Communication method and apparatus

Abstract

The present application relates to the technical field of communications, and provides a communication method and apparatus. In the method, a first sensing node may acquire a first capability (used to represent the timeliness of sensing data acquired by a second sensing node), and send second information to the second sensing node on the basis of the first capability, so as to request the second sensing node to perform a first sensing task. In the foregoing process, when sending the second information, the first sensing node may take into consideration the timeliness of the sensing data acquired by the second sensing node, thereby ensuring the timeliness of the sensing data obtained by the second sensing node when performing the first sensing task, so that a sensing result obtained on the basis of the sensing data is more accurate, thereby improving user experience.

Description

Communication methods and devices

[0001] This application claims priority to Chinese Patent Application No. 202510489589.4, filed with the State Intellectual Property Office of China on April 17, 2025, entitled "Communication Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and in particular to communication methods and apparatus. Background Technology

[0003] Currently, communication systems are gradually evolving towards integrated sensing and communication (ISAC). ISAC, also known as joint communications and sensing (JCAS), enables access network nodes and / or terminals to have sensing capabilities, thereby allowing the communication system to provide sensing services to users.

[0004] Taking the provision of sensing services to users by access network nodes as an example, access network nodes can sense targets through single-site sensing mode or dual-site sensing mode, obtain sensing data, and send the sensing data to sensing network elements for further processing, such as sensing data fusion, to obtain sensing results. Afterwards, the sensing network elements can feed back the sensing results to the user. However, this method can lead to inaccurate sensing results obtained by the sensing network elements, thus affecting the user experience. Summary of the Invention

[0005] This application provides a communication method and apparatus that can ensure the timeliness of sensing data, making the sensing results obtained from the sensing data more accurate, thereby improving the user experience.

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

[0007] Firstly, a communication method is provided, which can be applied to a first sensing node and modules within the first sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the first sensing node). For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. The sensing network element (or sensing function network element) can be deployed in the core network or the access network, without limitation.

[0008] Taking the application of this method to a first sensing node as an example, the method includes: receiving first information and sending second information based on the first information. The first information is used to indicate a first capability, which characterizes the timeliness of the sensing data acquired by the second sensing node. The second information is used to instruct the second sensing node to perform a first sensing task.

[0009] Based on the method provided in the first aspect above, when the first sensing node sends the second information, it can consider the timeliness of the sensing data obtained by the second sensing node to ensure the timeliness of the sensing data corresponding to the first sensing task (such as the sensing data obtained by the second sensing node when performing the first sensing task), so that the sensing results obtained based on the sensing data are more accurate, thereby improving the user experience.

[0010] For example, the second sensing node is an access network node or terminal. The first capability can also be referred to as the ability of the second sensing node to produce fresh sensing data (or timely sensing data).

[0011] In one possible implementation, the first capability relates to one or more of the following: perceiving the scene, perceiving the data type, perceiving the target type, or perceiving the task type.

[0012] Based on the above implementation method, the first capability can be divided into more granular parts, so that the first perception node can provide more refined perception services (such as providing perception services with time-sensitive requirements for perception scenarios, perception data types, perception target types or perception task types), and / or more complex perception services (such as providing perception services with time-sensitive requirements for multiple of the perception scenarios, perception data types, perception target types or perception task types).

[0013] In one possible implementation, the first capability is represented by the duration of the sensing data at the second sensing node.

[0014] Based on the above implementation, the timeliness of the sensing data acquired by the second sensing node, or its ability to produce fresh (or timely) sensing data, can be characterized by the duration of the sensing data's residence at the second sensing node. It should be understood that this residence time can be the maximum or average residence time recorded by the second sensing node over a period of time, or the most recently recorded residence time, etc., without limitation. A shorter residence time indicates stronger timeliness of the sensing data acquired by the second sensing node, or a higher ability to produce fresh (or timely) sensing data; that is, the fresher (or more timely) the sensing data produced by the second sensing node. Conversely, a longer residence time indicates weaker timeliness of the sensing data acquired by the second sensing node, or a lower ability to produce fresh (or timely) sensing data; that is, the less fresh (or less timely) the sensing data produced by the second sensing node.

[0015] Understandably, when the first capability is related to one or more of the following: perceiving scenario, perceiving data type, perceiving target type, or perceiving task type, the above-mentioned dwell time includes one or more of the following: dwell time corresponding to one or more perceiving scenarios, dwell time corresponding to one or more perceiving data types, dwell time corresponding to one or more perceiving target types, dwell time corresponding to one or more perceiving task types, or dwell time corresponding to multiple of the perceiving scenario, perceiving data type, perceiving target type, or perceiving task type.

[0016] In one possible implementation, the method further includes: receiving third information, the third information indicating the validity period of first sensing data, the first sensing data including sensing data corresponding to a first sensing task; and performing one or more of the following operations based on the third information: performing sensing data fusion on the first sensing data; or determining whether to send fourth information. The fourth information is used to instruct a third sensing node to perform the first sensing task. The third sensing node and the second sensing node can be the same or different.

[0017] Based on the above implementation, the first sensing node can perform sensing data fusion on the first sensing data according to the third information. For example, the first sensing node can determine the fusion weight of the first sensing data according to the third information, and perform sensing data fusion according to the fusion weight to obtain a more accurate sensing result; and / or, the first sensing node can determine whether to re-execute the first sensing task according to the third information, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task.

[0018] Understandably, the effective time of the first perception data can be characterized (or replaced by) the shelf life of the first perception data, or the confidence level of the first perception data within the effective time (or a certain period of time) is greater than or equal to a certain threshold, etc.

[0019] In one possible implementation, determining whether to send fourth information based on third information includes: sending fourth information if the timeliness of the first sensing data does not meet the requirement of the effective time of the first sensing data.

[0020] Based on the above implementation, when the timeliness of the first sensing data does not meet the above-mentioned effective time requirement, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within the shelf life. Therefore, the first sensing node can send a fourth message to trigger the re-execution of the first sensing task in order to obtain sensing data with stronger timeliness.

[0021] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0022] Based on the above implementation method, the effective time of the first sensing data can be divided into more granular parts, so that the first sensing node can provide more refined sensing services (such as providing sensing services with time-sensitive requirements for sensing scenarios, sensing data types, sensing target types or sensing task types), and / or, more complex sensing services (such as providing sensing services with time-sensitive requirements for multiple of the sensing scenarios, sensing data types, sensing target types or sensing task types).

[0023] In one possible implementation, the method further includes sending a fifth message to a second sensing node, the fifth message being used to indicate the timeliness requirement of the first sensing task for the sensing data.

