Communication method and apparatus

Abstract

Embodiments of the present application provide a communication method and apparatus, used for improving the transmission efficiency of sensing data. The embodiments of the present application introduce, into a sensing data reporting process of a terminal device, a solution in which a logical channel of sensing data corresponds to a plurality of priorities, so that the logical channel can use, in a MAC layer packet encapsulation process of the terminal device, different priorities to adapt to characteristics of sensing data to be transmitted. For example, for sensing data in the logical channel that needs to be preferentially scheduled, the terminal device can enable the logical channel to correspond to a high priority, so that sufficient scheduling of said sensing data can be realized, thereby improving the transmission efficiency of sensing data.

Description

A communication method and apparatus

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese Patent Application No. 202510223546.1, filed on February 25, 2025, and entitled "A communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular to a communication method and apparatus. BACKGROUND

[0004] With the development of communication technology, communication and perception fusion technology is proposed. The core idea of communication and perception fusion technology is to add perception capability on the mobile communication network, so that the two capabilities of communication and perception are integrated in one network system. The principle of perception technology is that the sending end sends a signal (also called perception signal), the perception signal reaches the perception target (which can be simply referred to as target), is reflected by the perception target, the receiving end receives the reflected perception signal (also called echo signal), and processes the received echo signal to obtain perception data, so as to further obtain perception results.

[0005] Currently, a wireless bearer for transmitting perception data can be configured for a perception service, and the network device schedules the uplink transmission of the perception data by using the scheduling mode of the wireless bearer for transmitting user data. However, in some scenarios, the characteristics of the perception data of the terminal device can be different, for example, some perception data is sensitive to delay, and some perception data is not sensitive to delay. The efficiency of the current uplink scheduling mode is poor, which leads to poor transmission performance of the perception data. SUMMARY

[0006] Embodiments of the present application provide a communication method and apparatus for improving the transmission efficiency of perception data.

[0007] In a first aspect, the present application provides a communication method, the execution subject of the method can be a terminal device, or a chip or circuit on the terminal device side. Taking the terminal device as an example, the method comprises: receiving first information, the first information is used to configure a first logical channel, the first logical channel is used to transmit perception data, wherein the first information indicates a plurality of priorities corresponding to the first logical channel. According to the first priority of the first logical channel, the first perception data is transmitted, wherein the first priority belongs to the plurality of priorities.

[0008] The embodiment of the present application introduces a scheme that a logical channel of sensing data of a terminal device corresponds to multiple priorities, so that the logical channel can use different priorities to adapt to the characteristics of the sensing data to be transmitted. For example, for the sensing data that needs to be preferentially scheduled for the logical channel, the terminal device can make the logical channel correspond to a relatively high priority, so as to realize sufficient scheduling of the sensing data, improve the transmission efficiency of the sensing data, and further improve the transmission performance of the sensing data.

[0009] In a possible design, the method further includes: sending the second sensing data according to a second priority of the first logical channel, where the second priority belongs to the multiple priorities. In this design, for different sensing data, the terminal device adjusts the priority of the first logical channel, which is beneficial to sufficient scheduling of the sensing data.

[0010] In a possible design, the first sensing data and the second sensing data correspond to a same transmission time interval. The above manner schedules the sensing data of the first logical channel multiple times within the same TTI, so that the sensing data with a relatively high priority in the second or even later sensing data in the queue to be sent of the first logical channel can be fully scheduled, and the transmission efficiency of the sensing data is improved.

[0011] In a possible design, the multiple priorities correspond to the multiple sensing data types one by one, and the first priority has a corresponding relationship with a sensing data type of the first sensing data. Through the above design, the first logical channel can use different priorities when transmitting sensing data with different characteristics, so that the transmission efficiency of the sensing data is improved.

[0012] In a possible design, the method further includes: receiving second information, where the second information is used to indicate a corresponding relationship between the multiple priorities and the multiple sensing data types. Through the above design, the implementation complexity of the terminal device is reduced.

[0013] In a possible design, the sensing data type is determined according to one or more of the following: a value of a speed in the sensing data, a resolution of the sensing data, or a refresh rate of the sensing data.

[0014] In a possible design, the sensing data type is divided into a moving target type and a static target type according to the value of the speed in the sensing data.

[0015] In a possible design, the method further includes: receiving first information, where the first information indicates a priority bit rate corresponding to the first priority and a priority bit rate corresponding to a third priority among the multiple priorities. With the above design, the Bj updating manner of the first logical channel can be made more reasonable, the influence on data scheduling of other logical channels (such as other logical channels used for transmitting sensing data, logical channels used for transmitting communication data, and the like) can be reduced, and full scheduling of sensing data and communication data can be facilitated.

[0016] In a possible design, the first information indicates the multiple priorities corresponding to the first logical channel, including: the first information includes a priority range corresponding to the first logical channel, and the priority range indicates the multiple priorities. With the above design, signaling overhead can be reduced.

[0017] In a possible design, the first information configures a first bearer used for transmitting sensing data, and the first bearer is associated with the first logical channel.

[0018] In a possible design, the first information is carried in a radio resource control (RRC) configuration message.

[0019] In a second aspect, the present application provides a communication method, and an execution subject of the method can be a network device or a chip or circuit at a network device side. Taking the network device as an example, the method includes: sending first information and receiving first sensing data carried by a first logical channel, the first information is used for configuring the first logical channel, the first logical channel is used for transmitting sensing data, and the first information indicates multiple priorities corresponding to the first logical channel.

[0020] Embodiments of the present application introduce a scheme that a logical channel of sensing data of a terminal device corresponds to multiple priorities, so that the logical channel can use different priorities to adapt to characteristics of sensing data to be transmitted, for example, for sensing data that needs to be preferentially scheduled for the logical channel, the terminal device can make the logical channel correspond to a higher priority, so that full scheduling of sensing data can be implemented, transmission efficiency of sensing data is improved, and transmission performance of sensing data is further improved.

[0021] In a possible design, the method further includes: receiving second sensing data carried by the first logical channel, and the first sensing data and the second sensing data correspond to a same transmission time interval. With the above manner, sensing data of the first logical channel is scheduled multiple times within a same TTI, so that sensing data with a higher priority in a second or even later sensing data in a queue to be sent of the first logical channel can be fully scheduled, and transmission efficiency of sensing data is improved.

[0022] In a possible design, the plurality of priorities correspond to the plurality of sensing data types one by one, and the first priority corresponds to the sensing data type of the first sensing data. Through the above design, different priorities can be used when the first logical channel transmits sensing data of different features, so that the transmission efficiency of the sensing data can be improved.

[0023] In a possible design, the method further includes: sending second information, where the second information is used to indicate the correspondence between the plurality of priorities and the plurality of sensing data types. Through the above design, the implementation complexity of the terminal device can be reduced.

[0024] In a possible design, the sensing data type is determined according to one or more of the following: a value of a speed in the sensing data, a resolution of the sensing data, or a refresh rate of the sensing data.

[0025] In a possible design, the sensing data type is divided into a moving target type and a static target type according to the value of the speed in the sensing data.

[0026] In a possible design, the method further includes: receiving first information, where the first information indicates a priority bit rate corresponding to the first priority and a priority bit rate corresponding to a third priority in the plurality of priorities. Through the above design, the Bj updating manner of the first logical channel can be more reasonable, the impact on data scheduling of other logical channels (for example, other logical channels used to transmit sensing data, logical channels used to transmit communication data, and the like) can be reduced, and full scheduling of the sensing data and the communication data can be facilitated.

[0027] In a possible design, the first information indicates a plurality of priorities corresponding to the first logical channel, including: the first information includes a priority range corresponding to the first logical channel, and the priority range indicates the plurality of priorities. Through the above design, the signaling overhead can be reduced.

[0028] In a possible design, the first information configures a first bearer used to transmit the sensing data, and the first bearer is associated with the first logical channel.

[0029] In a possible design, the first information is carried in an RRC configuration message.

[0030] In a third aspect, the present application also provides a communication apparatus, which has any of the methods provided in the first aspect. The communication apparatus can be implemented by hardware, or by executing corresponding software by hardware. The hardware or software includes one or more units or modules corresponding to the above functions.

[0031] In a possible implementation, the communication apparatus includes a processor configured to support the communication apparatus to perform the corresponding functions of the terminal device in the above-mentioned method. The communication apparatus can further include a memory coupled to the processor, which stores program instructions and data necessary for the communication apparatus. Optionally, the communication apparatus further includes an interface circuit for supporting the communication apparatus to communicate with devices such as network devices.

[0032] In a possible implementation, the communication apparatus includes corresponding functional modules for implementing the steps in the above-mentioned method respectively. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0033] In a possible implementation, the structure of the communication apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above-mentioned method examples, for details, refer to the description of the method provided in the first aspect, which will not be repeated here.

[0034] In a possible implementation, the structure of the communication apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above-mentioned method examples, for details, refer to the description of the method provided in the first aspect, which will not be repeated here.

[0035] In a possible implementation, the communication apparatus includes a processor configured to support the communication apparatus to perform the corresponding functions of the network device in the above-mentioned method. The communication apparatus can further include a memory coupled to the processor, which stores program instructions and data necessary for the communication apparatus. Optionally, the communication apparatus further includes an interface circuit for supporting the communication apparatus to communicate with devices such as terminal devices.

