device cannot identify the type of the first target;

[0550] or,

[0551] The first device is a terminal device, and the first device does not have the ability to identify the type of the first target.

[0552] In some embodiments, the failure of the first device to perceive the first target includes:

[0553] The first device loses auxiliary information, which is used by the first device to perceive the first target.

[0554] In some embodiments, the first device is a terminal device, and the failure of the first device to perceive the first target includes at least one of the following:

[0555] The battery level of the first device is less than or equal to the preset battery threshold;

[0556] The first device does not have the ability to sense the first target;

[0557] The first device lost its configuration information, which was used to configure the first device to send sensing signals.

[0558] The first device did not send a sensing signal.

[0559] In some embodiments, the failure of the first device to transmit sensing information of the first target includes at least one of the following:

[0560] The first device does not support the sensing information requested by the second device;

[0561] The perceived information is unavailable.

[0562] The first device failed to receive the echo signal of the sensing signal, and the sensing information was obtained based on the echo signal.

[0563] The current time is outside the period when the first device supports the second device in acquiring sensing information;

[0564] The location of the first target has changed;

[0565] The first device cannot identify the type of the first target.

[0566] In some embodiments, the first device is a terminal device.

[0567] The transceiver module 4201 is also used to send auxiliary information to the first device, which is used by the first device to perceive the first target;

[0568] The transceiver module 4201 is also used to send configuration information to the first device, the configuration information being used to configure the first device to send sensing signals;

[0569] The processing module 4202 is also used to stop requesting the perception information of the first target from the first device;

[0570] The processing module 4202 is also used to stop requesting the perception information of the first target from the first device;

[0571] The transceiver module 4201 is also used to send second instruction information to the first device. The second instruction information is used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop sending sensing signals; stop receiving echo signals of sensing signals; stop measuring echo signals of sensing signals; delete configuration information, which is used to configure the first device to send sensing signals.

[0572] In some embodiments, the first device is an access network device.

[0573] The transceiver module 4201 is also used to send auxiliary information to the first device, which is used by the first device to perceive the first target;

[0574] The processing module 4202 is also used to stop requesting the perception information of the first target from the first device;

[0575] The processing module 4202 is also used to stop requesting the perception information of the first target from the first device;

[0576] The transceiver module 4201 is also used to send third instruction information to the first device, the third instruction information being used to instruct the first device to perform at least one of the following operations: stop identifying the first target; stop receiving the echo signal of the sensing signal; stop measuring the echo signal of the sensing signal.

[0577] In some embodiments, the first device is a sensing device, and the second device is a terminal device or an access network device; the first indication information is further used to indicate the reason for the sensing error in the first device, the reason being:

[0578] The first device did not send auxiliary information to the second device, which was used by the second device to perceive the first target.

[0579] In some embodiments, the sensing device does not send auxiliary information to the second device, including at least one of the following:

[0580] The first device does not support the assistance information requested by the second device;

[0581] The first device does not support auxiliary information that the sensing device did not send to the second device;

[0582] Auxiliary information is unavailable.

[0583] In some embodiments, the processing module 4202 is further configured to:

[0584] Stop requesting assistance information from the first device; or,

[0585] The request for auxiliary information from the first device was aborted.

[0586] In some embodiments, the first device is a sensing device, and the second device is a terminal device; the first indication information is further used to indicate the reason for the sensing error in the first device, the reason being:

[0587] The first device did not send configuration information to the second device. The configuration information is used to configure the second device to send sensing signals.

[0588] In some embodiments, the first device does not send configuration information to the second device, including:

[0589] The first device does not support the configuration information requested by the second device; and / or,

[0590] Configuration information is unavailable.

[0591] In some embodiments, the processing module 4202 is further configured to:

[0592] Stop requesting configuration information from sensing devices.

[0593] Optionally, the transceiver module 4201 is used to perform at least one of the communication steps such as sending and / or receiving performed by the second device 4200 in any of the above methods (e.g., steps S2101, S2102, S2103, S2104, S2201, S2202, S2203, S2301, S2401, S3101, but not limited thereto), which will not be elaborated here.

[0594] Optionally, the processing module 4202 is used to execute at least one of the other steps executed by the second device 4200 in any of the above methods (e.g., steps S2105, S2106, S2204, S2205, S2302, S2303, S2304, S2402, S2403, but not limited thereto), which will not be elaborated here.

[0595] Figure 5a is an exemplary structural diagram of the communication device proposed in an embodiment of this disclosure. The communication device 5100 can be a first device (e.g., a terminal device, an access network device, a sensing device, etc.), a second device (e.g., a sensing device, a terminal device, an access network device, etc.), a chip, chip system, or processor that supports the access network device in implementing any of the above methods, a chip, chip system, or processor that supports the terminal device in implementing any of the above methods, or a chip, chip system, or processor that supports the sensing device 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.

[0596] 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, terminal devices, 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.

[0597] 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 transceivers 5102 perform at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., steps S2101, S2102, S2103, S2104, S2201, S2202, S2203, S2301, S2401, S3101, but not limited thereto), and the processor 5101 performs at least one of other steps (e.g., steps S2105, S2106, S2204, S2205, S2302, S2303, S2304, S2402, S2403, but not limited thereto). In optional embodiments, the transceivers may include a receiver and / or a transmitter, which may be separate or integrated together. Optionally, terms such as transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, and interface can be used interchangeably; terms such as transmitter, transmitter unit, transmitter, and transmitter circuit can be used interchangeably; and terms such as receiver, receiver unit, receiver, and receiver circuit can be used interchangeably.

[0598] 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.

[0599] The communication device 5100 described in the above embodiments may be a network device or a terminal device, 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 device, smart terminal, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0600] Figure 5b is an exemplary structural diagram of the chip proposed in an embodiment of this disclosure. For cases where the communication device 5100 can be a chip or a chip system, please refer to the structural diagram of the chip 5200 shown in Figure 5b, but it is not limited thereto.

[0601] Chip 5200 includes one or more processors 5201. Chip 5200 is used to perform any of the methods described above.

[0602] 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.

[0603] 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. The interface circuit 5202 performing at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., steps S2101, S2102, S2103, S2104, S2201, S2202, S2203, S2301, S2401, S3101, but not limited thereto) refers to, for example, 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 S2105, S2106, S2204, S2205, S2302, S2303, S2304, S2402, S2403, but not limited thereto).

[0604] 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.

[0605] 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.

[0606] 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.

[0607] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0608] 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.

[0609] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0610] The above are merely specific embodiments 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.

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