[0024] Based on the above implementation method, the second sensing node can determine whether to re-execute the first sensing task according to the aforementioned timeliness requirements, so as to ensure the timeliness of the sensing data corresponding to the first sensing task.

[0025] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0026] Based on the above implementation method, the timeliness requirements of the first sensing task for sensing data can be divided into more granular categories, so that the second sensing node can provide more refined sensing services (such as providing sensing services with timeliness requirements for sensing scenarios, sensing data types, sensing target types, or sensing task types), and / or, more complex sensing services (such as providing sensing services with timeliness requirements for multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types).

[0027] In one possible implementation, the method further includes: receiving timeliness information of the first sensing data, the first sensing data including sensing data corresponding to the first sensing task (for example, the first sensing data is obtained by the second sensing node performing the first sensing task), and the timeliness information of the first sensing data indicating the timeliness or freshness of the first sensing data.

[0028] Based on the above implementation, the first sensing node can obtain the timeliness information of the first sensing data, and then perform sensing data fusion based on this timeliness information to obtain a more accurate sensing result. For example, the first sensing node can determine the fusion weight of the first sensing data based on the timeliness information, and perform sensing data fusion based on the fusion weight. And / or, the first sensing node can determine whether to re-execute the first sensing task based on the timeliness information and the validity period of the first sensing data, so as to ensure the timeliness of the sensing data corresponding to the first sensing task.

[0029] Secondly, a communication method is provided, which can be applied to a second sensing node and modules within the second sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the second sensing node). For example, the second sensing node may be an access network node or a terminal.

[0030] Taking the application of this method to a second sensing node as an example, the method includes: sending first information to a first sensing node, receiving second information from the first sensing node, and performing a first sensing task based on the second information. The first information is used to indicate a first capability, which characterizes the timeliness of the sensing data acquired by the second sensing node. The second information is used to instruct the second sensing node to perform the first sensing task.

[0031] Based on the method provided in the second aspect above, the second sensing node can send first information to the first sensing node to indicate the first capability, enabling the first sensing node to know the timeliness of the sensing data acquired by the second sensing node. Therefore, when sending the second information, the first sensing node can consider the timeliness of the sensing data acquired by the second sensing node to ensure the timeliness of the sensing data corresponding to the first sensing task (such as the sensing data obtained by the second sensing node when performing the first sensing task), making the sensing results obtained based on the sensing data more accurate, thereby improving the user experience.

[0032] For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. The sensing network element (or sensing function network element) can be deployed in the core network or the access network, without restriction. The first capability can also be referred to as the ability of the second sensing node to produce fresh sensing data (or time-sensitive sensing data).

[0033] In one possible implementation, the first capability relates to one or more of the following: perceiving the scene, perceiving the data type, perceiving the target type, or perceiving the task type.

[0034] Based on the above implementation method, the first capability can be divided into more granular parts, so that the first perception node can provide more refined perception services (such as providing perception services with time-sensitive requirements for perception scenarios, perception data types, perception target types or perception task types), and / or more complex perception services (such as providing perception services with time-sensitive requirements for multiple of the perception scenarios, perception data types, perception target types or perception task types).

[0035] In one possible implementation, the first capability is represented by the duration of the sensing data at the second sensing node.

[0036] Based on the above implementation, the timeliness of the sensing data acquired by the second sensing node, or its ability to produce fresh (or timely) sensing data, can be characterized by the duration of the sensing data's residence at the second sensing node. It should be understood that this residence time can be the maximum or average residence time recorded by the second sensing node over a period of time, or the most recently recorded residence time, etc., without limitation. A shorter residence time indicates stronger timeliness of the sensing data acquired by the second sensing node, or a higher ability to produce fresh (or timely) sensing data; that is, the fresher (or more timely) the sensing data produced by the second sensing node. Conversely, a longer residence time indicates weaker timeliness of the sensing data acquired by the second sensing node, or a lower ability to produce fresh (or timely) sensing data; that is, the less fresh (or less timely) the sensing data produced by the second sensing node.

[0037] Understandably, when the first capability is related to one or more of the following: perceiving scenario, perceiving data type, perceiving target type, or perceiving task type, the above-mentioned dwell time includes one or more of the following: dwell time corresponding to one or more perceiving scenarios, dwell time corresponding to one or more perceiving data types, dwell time corresponding to one or more perceiving target types, dwell time corresponding to one or more perceiving task types, or dwell time corresponding to multiple of the perceiving scenario, perceiving data type, perceiving target type, or perceiving task type.

[0038] In one possible implementation, the method further includes: sending third information; wherein the third information is used to indicate the validity period of the first sensing data, the first sensing data including sensing data corresponding to the first sensing task.

[0039] Based on the above implementation, the first sensing node can obtain the validity period of the first sensing data. Therefore, the first sensing node can perform sensing data fusion on the first sensing data according to the aforementioned validity period. For example, the first sensing node can determine the fusion weight of the first sensing data based on the aforementioned validity period, and perform sensing data fusion according to the fusion weight to improve the accuracy of the obtained sensing results. And / or, the first sensing node can determine whether to re-execute the first sensing task based on the aforementioned validity period, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task.

[0040] In one possible implementation, the method further includes: receiving fourth information when the timeliness of the first sensing data does not meet the above-mentioned effective time requirement; wherein the fourth information is used to instruct the second sensing node to perform the first sensing task.

[0041] Based on the above implementation method, when the timeliness of the first sensing data does not meet the above effective time requirements, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within the shelf life. Therefore, the second sensing node can be triggered to re-execute the first sensing task to obtain sensing data with stronger timeliness.

[0042] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0043] Based on the above implementation method, the effective time of the first sensing data can be divided into more granular parts, so that the first sensing node can provide more refined sensing services (such as providing sensing services with time-sensitive requirements for sensing scenarios, sensing data types, sensing target types or sensing task types), and / or, more complex sensing services (such as providing sensing services with time-sensitive requirements for multiple of the sensing scenarios, sensing data types, sensing target types or sensing task types).

[0044] In one possible implementation, the method further includes: receiving fifth information from the first sensing node, the fifth information indicating the timeliness requirement of the first sensing task for sensing data; and determining whether to re-execute the first sensing task based on the fifth information.

[0045] Based on the above implementation method, the second sensing node can determine whether to re-execute the first sensing task according to the above timeliness requirements, so as to ensure the timeliness of the sensing data corresponding to the first sensing task.

[0046] In one possible implementation, determining whether to re-execute the first sensing task based on the fifth information includes: determining to re-execute the first sensing task if the timeliness of the first sensing data does not meet the aforementioned timeliness requirement; or determining not to re-execute the first sensing task if the timeliness of the first sensing data meets the aforementioned timeliness requirement. The first sensing data includes the sensing data corresponding to the first sensing task.