[0036] In a possible implementation, the communication apparatus includes corresponding functional modules for implementing the steps in the above-mentioned method respectively. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0037] In a possible implementation, the structure of the communication apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above-mentioned method examples, for details, refer to the description of the method provided in the first aspect, which will not be repeated here.

[0038] In a fifth aspect, a communication apparatus is provided, which comprises a processor and an interface circuit, the interface circuit being configured to receive signals from other communication apparatuses outside the communication apparatus and transmit the signals to the processor or send signals from the processor to other communication apparatuses outside the communication apparatus, and the processor being configured to implement the method in any possible design of the first aspect by means of logic circuits or by executing code instructions.

[0039] In a sixth aspect, a communication apparatus is provided, which comprises a processor and an interface circuit, the interface circuit being configured to receive signals from other communication apparatuses outside the communication apparatus and transmit the signals to the processor or send signals from the processor to other communication apparatuses outside the communication apparatus, and the processor being configured to implement the method in any possible design of the second aspect by means of logic circuits or by executing code instructions.

[0040] In a seventh aspect, a computer readable storage medium is provided, which stores a computer program or instructions, and when the computer program or instructions are executed by a processor, the method in any possible design of the first aspect is implemented.

[0041] In an eighth aspect, a computer readable storage medium is provided, which stores a computer program or instructions, and when the computer program or instructions are executed by a processor, the method in any possible design of the second aspect is implemented.

[0042] In a ninth aspect, a chip system is provided, which comprises a processor and can further comprise a memory, and is configured to implement the method in any possible design of the first aspect. The chip system can be composed of a chip or can comprise a chip and other discrete devices.

[0043] In a tenth aspect, a chip system is provided, which comprises a processor and can further comprise a memory, and is configured to implement the method in any possible design of the second aspect. The chip system can be composed of a chip or can comprise a chip and other discrete devices.

[0044] In an eleventh aspect, a communication system is provided, which comprises the apparatus (such as a terminal device) of the first aspect and the apparatus (such as a network device) of the second aspect.

[0045] The technical effects that can be achieved by the technical solutions of any one of the third aspect to the eleventh aspect can be described with reference to the technical effects that can be achieved by the technical solutions of the first aspect, and repeated descriptions are omitted. BRIEF DESCRIPTION OF DRAWINGS

[0046] FIG. 1 is a flow diagram of a process of processing perception data in a perception trajectory scenario;

[0047] FIG. 2 is another flow diagram of sensing data processing in a sensing trajectory scenario;

[0048] FIG. 3 is a diagram of various sensing modes provided by embodiments of the present application;

[0049] FIG. 4 is a diagram of an architecture of a communication system provided by embodiments of the present application;

[0050] FIG. 5 is a typical application scenario of sensing;

[0051] FIG. 6 is a diagram of a core network architecture provided by embodiments of the present application;

[0052] FIG. 7 is a diagram of a core network architecture provided by embodiments of the present application, in which sensing related functions are introduced;

[0053] FIG. 8 is a diagram of a RAN architecture provided by embodiments of the present application, in which sensing related functions are introduced;

[0054] FIG. 9 is a diagram of possible communication interfaces of a SU provided by embodiments of the present application;

[0055] FIG. 10 is a flow diagram of a communication method provided by embodiments of the present application;

[0056] FIG. 11 is a diagram of data scheduling provided by embodiments of the present application;

[0057] FIG. 12 is a diagram of a structure of a communication apparatus provided by embodiments of the present application;

[0058] FIG. 13 is a diagram of a structure of a communication apparatus provided by embodiments of the present application. DETAILED DESCRIPTION

[0059] The technical solutions of the embodiments of the present application can be applied to an integrated sensing and communication (ISAC) system. The integrated sensing and communication system refers to a system in which communication and sensing are integrated, also known as a harmonized communication and sensing (HCS) system. The core idea of the integrated sensing and communication is to add sensing-related capabilities to the communication system to build capabilities such as target detection, tracking, and imaging, so that the two capabilities of communication and sensing are integrated into one network. Among them, the communication system can be a third generation partnership project (3GPP) related cellular system. For example, long term evolution (LTE), the sixth generation (5G) mobile communication system / new radio (NR) communication system, or a future communication system or other similar communication system. Other similar communication systems can include wireless fidelity (WIFI), vehicle to everything (V2X), internet of things (IoT) system, non-terrestrial network (NTN) communication system, etc.

[0060] Before introducing the technical solutions provided by the embodiments of the present application, first introduce the terms related to the embodiments of the present application, the network architecture applicable, etc.

[0061] (1) Sensing

[0062] Sensing can be understood as a technology that can obtain environmental and / or object feature information in the environment. The object feature information in the environment includes but is not limited to shape, size, direction, speed, position, distance between objects or relative motion, etc. The working principle of sensing is that the sending end sends a signal for sensing (also referred to as a sensing signal), the receiving end receives a signal reflected by the sensing target (also referred to as a return signal), and according to the processing result of the return signal, the sensing result such as speed, distance, shape, size, etc. can be obtained. The sensing target can also be referred to as a target, a detected target, a sensed object, a detected object, or a sensed target, without limitation. The sensing target can be various tangible objects in the environment that can reflect electromagnetic waves. For example, the sensing target can be a stationary object such as a building. For another example, the sensing target can also be a movable object such as a vehicle, a drone, or a terminal device.

[0063] Sensing can also be replaced by sensing process, sensing operation, sensing detection, or detection process.

[0064] Sensing signal is also called probing signal, chirp signal, radar signal, radar sensing signal, radar probing signal, environment sensing signal, etc. The sensing signal can be a pulse signal, or a possible signal in a wireless communication system, such as an orthogonal frequency division multiplexing (OFDM) signal. For example, the sensing signal includes (or is) a sounding reference signal (SRS), a demodulation reference signal (DMRS), a positioning reference signal (PRS), a sidelink positioning reference signal (SL-PRS), a channel state information reference signal (CSI) reference signal (RS), a synchronization signal block (SSB), a synchronization signal / physical broadcast channel block (SS / PBCH block), or a tracking reference signal (TRS), a phase tracking reference signal (PTRS), a beam manager reference signal (BMRS), or a cell reference signal (CRS), etc. The sensing signal can also include communication information, such as a signal carried on a downlink physical shared channel (PDSCH) or a physical sidelink shared channel (PSSCH).

[0065] The echo signal refers to a signal reflected back to the receiver after the sensing signal is transmitted from the transmitter to the target object. Autocorrelation processing is performed on the echo signal and the sensing signal, and then through transformation, the time delay of the echo signal in the time domain relative to the sensing signal can be analyzed, so as to reflect the distance of the sensing target relative to the transmitting source. Through comparison processing of the echo signals reflected back by different transmitting signals to the same target, it can be converted into the Doppler domain; the distance and speed of the sensing target can be analyzed by combining the Doppler domain and the distance domain. In addition, through the beam direction of the antenna transmitting the sensing signal, the direction of the sensing target relative to the transmitting source can be obtained. The echo signal can be understood as the reflected sensing signal, and therefore the echo signal can also be referred to as the sensing signal.

[0066] (2) Sensing data and sensing result

[0067] The sensing data, also referred to as sensing measurement data, refers to data obtained after processing the echo signal. The processing of the echo signal involves multiple links, and the data obtained by each processing link can be referred to as sensing data. For example, the processing flow of the echo signal can include the following processing links: (1) symbol extraction, cyclic prefix (CP) removal, etc. are performed on the echo signal, time domain data of a radar frame can be obtained, and in-phase (I / quadrature (Q) data is separated out; (2) time-frequency transformation, effective subcarrier extraction, signal estimation, inverse fast fourier transform (IFFT) are performed on the IQ data to obtain a range (R) spectrum; (3) inter-symbol windowing, fast fourier transform (FFT) calculation are performed on the R spectrum to obtain a range / doppler (RD) spectrum; (4) FFT of the channel dimension is performed on the RD spectrum to obtain a range / Doppler / angle (RDA) spectrum; (5) all effective point target information is detected from the RD spectrum or the RDA spectrum to obtain a plurality of data points, and a set composed of the plurality of data points is also referred to as a point cloud, wherein each data point is used to represent a relative position or an absolute position relative to the sensing device; (6) the plurality of data points are clustered to obtain the centroid of the real target.

[0068] The perception data can represent one or more of time delay, Doppler, angle, and intensity of the sampling points, or one or more of position, distance, velocity, and intensity of the sampling points. For example, the perception data includes, but is not limited to, one or more of IQ data, RD spectrum, RDA spectrum, distance / velocity (DV) spectrum, distance / velocity / angle (DVA) spectrum, range / velocity (RV) spectrum, range / velocity / angle (RVA) spectrum, a set of coordinate points, a point cloud, a point cluster, a cluster trace, a centroid of a real target, etc.