[0047] Based on the above implementation, when the timeliness of the first sensing data does not meet the aforementioned timeliness requirements, it indicates that the first sensing data is invalid, or has low (weak) timeliness, or is not fresh, etc. Therefore, the second sensing node determines to re-execute the first sensing task to ensure the timeliness of the sensing data corresponding to the first sensing task. When the timeliness of the first sensing data meets the aforementioned timeliness requirements, it indicates that the first sensing data is valid, or has high (strong) timeliness, or is fresh, etc. Therefore, the second sensing node determines not to re-execute the first sensing task.

[0048] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0049] Based on the above implementation method, the timeliness requirements of the first sensing task for sensing data can be divided into more granular categories, so that the second sensing node can provide more refined sensing services (such as providing sensing services with timeliness requirements for sensing scenarios, sensing data types, sensing target types, or sensing task types), and / or, more complex sensing services (such as providing sensing services with timeliness requirements for multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types).

[0050] In one possible implementation, the method further includes: sending timeliness information of the first sensing data, wherein the first sensing data includes sensing data corresponding to the first sensing task, for example, the first sensing data is obtained by the second sensing node performing the first sensing task, and the timeliness information of the first sensing data indicates the timeliness or freshness of the first sensing data.

[0051] Based on the above implementation, the first sensing node can obtain the timeliness information of the first sensing data, and then perform sensing data fusion based on this timeliness information to obtain a more accurate sensing result. For example, the first sensing node can determine the fusion weight of the first sensing data based on the timeliness information, and perform sensing data fusion based on the fusion weight. And / or, the first sensing node can determine whether to re-execute the first sensing task based on the timeliness information and the validity period of the first sensing data, so as to ensure the timeliness of the sensing data corresponding to the first sensing task.

[0052] Thirdly, a communication method is provided, which can be applied to a first sensing node and modules within the first sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the first sensing node). For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. The sensing network element (or sensing function network element) can be deployed in the core network or the access network, without restriction.

[0053] Taking the application of this method to the first sensing node as an example, the method includes: receiving third information from the second sensing node, the third information being used to indicate the validity period of the first sensing data, the first sensing data including sensing data corresponding to the first sensing task; and determining whether to re-execute the first sensing task based on the third information.

[0054] Based on the method provided in the third aspect above, the first sensing node can determine whether to re-execute the first sensing task according to the validity period of the first sensing data, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, and thus improving the user experience.

[0055] Understandably, the effective time of the first perception data can be characterized (or replaced by) the shelf life of the first perception data, or the confidence level of the first perception data within the effective time (or a certain period of time) is greater than or equal to a certain threshold, etc.

[0056] In one possible implementation, determining whether to re-execute the first sensing task based on the third information includes: determining to re-execute the first sensing task if the timeliness of the first sensing data does not meet the aforementioned effective time requirement; or determining not to re-execute the first sensing task if the timeliness of the first sensing data meets the aforementioned effective time requirement.

[0057] Based on the above implementation, when the timeliness of the first sensing data does not meet the aforementioned valid time requirement, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within its shelf life. Therefore, the first sensing node determines to re-execute the first sensing task to obtain sensing data with higher timeliness. When the timeliness of the first sensing data does not meet the aforementioned valid time requirement, it indicates that the first sensing data is valid, or the confidence level of the first sensing data is high, or the first sensing data is within its shelf life. Therefore, the first sensing node determines not to re-execute the first sensing task.

[0058] For example, the second sensing node is an access network node or a terminal.

[0059] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0060] Based on the above implementation method, the effective time of the first sensing data can be divided into more granular parts, so that the first sensing node can provide more refined sensing services (such as providing sensing services with time-sensitive requirements for sensing scenarios, sensing data types, sensing target types or sensing task types), and / or, more complex sensing services (such as providing sensing services with time-sensitive requirements for multiple of the sensing scenarios, sensing data types, sensing target types or sensing task types).

[0061] In one possible implementation, the method further includes: receiving timeliness information of the first sensing data, the timeliness information of the first sensing data being used to indicate the timeliness or freshness of the first sensing data.

[0062] Based on the above implementation method, the first sensing node can obtain the timeliness information of the first sensing data, and then determine whether to re-execute the first sensing task based on the timeliness information of the first sensing data and the above-mentioned effective time.

[0063] In one possible implementation, the effective time of the first sensing data is also used to perform sensing data fusion on the first sensing data.

[0064] Based on the above implementation, the first sensing node can perform sensing data fusion on the first sensing data according to the effective time of the first sensing data, so as to obtain a more accurate sensing result. For example, the first sensing node can determine the fusion weight of the first sensing data according to the timeliness information of the first sensing data and the aforementioned effective time, and perform sensing data fusion according to the fusion weight.

[0065] Fourthly, a communication method is provided, which can be applied to a second sensing node and modules within the second sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the second sensing node). For example, the second sensing node is an access network node or a terminal, etc.

[0066] Taking the application of this method to a second sensing node as an example, the method includes: acquiring third information and sending the third information to the first sensing node, wherein the third information is used to indicate the validity period of the first sensing data. The first sensing data includes the sensing data corresponding to the first sensing task.

[0067] Based on the method provided in the fourth aspect above, the first sensing node can learn the validity period of the first sensing data, and then determine whether to re-execute the first sensing task based on the validity period, so as to ensure the timeliness of the sensing data corresponding to the first sensing task, make the sensing results obtained based on the sensing data more accurate, and thus improve the user experience.

[0068] For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. The sensing network element (or sensing function network element) can be deployed in the core network or the access network, without restriction. The validity period of the first sensing data can characterize (or be replaced by) the shelf life of the first sensing data, or the confidence level of the first sensing data within the validity period (or a certain period) being greater than or equal to a certain threshold, etc.

[0069] In one possible implementation, the method further includes: receiving fourth information when the timeliness of the first sensing data does not meet the above-mentioned effective time requirement; wherein the fourth information is used to instruct the second sensing node to perform the first sensing task.

[0070] Based on the above implementation method, when the timeliness of the first sensing data does not meet the above effective time requirements, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within the shelf life. Therefore, the second sensing node can be triggered to re-execute the first sensing task to obtain sensing data with stronger timeliness.

[0071] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0072] Based on the above implementation method, the effective time of the first sensing data can be divided into more granular parts, so that the first sensing node can provide more refined sensing services (such as providing sensing services with time-sensitive requirements for sensing scenarios, sensing data types, sensing target types or sensing task types), and / or, more complex sensing services (such as providing sensing services with time-sensitive requirements for multiple of the sensing scenarios, sensing data types, sensing target types or sensing task types).

[0073] In one possible implementation, the method further includes: sending timeliness information of the first sensing data, the timeliness information of the first sensing data being used to indicate the timeliness or freshness of the first sensing data.

[0074] Based on the above implementation method, the first sensing node can obtain the timeliness information of the first sensing data, and then determine whether to re-execute the first sensing task based on the timeliness information of the first sensing data and the above-mentioned effective time.

[0075] Fifthly, a communication method is provided, which can be applied to a first sensing node and modules within the first sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the first sensing node). For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. The sensing network element (or sensing function network element) can be deployed in the core network or the access network, without limitation.

[0076] Taking the application of this method to the first sensing node as an example, the method includes: acquiring fifth information; sending the fifth information to the second sensing node, wherein the fifth information is used to indicate the timeliness requirement of the first sensing task for sensing data.

[0077] Based on the method provided in the fifth aspect above, the second sensing node can learn about the timeliness requirement of the sensing data for the first sensing task, and determine whether to re-execute the first sensing task according to the timeliness requirement, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, and thus improving the user experience.

[0078] For example, the second sensing node is an access network node or a terminal.

[0079] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0080] Based on the above implementation method, the timeliness requirements of the first sensing task for sensing data can be divided into more granular categories, so that the second sensing node can provide more refined sensing services (such as providing sensing services with timeliness requirements for sensing scenarios, sensing data types, sensing target types, or sensing task types), and / or, more complex sensing services (such as providing sensing services with timeliness requirements for multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types).

[0081] Sixthly, a communication method is provided, which can be applied to a second sensing node and modules within the second sensing node (e.g., processors, circuits, chips, chip systems, logic nodes, logic modules, or software capable of implementing all or part of the functions of the second sensing node). For example, the second sensing node is an access network node or a terminal, etc.

[0082] Taking the application of this method to the second sensing node as an example, the method includes: receiving fifth information from the first sensing node, the fifth information being used to indicate the timeliness requirement of the first sensing task for sensing data; executing the first sensing task to obtain the first sensing data; and determining whether to re-execute the first sensing task based on the timeliness of the first sensing data and the fifth information.

[0083] Based on the method provided in the sixth aspect above, the second sensing node can determine whether to re-execute the first sensing task according to the aforementioned timeliness requirements, so as to ensure the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, thereby improving the user experience.

[0084] For example, the first sensing node can be a sensing network element, a sensing function network element, or an access network node. Among them, the sensing network element (or sensing function network element) can be deployed in the core network or in the access network, without restriction.

[0085] In one possible implementation, determining whether to re-execute the first sensing task based on the timeliness of the first sensing data and the fifth information includes: determining to re-execute the first sensing task if the timeliness of the first sensing data does not meet the aforementioned timeliness requirement; or determining not to re-execute the first sensing task if the timeliness of the first sensing data meets the aforementioned timeliness requirement. The first sensing data includes the sensing data corresponding to the first sensing task.

[0086] Based on the above implementation, when the timeliness of the first sensing data does not meet the aforementioned timeliness requirements, it indicates that the first sensing data is invalid, or has low (weak) timeliness, or is not fresh, etc. Therefore, the second sensing node determines to re-execute the first sensing task to ensure the timeliness of the sensing data corresponding to the first sensing task. When the timeliness of the first sensing data meets the aforementioned timeliness requirements, it indicates that the first sensing data is valid, or has high (strong) timeliness, or is fresh, etc. Therefore, the second sensing node determines not to re-execute the first sensing task.

[0087] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0088] Based on the above implementation method, the timeliness requirements of the first sensing task for sensing data can be divided into more granular categories, so that the second sensing node can provide more refined sensing services (such as providing sensing services with timeliness requirements for sensing scenarios, sensing data types, sensing target types, or sensing task types), and / or, more complex sensing services (such as providing sensing services with timeliness requirements for multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types).

[0089] In a seventh aspect, a communication device is provided for implementing the method provided in the first aspect. The communication device may be a first sensing node, a module within the first sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the first sensing node. The communication device includes modules, units, or means corresponding to the above-described method, which may be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0090] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions described in the first aspect and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions described in the first aspect and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0091] In one possible implementation, a communication module is configured to receive first information, which indicates a first capability and characterizes the timeliness of the sensing data acquired by the second sensing node; and a processing module is configured to control the communication module to send second information based on the first information, which instructs the second sensing node to perform a first sensing task.

[0092] In one possible implementation, the first capability relates to one or more of the following: perceiving the scene, perceiving the data type, perceiving the target type, or perceiving the task type.

[0093] In one possible implementation, the first capability is represented by the duration of the sensing data at the second sensing node.

[0094] In one possible implementation, the aforementioned dwell time includes one or more of the following: dwell time corresponding to one or more sensing scenarios, dwell time corresponding to one or more sensing data types, dwell time corresponding to one or more sensing target types, dwell time corresponding to one or more sensing task types, or dwell time corresponding to multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types.

[0095] In one possible implementation, the communication module is further configured to receive third information, which indicates the validity period of the first sensing data, including sensing data corresponding to the first sensing task; the processing module is further configured to perform one or more of the following operations based on the third information: perform sensing data fusion on the first sensing data; or determine whether to send fourth information, which instructs the third sensing node to perform the first sensing task.

[0096] In one possible implementation, the processing module is specifically used to send the fourth information when the timeliness of the first perceived data does not meet the requirement of the effective time.

[0097] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0098] In one possible implementation, the communication module is further configured to send a fifth message to the second sensing node, the fifth message indicating the timeliness requirement of the first sensing task for the sensing data.

[0099] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0100] In one possible implementation, the communication module is further configured to receive timeliness information of the first sensing data, which includes sensing data corresponding to the first sensing task, and the timeliness information of the first sensing data is used to indicate the timeliness of the first sensing data.

[0101] Eighthly, a communication device is provided for implementing the method provided in the second aspect above. The communication device may be a second sensing node, a module within the second sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the second sensing node. The communication device includes modules, units, or means corresponding to the above method, which may be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0102] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions in the second aspect described above and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions in the second aspect described above and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0103] In one possible implementation, a communication module is configured to send first information to a first sensing node, the first information indicating a first capability, the first capability being used to characterize the timeliness of sensing data acquired by the second sensing node; the communication module is further configured to receive second information from the first sensing node, the second information instructing the second sensing node to perform a first sensing task; and a processing module is configured to perform the first sensing task based on the second information.