[0069] The perception result refers to a result related to a service function and performance, which is obtained based on a calculation and analysis on the perception data. For example, the perception result includes whether there is a target to be perceived, some information of the target to be perceived (e.g., speed, distance, angle, orientation, acceleration, position, motion trajectory, imaging result, expression, breathing / heartbeat frequency, etc.). Some perception results can also be regarded as perception data, for example, the information of speed and distance can also be regarded as perception data. The perception result is different according to different targets to be perceived. For example, the target to be perceived is air, and the perception result includes air quality, gas components included in the air, etc.; for example, the target to be perceived is a vehicle, and the perception result includes the number of vehicles, the position of the vehicle, the motion trajectory of the vehicle, etc.

[0070] The perception result can also be regarded as a type of perception data, and some types of perception data can also be regarded as a perception result. For example, the perception data can be a motion trajectory, and the motion trajectory can be a perception result.

[0071] Please refer to FIG. 1, which shows a flow of processing perception data in a perception trajectory scenario. The flow shown in FIG. 1 takes the processing of raw perception data to obtain a range-doppler (RD) spectrum as an example. It should be understood that the RD spectrum is generated according to the range-doppler data of a frame. After clutter suppression and constant false alarm rate (CFAR) detection, valid point targets in a given frame can be obtained. Range (R), velocity (V), and azimuth angle (A) of all point targets can be obtained by performing amplitude variation with angle (RVA) estimation on the valid point targets. The cluster information of the obtained point targets is obtained to obtain the centroid of the real target. Subsequently, the motion trajectory of the target can be determined according to the cluster information. For example, trajectory association is performed according to the centroid, and the so-called trajectory association includes trajectory initialization and trajectory state vector initialization using the cluster information of the first frame at the first frame, and determining whether the trajectory of the previous frame is associated / continuous with the trajectory of the next frame. Then, trajectory tracking can be performed, for example, the cluster target of the current frame is associated with the existing trajectory, and the trajectory on the association is updated using Kalman filtering. If a plurality of continuous frames do not satisfy the consistency of the trajectory in a short time, the trajectory is considered invalid, and the invalid trajectory can be eliminated. In addition, the trajectory of the next frame can also be predicted according to the trajectory of the current frame. For example, the trajectory can be predicted by a motion model (such as a uniform acceleration straight line motion model), and the predicted trajectory is displayed. It should be understood that trajectory association can be performed during or after trajectory prediction. Alternatively, after the trajectory output, the perception performance (such as target tracking performance) can be counted.

[0072] The consistency of the trajectory includes one or more of the following: motion direction consistency, distance consistency, velocity consistency, position-velocity consistency, or distance-azimuth angle consistency. The heading consistency refers to that the heading changes little in a short time, for example, the heading change is within a certain range. The distance consistency refers to that the distance change is substantially the same (or the target moves at a nearly uniform speed) in a short time, for example, the distance change is within a certain range. The velocity consistency refers to that the velocity change is little in a short time, for example, the velocity change is within a certain range. The position-velocity consistency refers to that the position change is little and the velocity change is little in a short time, for example, the position change is within a certain range and the velocity change is within a certain range. The distance-azimuth angle consistency refers to that the distance change is little and the azimuth angle change is little in a short time, for example, the distance change is within a certain range and the azimuth angle change is within a certain range.

[0073] Please refer to FIG. 2, which shows another flow of the perception data processing in the perception trajectory scenario. The flow shown in FIG. 2 takes the processing of the original perception data to obtain the RV spectrum as an example. The clustering processing is performed on the RV spectrum to obtain the cluster formed by the target points. The coordinate conversion and the cluster point preprocessing are performed on the target points in the cluster, and then the cluster trajectory association is performed. The cluster trajectory association refers to associating the cluster points that meet the trajectory consistency, and the associated cluster points form a trajectory. The cluster trajectory association includes determining the starting and target tracking of the trajectory, and then associating multiple trajectories to form a trajectory. The trajectory association process includes false alarm suppression processing, which refers to judging whether the trajectory to be associated meets the trajectory consistency. If not, it is not associated. Subsequently, multi-station fusion processing can be performed to determine the final trajectory. The multi-station fusion processing refers to jointly processing the perception data from multiple stations.

[0074] (3) Perception mode

[0075] The perception can be generally divided into two modes: single-station perception and double-station perception. Among them, the single-station perception mode refers to that the sending end device of the perception signal and the receiving end device of the echo signal of the perception signal are the same device. In other words, in the single-station perception mode, the sending end device not only sends the perception signal but also receives the echo signal of the perception signal reflected on the surface of the perception target. Therefore, the single-station perception mode can also be called self-sending and self-receiving mode without limitation. The double-station perception mode refers to that the sending end device of the perception signal and the receiving end device of the echo signal of the perception signal are two different devices. In other words, the perception station A sends the perception signal, and the echo signal of the perception signal reflected on the surface of the perception target is received by the perception station B. Therefore, the double-station perception mode can also be called A-sending and B-receiving mode. It should be pointed out that the echo signal of the perception signal is obtained by reflecting the perception signal on the surface of the perception target, so the echo signal can still be called the perception signal. The perception station can be a network device or a terminal device.

[0076] For example, please refer to FIG. 3, which is a schematic diagram of various sensing modes provided by embodiments of the present application. In FIG. 3, the sensing target is a vehicle, and six sensing modes are provided. The six sensing modes are: a mode in which network device A sends sensing signals and receives echo signals, as shown in (1) of FIG. 3; a mode in which terminal device A sends sensing signals and receives echo signals, as shown in (2) of FIG. 3; a mode in which network device A sends sensing signals and network device B receives echo signals, as shown in (3) of FIG. 3; a mode in which terminal device A sends sensing signals and terminal device B receives echo signals, as shown in (4) of FIG. 3; a mode in which network device A sends sensing signals and terminal device A receives echo signals, as shown in (5) of FIG. 3; and a mode in which terminal device A sends sensing signals and network device A receives echo signals, as shown in (6) of FIG. 3. FIG. 8 illustrates an example in which the terminal device is a smartphone.

[0077] The sensing procedures of the six sensing modes shown in FIG. 3 each include sensing measurement configuration and reporting of sensing data. Optionally, the sensing procedure also includes reporting of sensing capability. The sensing capability mainly includes whether to support sensing, whether to support a certain sensing method / sensing mode, whether to have a function of processing sensing signals, and the like. The sensing capability is usually reported by a sensing device to a sensing management device. The sensing device refers to a device that performs sensing services / sensing services. The sensing device can be used to send sensing signals and / or receive echo signals. The sensing management device refers to a device or unit that has a management function for each sensing node participating in the sensing process. The sensing management device determines the sensing measurement configuration according to the sensing capability reported by the sensing device, and configures the sensing device. The sensing device performs sensing according to the sensing measurement configuration, obtains sensing data, and sends the sensing data to the sensing management device.

[0078] According to different perception modes, the interaction process between the network elements involved in the perception process is also different, as shown in Table 1. In Table 1, SF refers to a network element with perception management function. The first table in Table 1 represents the perception mode, the second table represents the interaction between SF and gNB (gNB A and / or gNB B), the third table represents the interaction between SF and UE, the fourth table represents the interaction between gNB and UE, and the fifth table represents the interaction between UE and UE. Optionally, SF and UE can interact through non-access layer signaling. In this case, the interaction between SF and UE is transparent to gNB, and the complexity is lower than the mutual interaction between SF, gNB and UE. It should be noted that the gNB in the gNB perception capability reporting in Table 1 includes gNB A and / or gNB B; the gNB in the gNB perception measurement reporting includes gNB A and / or gNB B; the UE in the UE perception capability reporting includes UE A and / or UE B; and the gNB in the UE perception measurement reporting includes UE A and / or UE B.

[0079] Table 1

[0080] (4) Logical Channel

[0081] In mobile communication systems (such as LTE and 5G NR), logical channels are a concept of MAC layer (Medium Access Control) and are used to distinguish different types of data streams. They are located above the radio link control (RLC) layer and are mainly used to define the type, priority and direction of data transmission.

[0082] (5) Bearer

[0083] The bearer can also be referred to as radio bearer, data bearer, data radio bearer (DRB), etc. The bearer is a logical channel for transmitting user plane data. The bearer has a mapping relationship with a specific logical channel.

[0084] (6) Network Device

[0085] The network device refers to a (radio) access network ((R)AN) device / RAN node. In the embodiments of the present application, the (R)AN and the RAN can be replaced, and for the convenience of description, the RAN is taken as an example below. The RAN can be a 3GPP related cellular system, for example, a 5G / NR mobile communication system, or a future-oriented evolved system. The RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a virtualized RAN (vRAN), a non-terrestrial network (NTN), etc. The RAN can also be a communication system in which two or more of the above systems are fused. The RAN device can also be referred to as a RAN node, a RAN entity, or an access node, etc.

[0086] In a possible scenario, the RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a base station in a future mobile communication system, etc. The RAN node can be a macro base station, a micro base station, an indoor station, a relay node, a donor node / host node, or a radio controller, etc. The RAN node can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the RAN node in the V2X technology can be a road side unit (RSU).

[0087] In another possible scenario, a RAN node can be a module or unit that completes part of the function of a base station; or multiple RAN nodes cooperate to assist a terminal device to implement wireless access, and different RAN nodes respectively implement part of the function of a base station. For example, a RAN node can be a CU, a DU, or a RU, etc. The function of the CU can be implemented by one entity, or also can be implemented by different entities. For example, the function of the CU can be further divided, that is, the control plane and the user plane are separated and implemented by different entities, respectively, as a control plane CU entity (that is, a CU-control plane (CP) entity) and a user plane CU entity (that is, a CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the function of the RAN node. The CU and the DU can be separately arranged, or also can be included in the same network element, for example, in a baseband unit (BBU). Any one of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0088] In different systems, the CU (or CU-CP and CU-UP), DU, or RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, CU-CP, CU-UP, DU, and RU are taken as examples for description in this application.

[0089] The CU and the DU can be configured according to the protocol layer function of the wireless network they implement: for example, the CU is configured to implement the function of the packet data convergence protocol (PDCP) layer and above protocol layers (such as the radio resource control (RRC) layer and / or the service data adaptation protocol (SDAP) layer, etc.); and the DU is configured to implement the function of the PDCP layer below protocol layers (such as the radio link control (RLC), the media access control (MAC) layer, and / or the physical (PHY) layer, etc.). For specific description of the above-mentioned various protocol layers, reference can be made to the relevant technical specifications of 3GPP or the technical specifications of other applicable communication protocols.

[0090] The above-mentioned processing functions of the CU and the DU are merely examples according to the protocol layer division, and the division can be performed in other manners, which is not limited in the present application. For example, in one design, the CU or the DU can also be divided into partial processing functions of the protocol layers. In one design, partial functions of the RLC layer and functions of the protocol layers above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of the protocol layers below the RLC layer are arranged in the DU.

[0091] In another possible design, the functions of the PHY layer are jointly implemented by the DU and the RU, or described as moving part of the PHY layer functions of the DU to the RU. One DU can be connected with one or more RUs. The functions of the DU and the RU can be configured in multiple manners according to the design. For example, the DU is configured to implement the baseband functions, and the RU is configured to implement the intermediate radio frequency functions. For another example, the DU is configured to implement the high-layer functions in the PHY layer, and the RU is configured to implement the low-layer functions in the PHY layer or implement the low-layer functions and the radio frequency functions. The high-layer functions in the PHY layer can include part of the functions of the PHY layer, which are closer to the MAC layer, and the low-layer functions in the PHY layer can include another part of the functions of the PHY layer, which are closer to the intermediate radio frequency side. The specific functions of the DU and the RU are not limited in the present application. The interface between the DU and the RU can be referred to as a front-haul interface. In one design, the CU can have no PDCP layer, for example, the CU only includes the RRC layer. The CU-CP has no PDCP-C. The CU-UP can have no PDCP-U, or have no CU-UP. In one design, the DU can have no RLC layer, for example, the DU only has the MAC and the higher PHY layer.

[0092] When the RAN is an O-RAN, it can also have an artificial intelligence (AI) function, for example, the O-RAN includes an intelligent controller. The intelligent controller can be a non-real time RAN intelligent controller (non-RT RIC / non-RT RIC / NRT RIC) or a near-real time RAN intelligent controller (near-RT RIC / near-RT RIC / nRT RIC). The non-real time RIC can be used to implement non-real time intelligent management of the RAN function, can implement a workflow including model training and model updating, and guide applications / functions in the nRT RIC based on a policy. The near-real time RIC can be used to implement near-real time intelligent management of the RAN. Through data collection and related operations on the E2 interface, near-real time control and optimization of modules and resources of the O-RAN are implemented.

[0093] (7) Terminal device

[0094] In the embodiments of the present application, all devices capable of communicating data with a base station can be regarded as terminal devices. The terminal device is also referred to as a terminal, a terminal apparatus, a user equipment (UE), a user apparatus, a mobile station, or a mobile terminal, etc. The terminal device can be widely applied to various scenarios, for example, the terminal device can be a mobile phone, a computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a station (STA), a mechanical arm, a camera, a robot, a vehicle, a drone, a helicopter, an airplane, a ship, or a smart home device (such as a television, an air conditioner, a sweeping machine, a sound box, a set-top box), a relay, a customer premise equipment (CPE), etc.

[0095] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an IoT system, for example, a water meter, an electricity meter, etc. IoT is an important part of the future information technology development, and its main technical feature is to connect objects through communication technology and network, so as to realize the intelligent network of man-machine interconnection and object-object interconnection.

[0096] The terminal device can also be referred to as a V2X device when applied to V2X, for example, a smart car, an unmanned car, a road site unit (RSU), and the like. As introduced above, various terminal devices, if located on a vehicle (for example, placed / installed in the vehicle), can be considered as a vehicle-mounted terminal device. The vehicle-mounted terminal device can be built-in as one or more components or units in a vehicle-mounted module, a vehicle-mounted module group, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit of the vehicle, and the vehicle can implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module group, vehicle-mounted component, vehicle-mounted chip, or vehicle-mounted unit. The vehicle-mounted terminal device can be a whole vehicle device, a vehicle-mounted module, a vehicle, an on-board unit (OBU), an RSU, a telematics box (T-box), a chip, or an SoC, and the like. The above chip or SoC can be installed in the vehicle, OBU, RSU, or T-box.

[0097] The core network refers to a general term of core network devices or functions that can provide service support for terminal devices. The core network can be a 5G core network, an evolved 5G core network, or a future core network. The core network includes an access and mobility management function (AMF), a session management function (SMF), a user plane function (UPF), a policy control function (PCF), a location management function (LMF), a network exposure function (NEF), a unified data management (UDM), a unified data repository (UDR), a network data analytics function (NWDAF), and the like, which are not listed one by one here.

[0098] (8) In the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include direct transmission via the air interface or indirect transmission by other units or modules via the air interface. "Receive information from YY" can be understood as the sender of the information being YY, which may include direct reception from YY via the air interface or indirect reception from YY via other units or modules via the air interface. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface. In other words, sending and receiving can be performed between devices, such as between access network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0099] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A / B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0100] In the embodiments of this application, "when," "if," and "if" all refer to the device taking corresponding actions under certain objective circumstances, and are not time-limited, nor do they require the device to perform a judgment action, nor do they imply any other limitations. Unless otherwise specified, "if" and "if" can be substituted, and "when" and "in the case of" can be substituted. "When" and "if" / "if" can be substituted.

[0101] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0102] In this application's embodiments, ordinal numbers such as "first" and "second" are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. For example, "first information" and "second information" refer to two different pieces of information, and do not indicate a difference in priority or importance between the two pieces of information.

[0103] Please refer to Figure 4, which is a schematic diagram of the architecture of a communication system applicable to embodiments of this application. This network architecture comprises four components: terminal equipment, access network, core network (CN), and data network (DN). The terminal equipment, access network, and core network are the main components of the aforementioned network architecture. Logically, they can be divided into user plane and control plane. The control plane is responsible for the management of the mobile network, while the user plane is responsible for the transmission of service data. For example, as shown in Figure 4, in a 5G communication system, the N2 interface is located between the access network control plane and the core network control plane, the N3 interface is located between the access network user plane and the core network user plane, and the N6 interface is located between the core network user plane and the data network.

[0104] It should be noted that the network architecture shown in Figure 4 is merely illustrative. The communication system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application and does not constitute a limitation on the communication systems to which the embodiments of this application are applicable. For example, the communication system may also include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 4. As those skilled in the art will know, with the evolution of network architecture, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0105] The network architecture shown in Figure 4 can integrate sensing functions to achieve integrated communication and sensing. A typical application scenario for sensing is illustrated in Figure 5. Figure 5 uses an environment including one access network device and multiple terminal devices as an example, with smartphones as the terminal devices and drones, pedestrians, and vehicles as the sensing targets. In Figure 5, solid lines represent communication, and dashed lines represent sensing.

[0106] In implementation method 1, sensing-related functions (such as sensing management function (SMF) and / or sensing control function (SCF)) can be introduced on the core network side to realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. The specific names of these sensing-related functions are not limited in this application. For example, sensing-related functions can be replaced by any of the following: sensing management network element, sensing management device, sensing management entity, sensing function (SF), integrated sensing and communication (ISAC) management function (ISACMF), ISAC service management function (ISACSMF), or sensing service management function (SSMF), etc.

[0107] Please refer to Figure 6, which is a schematic diagram of the core network architecture provided in an embodiment of this application. Figure 6 is based on the 5G core network (5G core, 5GC), and introduces perception-related functions on the core network side.

[0108] As shown in Figure 6, a new SF network element has been added to the core network side. Simultaneously, interfaces have been added between the SF network element and one or more 5GC network elements, enabling the SF network element to interact with the RAN or UE through the 5GC network elements for sensing signaling, etc. For example, in Figure 6, the SF can perform sensing interaction with the interfaces of 5GC network elements such as the Location Management Function (LMF), AMF, NEF, UDM, NWDAF, and PCF network elements. The sensing data acquired by the RAN or UE can be transmitted to the SF network element via the control plane or user plane. When sensing data is transmitted to the SF network element via the user plane, it can be forwarded to the SF network element through the UPF or directly transmitted to the SF network element. The interface definitions between the SF and the 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF are as follows.

[0109] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0110] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0111] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0112] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete AI processing related to perception services.

[0113] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0114] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0115] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0116] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc., one or more of these information. It should be noted that the above-mentioned interfaces "NSX (e.g., NS1 to NS6)" are only illustrative examples, and this application embodiment does not limit the names of interfaces between SF network elements and other network elements.