[0104] In one possible implementation, the first capability relates to one or more of the following: perceiving the scene, perceiving the data type, perceiving the target type, or perceiving the task type.

[0105] In one possible implementation, the first capability is represented by the duration of the sensing data at the second sensing node.

[0106] In one possible implementation, the aforementioned dwell time includes one or more of the following: dwell time corresponding to one or more sensing scenarios, dwell time corresponding to one or more sensing data types, dwell time corresponding to one or more sensing target types, dwell time corresponding to one or more sensing task types, or dwell time corresponding to multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types.

[0107] In one possible implementation, the communication module is further configured to send third information, which indicates the validity period of the first sensing data, including the sensing data corresponding to the first sensing task.

[0108] In one possible implementation, the communication module is further configured to receive fourth information when the timeliness of the first sensing data does not meet the requirement of the effective time, the fourth information being used to instruct the second sensing node to perform the first sensing task.

[0109] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0110] In one possible implementation, the communication module is further configured to receive fifth information from the first sensing node, the fifth information being used to indicate the timeliness requirement of the first sensing task for sensing data; the processing module is further configured to determine whether to re-execute the first sensing task based on the fifth information.

[0111] In one possible implementation, the processing module is specifically configured to determine to re-execute the first sensing task if the timeliness of the first sensing data does not meet the timeliness requirement; or, the processing module is specifically configured to determine not to re-execute the first sensing task if the timeliness of the first sensing data meets the timeliness requirement; the first sensing data includes the sensing data corresponding to the first sensing task.

[0112] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0113] In one possible implementation, the communication module is further configured to send timeliness information of the first sensing data, the first sensing data including sensing data corresponding to the first sensing task, and the timeliness information of the first sensing data indicating the timeliness of the first sensing data.

[0114] Ninthly, a communication device is provided for implementing the method provided in the third aspect above. The communication device may be a first sensing node, a module within the first sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the first sensing node as described in the third aspect. The communication device includes modules, units, or means that implement the method described above. These modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0115] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions in the third aspect described above and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions in the third aspect described above and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0116] In one possible implementation, a communication module is used to receive third information from a second sensing node, the third information indicating the validity period of the first sensing data, the first sensing data including sensing data corresponding to the first sensing task; and a processing module is used to determine whether to re-execute the first sensing task based on the third information.

[0117] In one possible implementation, the processing module is specifically configured to determine whether to re-execute the first sensing task if the timeliness of the first sensing data does not meet the aforementioned effective time requirement; or, the processing module is specifically configured to determine whether to re-execute the first sensing task if the timeliness of the first sensing data meets the aforementioned effective time requirement.

[0118] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0119] In one possible implementation, the communication module is further configured to receive timeliness information of the first sensing data, which is used to indicate the timeliness or freshness of the first sensing data.

[0120] In one possible implementation, the effective time of the first sensing data is also used to perform sensing data fusion on the first sensing data.

[0121] In a tenth aspect, a communication device is provided for implementing the method provided in the fourth aspect above. The communication device may be a second sensing node, a module within the second sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the second sensing node as described in the fourth aspect. The communication device includes modules, units, or means corresponding to the above-described method, which may be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described functions.

[0122] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions in the fourth aspect described above and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions in the fourth aspect described above and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0123] In one possible implementation, a processing module is used to acquire third information, and a communication module is used to send the third information, which indicates the validity period of the first sensing data. The first sensing data includes sensing data corresponding to the first sensing task.

[0124] In one possible implementation, the communication module is further configured to receive fourth information if the timeliness of the first sensing data does not meet the aforementioned effective time requirement; wherein the fourth information is used to instruct the second sensing node to perform the first sensing task.

[0125] In one possible implementation, the validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0126] In one possible implementation, the communication module is further configured to send timeliness information of the first sensing data, which is used to indicate the timeliness or freshness of the first sensing data.

[0127] Eleventhly, a communication device is provided for implementing the method provided in the fifth aspect above. The communication device may be a first sensing node, a module within the first sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the first sensing node as described in the fifth aspect. The communication device includes modules, units, or means corresponding to the above method, which may be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0128] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions in the fifth aspect and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions in the fifth aspect and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0129] In one possible implementation, a processing module is used to acquire the fifth information; a communication module is used to send the fifth information to the second sensing node, the fifth information being used to indicate the timeliness requirement of the first sensing task for the sensing data.

[0130] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0131] In a twelfth aspect, a communication device is provided for implementing the method provided in the sixth aspect above. The communication device may be a second sensing node, a module within the second sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the second sensing node as described in the sixth aspect. The communication device includes modules, units, or means that implement the method described above. These modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0132] In one possible implementation, the communication device may include a processing module and a communication module. The processing module can be used to implement the processing functions in the sixth aspect and any possible implementation thereof. The processing module may be, for example, a processor. The communication module may also be referred to as an interface unit, used to implement the sending and / or receiving functions in the sixth aspect and any possible implementation thereof. The communication module may include interface circuitry, a transceiver, a transceiver unit, or a communication interface.

[0133] In one possible implementation, a communication module is used to receive fifth information from the first sensing node, the fifth information indicating the timeliness requirement of the first sensing task for sensing data; a processing module is used to execute the first sensing task to obtain the first sensing data; the processing module is also used to determine whether to re-execute the first sensing task based on the timeliness of the first sensing data and the fifth information.

[0134] In one possible implementation, the processing module is specifically configured to determine whether to re-execute the first sensing task if the timeliness of the first sensing data does not meet the aforementioned timeliness requirement; or, the processing module is specifically configured to determine whether to re-execute the first sensing task if the timeliness of the first sensing data meets the aforementioned timeliness requirement. The first sensing data includes the sensing data corresponding to the first sensing task.

[0135] In one possible implementation, the timeliness requirement of the first sensing task for the sensing data is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0136] In a thirteenth aspect, a communication device is provided, comprising: a processor; the processor being configured to cause the communication device to perform the method described in any of the preceding aspects by executing a computer program (or computer-executable instructions) stored in a memory, and / or by logic circuitry. The communication device may be a first sensing node or a module of a first sensing node as described in the first aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the second aspect; or, the communication device may be a first sensing node or a module of a first sensing node as described in the third aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the fourth aspect; or, the communication device may be a first sensing node or a module of a first sensing node as described in the fifth aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the sixth aspect.

[0137] In one possible implementation, the number of the aforementioned processors can be one or more.

[0138] In one possible implementation, the communication device also includes a memory. The processor and memory are integrated together; alternatively, the memory is independent of the processor.