[0117] The SF can be deployed in a traditional 5GC, as shown in Figure 7(a). Optionally, the SF can be a separate structure of SF-CP and SF-UP. The SF-CP, as a functional unit of a device in the 5GC, or a functional entity independent of the 5GC, can be connected to the base station through an interface with the AMF.

[0118] Sensing-related functions can also be deployed independently of the traditional 5GC, as shown in Figure 7(b). Optionally, the SF can be a separate structure of SF-CP and SF-UP. When the SF-CP is deployed independently of the 5GC, it can act as a communication node independent of the traditional 5GC device, connecting to the base station through an interface with the base station. The SF-CP can also connect to traditional sensing devices.

[0119] In implementation method 2, perception-related functions can be introduced on the RAN side. For example, in some scenarios, the RAN side can determine the perception mode based on the perception service requirements sent by the SF, or select appropriate gNBs and / or UEs to participate in perception, and determine the perception measurement configuration. For an introduction to perception-related functions, please refer to the aforementioned content; it will not be repeated here. These perception-related functions can be deployed on the RAN equipment or independently of the RAN equipment.

[0120] Please refer to Figure 8, which illustrates two typical architectures for introducing perception-related functions on the RAN side. This application does not limit the name of the perception-related functions introduced on the RAN side; for example, the function can be called SU.

[0121] As shown in Figure 8(a), the SU can be an entity independent of the RAN equipment and can connect to the base station through an interface similar to the Xn interface. For ease of distinction, the interface between the SU and the base station can be called the Xn-S interface. If the base station is a CU-DU structure, the SU can communicate with the CU through the Xn-S interface. When the SU is an entity independent of the RAN equipment, it can also be regarded as a communication node independent of the RAN equipment (e.g., called an SC node).

[0122] As shown in Figure 8(b), the SU can be a functional unit in the base station, which can communicate with the CU through an interface similar to F1. For ease of distinction, the interface between the SU and the CU can be called the F1-SC interface.

[0123] In Figure 8, the RAN side introduces the SU, which has the function of managing UEs for sensing. Therefore, the base station can communicate with both ordinary UEs and sensing UEs.

[0124] Please refer to Figure 9, which illustrates the possible communication interfaces of the SU. Figure 9 uses dashed lines to indicate the possible interfaces of the SU. As shown in Figure 9, the SU can communicate directly with the DU or the UE. The SU can be directly connected to one or more core network elements; for example, the SU may be directly connected to the SF, AMF, or UPF. The SU can also be indirectly connected to one or more core network elements; for example, the SU can connect to the SF via the AMF, or to the SF via the UPF. Alternatively, the SU can connect to the AMF via the CU, and then connect to the SF via the AMF.

[0125] In this embodiment, the SU is deployed on the RAN side and can interact directly with the CU, interacting with the core network through the CU. During the sensing and measurement process, the SU / CU can configure the sensing and measurement configuration for the UE, and the transmission path of this configuration can be: DU→CU / SU→UE. Similarly, the DU obtains sensing data and can send the sensing data to the SU / SC. The transmission path of the sensing data can be DU→SU / SC, or DU→CU→SU / SC.

[0126] It should be noted that the network architectures shown in Figures 4 to 9 are merely illustrative. The communication systems described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application and do not constitute a limitation on the communication systems to which the embodiments of this application are applicable. Those skilled in the art will understand that, with the evolution of network architectures, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc., in the embodiments can be replaced with corresponding devices, components, modules, etc., in other communication systems, without limitation.

[0127] Currently, data from different logical channels can be packetized and scheduled based on three parameters of the logical channel: priority, prioritized bit rate (PBR), and bucket size duration (BSD), in order to effectively utilize radio resources. Specifically, if a logical channel has an infinite PBR, resources are preferentially allocated to data on that logical channel. For logical channels with non-infinite PBRs, data on the logical channel can be scheduled using Bj.

[0128] The meaning of Bj: Each logical channel corresponds to a Bj (initial value = 0). The Bj of each logical channel will increase according to the PBR in each transmission time interval (TTI), but the value of Bj will not exceed the size of the token bucket (bucketSize). If it does exceed the size, Bj will be set to equal the bucketSize. Bj can be understood as the size or number of tokens.

[0129] For a TTI, the logical channel prioritization (LCP) process schedules logical channel data via Bj as follows:

[0130] • Prioritize scheduling data from logical channels where Bj>0. If there are multiple logical channels where Bj>0, schedule data from logical channels where Bj>0 in order of priority.

[0131] After scheduling, the Bj value of the logical channel is reduced by the size of the MAC SDU scheduled this time. Bj can be a negative number.

[0132] If there are still resources remaining after scheduling logical channels with Bj>0, then the data of logical channels with Bj>0 can be scheduled in order of priority (regardless of the value of Bj) until all resources have been scheduled or resources have been exhausted.

[0133] Currently, for sensing services, the wireless bearer configured to transmit sensing data uses the same scheduling method as the wireless bearer used for transmitting user data to schedule the uplink transmission of sensing data. This scheduling is based on the PBR, Bj values, and priority of the logical channel. However, in some scenarios, the characteristics of sensing data on the same logical channel may differ. For example, some sensing data may be more sensitive to latency, while others may be less so. Using the above scheduling method would result in poor uplink scheduling efficiency, leading to poor transmission performance of the sensing data.

[0134] To address the aforementioned issues, this application provides a solution based on its embodiments. This solution considers that sensing data may require differentiated transmission; that is, different sensing data may have different transmission requirements. For example, some sensing data may require priority scheduling, while others may not. This application introduces a scheme where logical channels for sensing data correspond to multiple priorities in the terminal device's sensing data reporting process. This allows the terminal device to use different priorities for each logical channel during MAC layer packet assembly to adapt to the characteristics of the sensing data to be transmitted. For instance, for sensing data requiring priority scheduling on a logical channel, the terminal device can assign a higher priority to that logical channel, thereby achieving full scheduling of sensing data, improving transmission efficiency, and ultimately enhancing transmission performance.

[0135] It should be noted that this application only uses a logical channel for transmitting sensing data as an example. In specific implementations, the method provided in this application can also be applied to other logical channels, such as logical channels for transmitting data of communication services, logical channels for transmitting data of other services, etc., without specific limitations.

[0136] The solutions provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0137] In this application, the sensed data type can also be referred to as sensed data feature, sensed data attribute, etc. For example, the attribute (or feature) may include one or more of the following: region, time, rate, resolution, refresh rate, and distance.

[0138] This application uses the update cycle of Bj as an example of TTI. In this application, TTI can also be replaced by the update cycle of Bj, or the time it takes for an instance / stage / node of the LCP process, or the time it takes for the LCP process to process a grant, etc. For a grant, the terminal device can transmit a transport block (TB).

[0139] This application uses the example of a higher priority value indicating a lower priority to illustrate the concept. In practice, a higher priority value can also be used to indicate a higher priority, and this application does not limit this to that.

[0140] As shown in Figure 10, the method specifically includes:

[0141] S1001, the network device sends the first information. Correspondingly, the terminal device receives the first information.

[0142] The first information is used to configure a first logical channel, which is used to transmit sensing data. In this application, the first information indicates multiple priorities corresponding to the first logical channel. For example, the first information may include a priority range of the first logical channel, which indicates multiple priorities.

[0143] In one example, the first information may configure a first bearer for transmitting sensing data. The first bearer is associated with a first logical channel; therefore, the first logical channel can be understood as being used for transmitting sensing data. For example, the first information may indicate one or more of the following configurations for the first bearer: PDCP configuration, RLC configuration, or MAC configuration.

[0144] The PDCP configuration can include sequence number (SN) size, header compression, and t-reordering.

[0145] RLC configuration may include SN size, logical channel identifier (LCID) of the first logical channel, and unacknowledged mode / acknowledged mode (UM / AM).

[0146] MAC configuration can include the configuration of the first logical channel and the discontinuous reception (DRX) configuration. The configuration of the first logical channel can include: the priority corresponding to the first logical channel, the PBR corresponding to the first logical channel, and the BSD corresponding to the first logical channel. There can be multiple priorities corresponding to the first logical channel; that is, the configuration of the first logical channel includes multiple priorities corresponding to the first logical channel.

[0147] The aforementioned multiple priorities can correspond to the same priority bit rate. That is, for the first logical channel, the configuration of the first logical channel can indicate a priority bit rate. For example, the configuration of the first logical channel can include one PBR.

[0148] As one possible approach, in an example where multiple priorities can correspond to a single priority bit rate, for a given TTI, the Bj of the first logical channel can be updated based on that priority bit rate. For example, for each TTI, the Bj of the first logical channel = the value of Bj of the first logical channel at the end of the previous TTI + that priority bit rate.

[0149] Alternatively, the aforementioned multiple priorities can also correspond to multiple priority bit rates. That is, for the first logical channel, the first information can indicate the priority bit rates corresponding to each of the multiple priorities, wherein at least two priorities have different priority bit rates. For example, the configuration of the first logical channel can include at least two PBRs. For instance, the first information can indicate the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority, where the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority have different values. The third priority and the second priority mentioned below can be the same priority or different priorities.

[0150] In one example, the first priority is higher than the third priority, and the priority bit rate corresponding to the first priority is lower than the priority bit rate corresponding to the third priority. In the example above, by making higher priorities correspond to lower priority bit rates, the impact on data scheduling of other logical channels can be reduced.

[0151] As one possible approach, in examples where multiple priorities can correspond to multiple priority bit rates, for a given TTI, Bj of the first logical channel can be updated based on the priority bit rate corresponding to the N times the first logical channel was scheduled in the previous TTI, where N is an integer greater than 0. Seven examples of updating Bj are illustrated below.

[0152] In Example 1, for a TTI, Bj of the first logical channel can be updated based on the sum of the priority bit rates corresponding to the priorities that the first logical channel was scheduled N times in the previous TTI.

[0153] For example, suppose the first logical channel is scheduled 3 times in the i-th TTI. The first logical channel has the third priority during the first scheduling, the second priority during the second scheduling, and the fourth priority during the third scheduling. For the (i+1)-th TTI, the Bj of the first logical channel is equal to the value of Bj after the i-th TTI ends, plus the sum of the priority bit rates of the first logical channel during the i-th TTI (i.e., the sum of the priority bit rates corresponding to the third priority, the second priority, and the fourth priority).

[0154] Assume the first logical channel is scheduled twice in the (i+1)th TTI. During the first scheduling, the first logical channel has the highest priority (first priority), and during the second scheduling, its highest priority (third priority). For the (i+2)th TTI, the Bj of the first logical channel equals the value of Bj after the (i+1)th TTI, plus the sum of the priority bit rates of the first logical channel during the (i+1)th TTI (i.e., the sum of the priority bit rates corresponding to the first and third priorities).

[0155] It should be noted that, in Examples 1 to 7 below, the method for determining the priority of the first logical channel when it is scheduled can be found in the relevant description of priority determination in S1002 below.

[0156] In Example 2, for a TTI, Bj of the first logical channel can be updated according to the priority bit rate corresponding to the priority when the first logical channel was first scheduled in the previous TTI.

[0157] For example, suppose the first logical channel is scheduled 3 times in the i-th TTI. The first logical channel has the third priority during the first scheduling, the second priority during the second scheduling, and the fourth priority during the third scheduling. For the (i+1)-th TTI, the Bj of the first logical channel is equal to the value of Bj after the i-th TTI ends, plus the priority bit rate corresponding to the third priority.

[0158] Assume the first logical channel is scheduled twice in the (i+1)th TTI. The first logical channel has the first priority during the first scheduling and the third priority during the second scheduling. For the (i+2)th TTI, the Bj of the first logical channel equals the value of Bj after the (i+1)th TTI plus the priority bit rate corresponding to the first priority.

[0159] In Example 3, Bj of the first logical channel can be updated according to the priority bit rate corresponding to the priority of the first logical channel when it was last scheduled in the previous TTI.

[0160] For example, suppose the first logical channel is scheduled 3 times in the i-th TTI. The first logical channel has the third priority during the first scheduling, the second priority during the second scheduling, and the fourth priority during the third scheduling. For the (i+1)-th TTI, the Bj of the first logical channel is equal to the value of Bj after the i-th TTI ends, plus the priority bit rate corresponding to the fourth priority.

[0161] Assume the first logical channel is scheduled twice in the (i+1)th TTI. During the first scheduling, the first logical channel has the first priority, and during the second scheduling, its priority is the third priority. For the (i+2)th TTI, the Bj of the first logical channel equals the value of Bj after the (i+1)th TTI plus the priority bit rate corresponding to the third priority.

[0162] In Example 4, for a TTI, Bj of the first logical channel can be updated based on the highest priority bit rate of the first logical channel in the N schedulings of the previous TTI.

[0163] For example, suppose the first logical channel is scheduled 3 times in the i-th TTI. In the first scheduling, the first logical channel has the third priority (corresponding to a priority bit rate of 3); in the second scheduling, the first logical channel has the second priority (corresponding to a priority bit rate of 5); and in the third scheduling, the first logical channel has the fourth priority (corresponding to a priority bit rate of 1). For the (i+1)-th TTI, the Bj of the first logical channel = the value of Bj of the first logical channel after the i-th TTI ends + the priority bit rate corresponding to the second priority.

[0164] Assume the first logical channel is scheduled twice in the (i+1)th TTI. During the first scheduling, the first logical channel has the first priority (corresponding to a priority bit rate of 1), and during the second scheduling, its priority is the third priority (corresponding to a priority bit rate of 3). For the (i+2)th TTI, the Bj of the first logical channel equals the value of Bj after the (i+1)th TTI plus the priority bit rate corresponding to the third priority.

[0165] In Example 5, Bj of the first logical channel can be updated based on the minimum priority bit rate of the first logical channel in the N schedulings of the previous TTI.

[0166] For example, suppose the first logical channel is scheduled 3 times in the i-th TTI. During the first scheduling, the first logical channel has the third priority (corresponding to a priority bit rate of 3); during the second scheduling, the first logical channel has the second priority (corresponding to a priority bit rate of 5); and during the third scheduling, the first logical channel has the fourth priority (corresponding to a priority bit rate of 1). For the (i+1)-th TTI, the Bj of the first logical channel = the value of Bj of the first logical channel after the i-th TTI ends + the priority bit rate corresponding to the fourth priority.

[0167] Assume the first logical channel is scheduled twice in the (i+1)th TTI. During the first scheduling, the first logical channel has the first priority (corresponding to a priority bit rate of 1), and during the second scheduling, its priority is the third priority (corresponding to a priority bit rate of 3). For the (i+2)th TTI, the Bj of the first logical channel equals the value of Bj after the (i+1)th TTI plus the priority bit rate corresponding to the first priority.

[0168] In Example 6, Bj of the first logical channel can be updated based on the average value and weighting value of the priority bit rates corresponding to the N scheduling times of the first logical channel in the previous TTI.

[0169] For example, taking the average value as an example, suppose the first logical channel is scheduled 3 times in the i-th TTI. In the first scheduling, the first logical channel has the third priority (corresponding to a priority bit rate of 3); in the second scheduling, the first logical channel has the second priority (corresponding to a priority bit rate of 5); and in the third scheduling, the first logical channel has the fourth priority (corresponding to a priority bit rate of 1). For the (i+1)-th TTI, the Bj of the first logical channel = the value of Bj of the first logical channel after the i-th TTI + (3+5+1) / 3 = the value of Bj of the first logical channel after the i-th TTI + 3.

[0170] Assume the first logical channel is scheduled twice in the (i+1)th TTI. During the first scheduling, the first logical channel has the highest priority (corresponding to a priority bit rate of 1), and during the second scheduling, its highest priority (corresponding to a priority bit rate of 3). For the (i+2)th TTI, the value of the first logical channel Bj is equal to the value of Bj after the (i+1)th TTI plus (1+3) / 2, which equals the value of Bj after the (i+1)th TTI plus 2.

[0171] In Example 7, for a TTI, Bj of the first logical channel can be updated according to the priority bit rate corresponding to the priority when the first logical channel was scheduled in the previous TTI.

[0172] For example, assuming the first logical channel is scheduled with the first priority in the i-th TTI, for the (i+1)-th TTI, the Bj of the first logical channel = the value of Bj of the first logical channel after the i-th TTI + the priority bit rate corresponding to the first priority. Assuming the first logical channel is scheduled with the second priority in the (i+1)-th TTI, for the (i+2)-th TTI, the Bj of the first logical channel = the value of Bj of the first logical channel after the (i+1)-th TTI + the priority bit rate corresponding to the second priority.

[0173] In one possible implementation, the first information can be carried in an RRC configuration message such as an RRC connection establishment message or an RRC connection reconfiguration message.

[0174] As an optional solution, prior to S1001, SF network elements can send perception request messages to network devices. For example, the perception request message can indicate information such as the resolution of the perception data, the perception area, the perception QoS requirements, the reporting mode, and the perception data reporting format.

[0175] After receiving a sensing request message, the network device can send third information to the terminal device. The third information can indicate one or more of the following: sensing signal receiving resources, sensing result level. For example, sensing signal receiving resources can be time-frequency resources for receiving sensing signals, etc. As described in the terminology introduction (2) above, the initial sensing data may undergo multiple levels of processing. For example, symbol extraction and CP removal operations can be performed on the echo signal to obtain time-domain data and separate IQ data. Then, time-frequency transformation, effective subcarrier extraction, signal estimation, and IFFT are performed on the IQ data to obtain the R spectrum. Then, inter-symbol windowing and FFT calculation are performed on the R spectrum to obtain the RD spectrum, etc. The aforementioned sensing result level can refer to the processing result of a certain level. For example, the sensing result level can be IQ data. Therefore, after obtaining the initial sensing data, the terminal device can process the initial sensing data to obtain IQ data and report it. For example, the level of the sensing result can be the R spectrum. Therefore, after acquiring the initial sensing data, the terminal device can process the initial sensing data to obtain IQ data, process the IQ data to obtain the R spectrum, and then report it.

[0176] Optionally, in the self-transmitting and self-receiving sensing mode of the terminal device, the third information can also indicate the sensing signal transmission resources, such as the time and frequency resources for transmitting the sensing signal.