[0139] In one possible implementation, the communication device further includes a communication interface for communicating with other devices, such as transmitting or receiving data and / or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0140] In one possible implementation, the processor and / or memory also include an artificial intelligence (AI) module for implementing AI-related functions. The AI ​​module can implement AI functions through software, hardware, or a combination of both. For example, the AI ​​module may include a radio access network (RAN) intelligent controller (RIC) module. The AI ​​module could be a near real-time RIC or a non-real-time RIC.

[0141] In one possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of chips or may include chips and other discrete components.

[0142] In a fourteenth aspect, a communication device is provided, comprising: a processor and an interface circuit; the interface circuit is configured to receive a computer program or instructions and transmit them to the processor; the processor is configured to execute the computer program or instructions to cause the communication device to perform the method described in any of the preceding aspects. The communication device may be a first sensing node or a module of a first sensing node as described in the first aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the second aspect; or, the communication device may be a first sensing node or a module of a first sensing node as described in the third aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the fourth aspect; or, the communication device may be a first sensing node or a module of a first sensing node as described in the fifth aspect; or, the communication device may be a second sensing node or a module of a second sensing node as described in the sixth aspect.

[0143] In one possible implementation, the number of the aforementioned processors can be one or more.

[0144] In one possible implementation, the processor also includes an AI module for implementing AI-related functions. The AI ​​module can implement AI functions through software, hardware, or a combination of both. For example, the AI ​​module may include a RIC module. The AI ​​module could be a near real-time RIC or a non-real-time RIC.

[0145] In one possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of chips or may include chips and other discrete components.

[0146] In a fifteenth aspect, a computer-readable storage medium is provided that stores instructions which, when executed on a computer, enable the computer to perform the methods described in any of the preceding aspects.

[0147] In a sixteenth aspect, a computer program product containing instructions is provided that, when run on a computer, enables the computer to perform the methods described in any of the preceding aspects.

[0148] In a seventeenth aspect, a communication system is provided, comprising one or more of the following: a first sensing node for performing the method described in the first aspect above, or a second sensing node for performing the method described in the second aspect above.

[0149] In an eighteenth aspect, a communication system is provided, comprising one or more of the following: a first sensing node for performing the method described in the third aspect above, or a second sensing node for performing the method described in the fourth aspect above.

[0150] In a nineteenth aspect, a communication system is provided, comprising one or more of the following: a first sensing node for performing the method described in the fifth aspect above, or a second sensing node for performing the method described in the sixth aspect above.

[0151] The technical effects of any possible implementation of aspects seven through nineteen can be found in the technical effects of any one of aspects one through six above, or different possible implementations of any one of aspects, and will not be repeated here.

[0152] Understandably, provided that the solutions do not contradict each other, the solutions in the above aspects can be combined. Attached Figure Description

[0153] Figure 1 is a schematic diagram of the communication system architecture provided in this application;

[0154] Figure 2 is a flowchart illustrating the communication method provided in this application.

[0155] Figure 3 is a schematic flowchart of the communication method provided in this application (II).

[0156] Figure 4 is a schematic diagram of the transmission path of the first sensing data provided in this application;

[0157] Figure 5 is a flowchart illustrating the communication method provided in this application.

[0158] Figure 6 is a flowchart illustrating the communication method provided in this application.

[0159] Figure 7 is a block diagram of the communication device provided in this application;

[0160] Figure 8 is a schematic diagram of the hardware structure of the communication device provided in this application. Detailed Implementation

[0161] Before introducing the technical solution of this application, the relevant technical terms involved in this application are explained. It is understood that these explanations are intended to make this application easier to understand and should not be regarded as a limitation on the scope of protection claimed in this application.

[0162] 1. Access network node

[0163] Access network nodes, sometimes also called access network equipment, RAN nodes, RAN entities, or access nodes, are part of a communication system and are used to help terminals achieve wireless access.

[0164] In one possible scenario, an access network node can be a base station, an evolved NodeB (eNodeB), a next-generation eNB (ng-eNB) in Long Term Evolution (LTE), a base station (gNodeB or gNB) in New Radio (NR), an access point (AP), a transmission reception point (TRP), a base station in a future mobile communication system, or an access node in a Wireless Fidelity (WiFi) system. Access network nodes can be macro base stations, micro base stations or indoor stations, relay nodes or donor nodes, or radio controllers in cloud radio access network (CRAN) scenarios. Access network nodes can also be network equipment in a mobile switching center non-terrestrial network (NTN) communication system, such as those deployed on low-altitude platforms, high-altitude platforms, or satellites. Optionally, access network nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, the access network node in vehicle-to-everything (V2X) technology can be a roadside unit (RSU).

[0165] In another possible scenario, multiple access network nodes collaborate to assist the terminal in achieving wireless access, with each access network node performing some of the functions of the base station. Specifically, the access network nodes can be centralized units (CU), distributed units (DU), or radio units (RU), etc.

[0166] In this application, the CU can implement the functions of the radio resource control (RRC) layer and the packet data convergence protocol (PDCP) layer in the 3GPP standard. The CU can also implement the functions of the service data adaptation protocol (SDAP) layer. The DU can implement the functions of the radio link control (RLC) layer and the medium access control (MAC) layer in the 3GPP standard. The DU can also implement some or all of the physical layer functions, such as forward error correction (FEC) encoding / decoding, scrambling / descrambling, or modulation / demodulation. The RU can be used to implement radio frequency signal transmission and reception functions. The CU and DU can be set up separately, or they can be included in the same network element, such as in the baseband unit (BBU). It is understood that the CU can be classified as a network device in the access network or a network device in the core network; no limitation is made here. Furthermore, the CU can be further divided into the CU-control plane (CP) and the CU-user plane (UP). The CU-CP implements the functions of the RRC layer and the control plane functions of the PDCP layer. The CU-UP implements the functions of the SDAP layer and the user plane functions of the PDCP layer.

[0167] In this application, the RU can be included in a radio frequency (RF) device or RF unit, such as in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). The RU can implement some physical layer functions and RF functions in the 3GPP standard. The physical layer functions implemented by the RU include one or more of the following: fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), digital beamforming, or extraction and filtering of the physical random access channel (PRACH).

[0168] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0169] 2. Terminal

[0170] A terminal can be an access network node and a device or module with corresponding communication functions. Terminals can be deployed on land, including indoors, outdoors, handheld, or vehicle-mounted; they can also be deployed on water (such as ships); and they can be deployed in the air (such as airplanes, balloons, and satellites). A terminal can also be called a terminal device, which can be user equipment (UE), mobile station (MS), mobile terminal (MT), or any device used to provide voice or data connectivity to users. UEs include handheld devices with wireless communication functions, vehicle-mounted devices (e.g., cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains), wearable devices (e.g., smartwatches, smart bracelets, pedometers), or computing devices. For example, a UE can be a mobile phone, tablet computer, laptop computer, PDA, mobile internet device (MID), satellite terminal, or computer with wireless transceiver capabilities. UE can also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless modem, a point-of-sale (POS) machine, customer-premises equipment (CPE), a smart robot, a robotic arm, workshop equipment, smart home devices (e.g., refrigerators, televisions, air conditioners, electricity meters, etc.), a wireless terminal in industrial control, a wireless terminal in autonomous driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in intelligent transportation, a wireless terminal in a smart city, a wireless terminal in a smart home, an in-vehicle terminal, an RSU with terminal functionality, or flying equipment (e.g., a smart robot, a hot air balloon, a drone, an airplane), etc. A terminal can also be other devices with terminal functionality; for example, a terminal can be a device that acts as a terminal in device-to-device (D2D) communication.

[0171] By way of example and not limitation, in this application, the terminal can be a wearable device. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into a user's clothing or accessories. For example, wearable devices are not merely hardware devices, but also devices that achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include devices that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as devices that focus on only one type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0172] In this application, the terminal can be a terminal in an Internet of Things (IoT) system. IoT is an important component of future information technology development, and its main technical feature is connecting objects to networks through communication technologies, thereby realizing an intelligent network of human-machine interconnection and machine-to-machine interconnection. The terminal in this application can be a terminal in machine-type communication (MTC).

[0173] The terminal in this application can be an on-board module, on-board component, on-board chip, on-board unit (OBU), or telematics box (T-BOX) built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in on-board module, on-board component, on-board chip, on-board unit, or T-BOX. The terminal can also be a complete vehicle device. Therefore, this application can be applied to vehicle networking, such as V2X, long-term evolution vehicle (LTE-V) communication technology, and vehicle-to-vehicle (V2V) communication.

[0174] In some scenarios, the roles of access network nodes and terminals are relative. For example, a helicopter or drone that is usually configured as a terminal can also be configured as a mobile base station, and a device that accesses the RAN via a helicopter or drone is configured as a terminal.

[0175] 3. Perception

[0176] In this application, perception refers to acquiring certain information about a target, such as information related to one or more characteristics of the target, including its position, speed, direction of travel, shape, or attitude. Perception is usually performed in conjunction with communication. For example, an access network node or terminal can send a signal, receive the reflected signal (or echo signal) that arrives at the target and is reflected by the target, and acquire the aforementioned information based on the sent and received signals.

[0177] 4. Objectives

[0178] In this application, the target is a perceptible object. The target may be mobile (e.g., a car or animal) or immobile (e.g., an RSU). The target may have communication capabilities (e.g., a terminal) or not (e.g., a passive object such as a car or bicycle). Examples of targets include, but are not limited to: animals, various engineering vehicles, various vehicles, or the various terminals described above. Vehicles may include, for example, vehicles, trains, high-speed trains, airplanes, or drones.

[0179] 5. Scattering point

[0180] In this application, a scattering point refers to the point of contact between a signal transmitted by an access network node or terminal and a target. For example, when signal A transmitted by an access network node reaches a target, it is reflected, scattered, or diffracted on the target surface, forming an echo signal of signal A. Points on the target surface where reflection, scattering, or diffraction occurs can be considered scattering points. It should be understood that scattering points can also have other naming conventions, such as reflection points or diffraction points; this application uses scattering points as an example for description. One target can correspond to at least one scattering point.

[0181] In the ISAC system, access network nodes and / or terminals can perform sensing tasks and generate sensing data, which is then sent to sensing network elements for processing. The sensing network elements process the sensing data to obtain sensing results and feed them back to the user. There is a certain time interval between the generation of sensing data and its processing by the sensing network element. If this time interval is large, the sensing data may have expired or become invalid by the time the sensing network element processes it.

[0182] For example, taking the perception task of obtaining the target's location as an example, if the target is mobile, the aforementioned large time interval will lead to inaccurate location information obtained by the user. For instance, the location information indicates that the target is located at position A, but in reality, the target has moved to position B, and the distance between positions A and B may be quite large. Similarly, taking the perception task of obtaining the target's speed as an example, if the target is undergoing variable-speed movement, the aforementioned large time interval will lead to inaccurate speed information obtained by the user. For instance, the speed information indicates that the target's speed is 'a', but in reality, the target is currently moving at speed 'b', and the difference between 'a' and 'b' may be significant.

[0183] In summary, the large time intervals mentioned above can lead to inaccurate perception results obtained by the sensing network elements, thereby affecting the user experience.

[0184] Understandably, for low-latency communication services, the content of the communication itself is often not directly related to timeliness. However, sensing data is different; its content is time-sensitive, and outdated sensing data can severely impact user experience. Therefore, the timeliness of sensing data is crucial. Currently, the industry has only established corresponding standards for the acquisition, transmission, and storage of sensing data, but there are no relevant standards regarding the timeliness of sensing data.

[0185] To standardize or manage the timeliness of sensing data, this application proposes corresponding methods and apparatus to ensure the timeliness of sensing data, making the sensing results obtained from the sensing data more accurate, thereby improving the user experience. The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0186] The method provided in this application can be used in various communication systems. For example, the communication system can be a Universal Mobile Telecommunications System (UMTS), an LTE system, a 5th generation (5G) communication system, a WiFi system, a 3rd Generation Partnership Project (3GPP) related communication system, a communication system evolved after 5G, or a system integrating multiple systems, etc., without limitation. 5G can also be referred to as NR. The method provided in this application is described below using the communication system 10 shown in Figure 1 as an example. Figure 1 is only a schematic diagram and does not constitute a limitation on the applicable scenarios of the technical solution provided in this application.

[0187] Figure 1 shows a schematic diagram of the architecture of the communication system 10 provided in this application. In Figure 1, the communication system 10 includes a RAN 100 and a core network (CN) 200. The RAN 100 includes at least one access network node (110a and 110b in Figure 1, collectively referred to as 110) and at least one terminal (120a-120j in Figure 1, collectively referred to as 120). The RAN 100 may also include other access network nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1). The terminal 120 is wirelessly connected to the access network node 110. The access network node 110 is wirelessly or wiredly connected to the core network 200. The core network 200 may include one or more core network elements, such as sensing network elements or sensing function (SF) network elements (not shown in Figure 1). The core network elements in core network 200 and the access network nodes 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions. In addition, sensing network elements or SF network elements can also be deployed in RAN 100 without restriction.