[0177] The third and first information can be carried in the same message or in different messages; no specific limitation is made here.

[0178] S1002, the terminal device sends first sensing data according to the first priority of the first logical channel. Correspondingly, the network device receives the first sensing data carried by the first logical channel.

[0179] The first priority belongs to multiple priorities.

[0180] In one possible implementation, the terminal device can prioritize the first logical channel and then sort the data from other logical channels based on the priority of the first logical channel, prioritizing the data from the logical channel with the highest priority. Optionally, the PBR of the first logical channel in the above method is not infinite.

[0181] For example, when scheduling data, the terminal device schedules data according to the scheduling method described in the technical background above. That is, for logical channels where the PBR is not infinite, the data of the logical channel can be scheduled through Bj. For example, the data of the logical channel with Bj>0 is scheduled first. If there are multiple logical channels with Bj>0, the data of the logical channel with Bj>0 is scheduled according to the priority order. Among them, the first logical channel participates in the priority sorting with the first priority.

[0182] For example, two methods for determining the priority of the first logical channel are provided here.

[0183] Example 1: Multiple priorities can correspond one-to-one with multiple sensing data types, so that the terminal device can determine the priority of the first logical channel based on the sensing data type to be sent.

[0184] Taking the currently transmitted sensing data as the first sensing data as an example, the terminal device can determine the first priority based on the sensing data type corresponding to the first sensing data, and thus transmit the data with the priority of the first logical channel as the first priority. It is understandable that in the above implementation, there is a correspondence between the first priority and the sensing data type of the first sensing data.

[0185] In one possible implementation, after acquiring the first sensing data, the NR sensing protocol (NRSP) layer of the terminal device determines the sensing data type corresponding to the first sensing data and indicates the sensing data type to the MAC layer. The MAC layer then uses the first priority corresponding to the sensing data type as the priority of the first logical channel to assemble packets.

[0186] In another possible implementation, after acquiring the first sensing data, the NRSP layer of the terminal device determines the sensing data type corresponding to the first sensing data and indicates the first priority corresponding to the sensing data type to the MAC layer. Thus, the MAC layer uses the first priority as the priority of the first logical channel to assemble packets.

[0187] In Example 1, the sensing data to be transmitted may have different sensing data types, which could change the priority of the first logical channel. For example, the sensing data type of the second sensing data may be different from that of the first sensing data. Assuming the priority corresponding to the sensing data type of the second sensing data (let's say the second priority) is different from the first priority corresponding to the sensing data type of the first sensing data, if the sensing data to be transmitted is the second sensing data, the terminal device can determine the second priority based on the corresponding sensing data type of the second sensing data. Therefore, it transmits the second sensing data with the priority of the first logical channel as the second priority. The specific transmission method is similar to that of the first sensing data and will not be described again here.

[0188] Optionally, in Example 1, the correspondence between priority and perceived data type can be indicated by the network device through the second information. The second information and the first information can be carried in the same message, for example, through an RRC configuration message. Alternatively, the second information and the first information can be carried in different messages.

[0189] The following section introduces the perceptual data types involved in Example 1.

[0190] For example, the sensed data type is determined based on one or more of the following: the value of speed in the sensed data, the resolution of the sensed data, or the refresh rate of the sensed data.

[0191] For example, taking the velocity value in the sensory data as an example, the sensory data type can be divided into moving target type and stationary target type based on the velocity value in the sensory data. Furthermore, the sensory data type can be divided into multiple types based on the velocity value in the sensory data.

[0192] In one example, suppose the priority of moving targets is 1 and the priority of static targets is 2. If the perception data indicates the presence of a moving target, the corresponding priority is 1, and if the perception data indicates the presence of a static target, the corresponding priority is 2.

[0193] In another example, suppose the priority of perceived data indicating speed values ​​belonging to the first interval (or the first value) is 1, the priority of perceived data indicating speed values ​​belonging to the second interval (or the second value) is 2, the priority of perceived data indicating speed values ​​belonging to the third interval (or the third value) is 3, ..., and the priority of perceived data indicating speed values ​​belonging to the fifth interval (or the fifth value) is 5. If the perceived data indicates the existence of a perceived target with speed belonging to the first interval (or the first value), the corresponding priority is 1; if the perceived data indicates the existence of a perceived target with speed belonging to the fifth interval (or the fifth value), the corresponding priority is 5.

[0194] Taking the resolution of sensory data as an example, the data type of sensory data can be divided into multiple types according to the resolution of the sensory data.

[0195] In one example, assuming that the priority of the perceived data with a resolution greater than or equal to the first resolution threshold is 1, and the priority of the perceived data with a resolution less than or equal to the first resolution threshold is 5, the perceived data can be separated, with the priority of the part with a resolution greater than or equal to the first resolution threshold being 1, and the priority of the part with a resolution less than or equal to the first resolution threshold being 5.

[0196] Taking the refresh rate of sensing data as an example, the sensing data type can be divided into multiple types based on the refresh rate of the sensing data.

[0197] In one example, assuming that the priority of the perceived data with a refresh rate greater than or equal to the first refresh rate threshold is 1, and the priority of the perceived data with a refresh rate less than or equal to the first refresh rate threshold is 3, the perceived data can be separated. The part with a refresh rate greater than or equal to the first refresh rate threshold has a priority of 1, and the part with a refresh rate less than or equal to the first refresh rate threshold has a priority of 3.

[0198] It should be noted that the multiple priorities of the first logical channel can be consecutive or non-consecutive values.

[0199] Example 2: The terminal device can independently determine the priority of the first logical channel among the above multiple priorities.

[0200] For example, the terminal device can determine the priority of the sensing data to be transmitted, and then select one of the multiple priorities as the priority of the first logical channel based on the priority bearer.

[0201] Optionally, the terminal device can schedule the sensing data of the first logical channel multiple times within the same TTI. For example, within the same TTI, after sending the first sensing data, the terminal device can subsequently send another sensing data (such as the second sensing data mentioned above). By scheduling the sensing data of the first logical channel multiple times within the same TTI, the higher-priority sensing data in the second or even later sensing data queue of the first logical channel can be fully scheduled, thereby improving the transmission efficiency of sensing data.

[0202] To facilitate understanding of the solution, examples are provided below to illustrate the solution of this application.

[0203] As shown in Figure 11, assume the terminal device is configured with three logical channels, and the PBR (Primary Rank) of these three logical channels is 11. Specifically, logical channel 1 is used to transmit sensing data, and the data packets to be transmitted are data packets 1 to 4. Among them, data packets 1 and 2 have a priority of 1, and data packets 3 and 4 have a priority of 5. The correspondence between data packets and priorities can be referred to the relevant descriptions in Examples 1 and 2 above, and will not be repeated here. The data packet to be transmitted on logical channel 2 is data packet 5, and the priority of logical channel 2 is 7. The data packet to be transmitted on logical channel 3 is data packet 6, and the priority of logical channel 3 is 2.

[0204] Taking logical channels 1-3 as examples where Bj is 11, data packets 1-6 are 5 in size, and the transport block size is 25, the terminal device schedules data as follows:

[0205] A1. Since the priority of data packet 1 to be transmitted on logical channel 1 is 1, it is assumed that the priority of logical channel 1 is 1, the priority of logical channel 2 is 7, and the priority of logical channel 3 is 2. Therefore, the terminal device prioritizes scheduling data packet 1 on logical channel 1.

[0206] At this point, Bj for logical channel 1 is 6, and Bj for both logical channels 2 and 3 is 11. The transport block size is 20, so A2 is executed.

[0207] A2. Since the priority of data packet 2 to be transmitted on logical channel 1 is 1, it is assumed that the priority of logical channel 1 is 1, the priority of logical channel 2 is 7, and the priority of logical channel 3 is 2. Therefore, the terminal device continues to schedule data packet 2 on logical channel 1.

[0208] At this point, Bj of logical channel 1 is 1, and Bj of logical channels 2 and 3 are both 11. The transport block size is 15, so A3 is executed.

[0209] A3. Since the priority of data packet 3 to be transmitted on logical channel 1 is 5, it is assumed that the priority of logical channel 1 is 5, the priority of logical channel 2 is 7, and the priority of logical channel 3 is 2. Then the terminal device will schedule data packet 6 of logical channel 3.

[0210] At this point, Bj of logical channel 1 is 1, Bj of logical channel 2 is 11, Bj of logical channel 3 is 6, and there is still 10 blocks remaining in the transport block size, so A4 is executed.

[0211] A4. Since the priority of data packet 3 to be transmitted on logical channel 1 is 5, it is assumed that the priority of logical channel 1 is 5 and the priority of logical channel 2 is 7. Therefore, the terminal device will continue to schedule data packet 3 on logical channel 1.

[0212] At this point, Bj for logical channel 1 is -4 (since Bj for logical channel 1 is less than 0, it will no longer participate in scheduling within the current TTI), Bj for logical channel 2 is 11, Bj for logical channel 3 is 6, and there is still 5 transport block size remaining, so A5 is executed.

[0213] A5, the terminal device then schedules data packet 5 from logical channel 2.

[0214] At this point, the transport block size has 0 units remaining. Continue scheduling for the next TTI, executing A6. In the next TTI, the Bj values ​​for logical channels 1 through 3 are all incremented by 11, meaning the Bj value for logical channel 1 is 7, the Bj value for logical channel 2 is 17, and the Bj value for logical channel 3 is 17.

[0215] A6. Since the priority of data packet 4 to be transmitted on logical channel 1 is 5, it is assumed that the priority of logical channel 1 is 5, the priority of logical channel 2 is 7, and the priority of logical channel 3 is 2. Therefore, the terminal device continues to schedule data packet 4 on logical channel 1.

[0216] The solution in this application takes into account that the sensing data may require differentiated transmission. That is, different sensing data may have different transmission requirements; for example, some sensing data may require priority scheduling, while others may not. This application introduces a logical channel for sensing data reporting to the terminal device, corresponding to multiple priorities. This allows the terminal device to use different priorities during MAC layer packet assembly to adapt to the characteristics of the sensing data to be transmitted. For example, for sensing data that requires priority scheduling on a logical channel, the terminal device can assign a higher priority to that logical channel, thereby achieving full scheduling of the sensing data, improving the transmission efficiency of the sensing data, and ultimately improving the transmission performance of the sensing data.

[0217] Based on the same inventive concept as the method embodiment, this application provides a communication device, the structure of which can be as shown in FIG12, including a communication unit 901 and a processing unit 902.

[0218] In one embodiment, the communication device can specifically be used to implement the method executed by the terminal device in the embodiment of FIG10. The device can be the terminal device itself, or a chip or chipset within the terminal device, or a part of the chip used to execute the relevant method function. Specifically, the communication unit 901 is used to receive first information, which configures a first logical channel for transmitting sensing data, wherein the first information indicates multiple priorities corresponding to the first logical channel. The processing unit 902 is used to send first sensing data through the communication unit 901 according to a first priority of the first logical channel, wherein the first priority belongs to the multiple priorities.

[0219] Optionally, the processing unit 902 is further configured to send second sensing data according to the second priority communication unit 901 of the first logical channel, wherein the second priority belongs to the plurality of priorities.

[0220] Optionally, the communication unit 901 is further configured to receive second information, the second information being used to indicate the correspondence between the plurality of priorities and the plurality of sense data types.

[0221] Optionally, the communication unit 901 is further configured to receive first information, the first information indicating the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority among the plurality of priorities.

[0222] In one embodiment, the communication device can specifically be used to implement the method executed by the network device in the embodiment of FIG10. The device can be the network device itself, or a chip or chipset within the network device, or a part of the chip used to execute the relevant method function. Specifically, the processing unit 902 is used to send first information via the communication unit 901, the first information being used to configure a first logical channel, the first logical channel being used to transmit sensing data, wherein the first information indicates multiple priorities corresponding to the first logical channel; and to receive the first sensing data carried by the first logical channel via the communication unit 901.

[0223] Optionally, the communication unit 901 is further configured to receive second sensing data carried by the first logical channel, wherein the first sensing data and the second sensing data correspond to the same transmission time interval.

[0224] Optionally, the communication unit 901 is further configured to send second information, the second information being used to indicate the correspondence between the plurality of priorities and the plurality of sense data types.

[0225] Optionally, the communication unit 901 is further configured to receive first information, the first information indicating the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority among the plurality of priorities.

[0226] The module division in this application embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules. It is understood that the functions or implementations of the modules in the embodiments of this application can be further described in the relevant descriptions of the method embodiments.

[0227] In one possible embodiment, the communication device can be as shown in FIG13. This device can be a communication equipment or a chip within a communication equipment, wherein the communication equipment can be either the first device or the second device described in the above embodiments. The device includes a processor 1001 and a communication interface 1002, and may also include a memory 1003. The processing unit 902 can be the processor 1001. The communication unit 901 can be the communication interface 1002. Optionally, the processor 1001 and the memory 1003 can also be integrated together.

[0228] The processor 1001 can be a CPU, a digital processing unit, or something similar. The communication interface 1002 can be a transceiver, an interface circuit such as a transceiver circuit, or a transceiver chip, etc. The device also includes a memory 1003 for storing the program executed by the processor 1001. The memory 1003 can be non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). The memory 1003 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited to this.

[0229] The processor 1001 is used to execute the program code stored in the memory 1003, specifically to perform the actions of the aforementioned processing unit 902, which will not be described in detail here. The communication interface 1002 is specifically used to perform the actions of the aforementioned communication unit 901, which will not be described in detail here.

[0230] This embodiment does not limit the specific connection medium between the communication interface 1002, processor 1001, and memory 1003. In Figure 13, the memory 1003, processor 1001, and communication interface 1002 are connected via a bus 1004, which is represented by a thick line. The connection methods between other components are merely illustrative and not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in Figure 13, but this does not imply that there is only one bus or one type of bus.

[0231] This application also provides a computer-readable storage medium for storing computer software instructions required to execute the processor, including a program required to execute the processor.

[0232] This application also provides a communication system, including a communication device for implementing the terminal device function in the embodiment of FIG7 and a communication device for implementing the network device function in the embodiment of FIG7.

[0233] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0234] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0235] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0236] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0237] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication method, characterized in that, include: Receive first information, the first information being used to configure a first logical channel, the first logical channel being used to transmit sensing data, wherein the first information indicates multiple priorities corresponding to the first logical channel; First sensing data is sent according to the first priority of the first logical channel, wherein the first priority belongs to the plurality of priorities.

2. The method as described in claim 1, characterized in that, The method further includes: The second sensing data is sent according to the second priority of the first logical channel, wherein the second priority belongs to the plurality of priorities.

3. The method as described in claim 2, characterized in that, The first sensing data and the second sensing data correspond to the same transmission time interval.

4. The method according to any one of claims 1-3, characterized in that, The multiple priorities correspond one-to-one with the multiple sensing data types, and the first priority has a corresponding relationship with the sensing data type of the first sensing data.

5. The method as described in claim 4, characterized in that, The method further includes: Receive second information, which is used to indicate the correspondence between the plurality of priorities and the plurality of sense data types.

6. The method as described in claim 4 or 5, characterized in that, The type of sensing data is determined based on one or more of the following: the speed value in the sensing data, the resolution of the sensing data, or the refresh rate of the sensing data.

7. The method as described in claim 6, characterized in that, The sensing data types are divided into moving target types and static target types based on the velocity values ​​in the sensing data.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Receive first information, the first information indicating the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority among the plurality of priorities.

9. The method according to any one of claims 1-8, characterized in that, The first information indicates multiple priorities corresponding to the first logical channel, including: The first information includes the priority range corresponding to the first logical channel, and the priority range indicates the plurality of priorities.

10. The method according to any one of claims 1-9, characterized in that, The first information configuration is used for transmitting a first bearer of sensing data, and the first bearer is associated with the first logical channel.

11. The method according to any one of claims 1-10, characterized in that, The first information is carried in the Radio Resource Control (RRC) configuration message.

12. A communication method, characterized in that, include: Send first information, the first information being used to configure a first logical channel, the first logical channel being used to transmit sensing data, wherein the first information indicates multiple priorities corresponding to the first logical channel; Receive the first sensing data carried by the first logical channel.

13. The method as described in claim 12, characterized in that, The method further includes: The second sensing data carried by the first logical channel is received, and the first sensing data and the second sensing data correspond to the same transmission time interval.

14. The method as described in claim 12 or 13, characterized in that, The multiple priorities correspond one-to-one with the multiple sensing data types, and the first priority has a corresponding relationship with the sensing data type of the first sensing data.

15. The method as described in claim 14, characterized in that, The method further includes: Send a second message, which indicates the correspondence between the plurality of priorities and the plurality of sense data types.

16. The method as described in claim 14 or 15, characterized in that, The type of sensing data is determined based on one or more of the following: the speed value in the sensing data, the resolution of the sensing data, or the refresh rate of the sensing data.

17. The method as described in claim 16, characterized in that, The sensing data types are divided into moving target types and static target types based on the velocity values ​​in the sensing data.

18. The method according to any one of claims 12-17, characterized in that, The method further includes: Receive first information, the first information indicating the priority bit rate corresponding to the first priority and the priority bit rate corresponding to the third priority among the plurality of priorities.

19. The method according to any one of claims 12-18, characterized in that, The first information indicates multiple priorities corresponding to the first logical channel, including: The first information includes the priority range corresponding to the first logical channel, and the priority range indicates the plurality of priorities.

20. The method according to any one of claims 12-19, characterized in that, The first information configuration is used for transmitting a first bearer of sensing data, and the first bearer is associated with the first logical channel.

21. The method according to any one of claims 12-20, characterized in that, The first information is carried in the Radio Resource Control (RRC) configuration message.

22. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 1-11.

23. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 12-21.

24. A communication device, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, the processor executing the program instructions causing the method as described in any one of claims 1-11.

25. A communication device, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, the processor causing the method of any one of claims 12-21 to be performed when executing the program instructions.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions that, when executed on a communication device, cause the method as described in any one of claims 1-11, or the method as described in any one of claims 12-21.

27. A computer program product, characterized in that, When the computer program product is run on the device, it causes the device to perform the method according to any one of claims 1-11 or the method according to any one of claims 12-21.

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