[0188] RAN 100 can be a 3GPP-related cellular system, such as a 4G, 5G mobile communication system, or a future-oriented evolution system. RAN 100 can also be an open access network (open RAN, O-RAN, or ORAN), CRAN, or a WiFi system. RAN 100 can also be a communication system integrating two or more of the above systems. The multiple access network nodes 110 in communication system 10 can be nodes of the same type or nodes of different types. For a detailed description of access network nodes 110 and terminals 120, please refer to the previous description of access network nodes and terminals; further details will not be repeated here.

[0189] It is understood that the communication system 10 shown in Figure 1 is for illustrative purposes only and is not intended to limit the technical solutions of this application. Those skilled in the art should understand that in specific implementations, the communication system 10 may also include other devices, and the number of access network nodes, terminals, or core network elements can be determined according to specific needs without limitation. Furthermore, with the evolution of network architecture and the emergence of new service scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0190] Optionally, each network element or device in Figure 1 of this application (such as access network nodes, terminals, or network elements in the core network) may also be referred to as a communication device, which may be a general-purpose device or a special-purpose device. This application does not make any specific limitation on this.

[0191] Optionally, the functions of each network element or device (e.g., access network node, terminal, or network element in the core network) in Figure 1 of this application can be implemented by one device, multiple devices working together, or one or more functional modules within a single device. This application does not impose specific limitations on these functions. It is understood that the aforementioned functions can be network elements in hardware devices, software functions running on dedicated hardware, a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

[0192] The method provided in this application will now be described in conjunction with the communication system 10 shown in Figure 1 above.

[0193] It is understood that the first sensing node and the second sensing node in the following embodiments of this application are nodes related to sensing services. For example, the first sensing node is a node that manages sensing services (or manages sensing tasks), and the second sensing node is a node that performs sensing tasks or performs sensing measurements. Taking the communication system 10 shown in FIG1 as an example, the first sensing node is the access network node 110 in the communication system 10, and the second sensing node is the terminal 120 in the communication system 10 that communicates with the access network node 110. Alternatively, the first sensing node is the access network node 110a in the communication system 10, and the second sensing node is the access network node 110b in the communication system 10. Alternatively, the first sensing node is a network element (such as a sensing network element or an SF network element, etc.) deployed in the core network 200 in the communication system 10, and the second sensing node is the access network node 110 or the terminal 120 in the communication system 10.

[0194] It is understood that in this application, the first sensing node and / or the second sensing node may perform some or all of the steps in this application. These steps are merely examples, and this application may also perform other steps or variations thereof. Furthermore, the steps may be performed in different orders as presented in this application, and it is not necessary to perform all the steps in this application.

[0195] It is understood that the methods described below in this application use the first and second sensing nodes as examples to illustrate the interaction, but this application does not limit the execution subject of the interaction. For example, the method executed by the first sensing node in this application can also be implemented by modules in the first sensing node (e.g., circuits, chips, chip systems, logic nodes, logic modules, or software that can implement all or part of the functions of the first sensing node). Similarly, the method executed by the second sensing node in this application can also be implemented by modules in the second sensing node (e.g., circuits, chips, chip systems, logic nodes, logic modules, or software that can implement all or part of the functions of the second sensing node).

[0196] As shown in Figure 2, a communication method provided in this application may include the following steps:

[0197] S201: The first sensing node acquires the first information.

[0198] In this application, the first information is used to indicate the first capability, which characterizes the timeliness of the sensing data acquired by the second sensing node. In other words, the first capability is the ability of the second sensing node to produce (generate or collect) fresh sensing data, or the ability of the second sensing node to produce (generate or collect) sensing data with high timeliness. The fresher the sensing data produced (generate or collect) by the second sensing node, the higher its ability to produce (generate or collect) fresh sensing data; the less fresh the sensing data produced (generate or collect) by the second sensing node, the lower its ability to produce (generate or collect) fresh sensing data. The higher the timeliness of the sensing data produced (generate or collect) by the second sensing node, the higher its ability to produce (generate or collect) fresh sensing data; the lower the timeliness of the sensing data produced (generate or collect) by the second sensing node, the lower its ability to produce (generate or collect) fresh sensing data. The sensing data produced (generate or collect) by the second sensing node can refer to the sensing data obtained by the second sensing node performing sensing tasks (or sensing measurements).

[0199] Understandably, the first capability is an attribute of the second sensing node. The first capability can also be called the information age (AoI) capability of the second sensing node.

[0200] One possible design is that the first capability can be represented by the dwell time of the sensed data at the second sense node (referred to as the first dwell time). The first dwell time is the time elapsed from when the sensed data is generated or collected at the second sense node to when the second sense node sends the sensed data.

[0201] Understandably, the shorter the first retention time, the higher the ability of the second sensing node to produce fresh sensing data (or timely sensing data), that is, the fresher (or more timely) the sensing data produced by the second sensing node; the longer the first retention time, the lower the ability of the second sensing node to produce fresh sensing data (or timely sensing data), that is, the less fresh (or less timely) the sensing data produced by the second sensing node.

[0202] The first dwell time can be statistically determined by the second sensing node. For example, the first dwell time is the maximum dwell time, average dwell time, or most recently statistically determined dwell time of the sensing data at the second sensing node within a certain period.

[0203] Understandably, besides the first dwell time, the first capability can also be represented by other information. For example, the first capability can be represented by information negatively correlated with the first dwell time (such as the speed at which the second sensing node processes or transmits sensing data). For instance, this speed could be equal to the ratio of the amount of sensing data to the first dwell time. Another example is that the first capability can be represented by time 3 and time 4, where time 4 is later than time 3, and the difference between time 4 and time 3 equals the first dwell time. Time 3 is the time when the second sensing node generates sensing data, and time 4 is the time when the second sensing node transmits sensing data.

[0204] In this application, time 3 / time 4 can be represented by a timestamp. For example, time 3 (or time 4) is 20250305-174102-000, representing 17:41:02:000 milliseconds on March 5, 2025. Alternatively, time 3 / time 4 can be represented by the number of a time-domain resource. For example, time 3 (or time 4) can be represented by one or more of the following: system frame number, subframe number, time slot index, or symbol index. For example, time 3 (or time 4) belongs to the time period with system frame number 0, subframe number 1, time slot index 1, and symbol index 6.

[0205] For example, in order to indicate the first capability, the first information includes a first dwell time; or the first information includes the speed at which the second sensing node processes or transmits sensing data; or the first information includes time 3 and time 4, etc.

[0206] For ease of description, the following embodiments are illustrated by taking the first capability as an example, expressed in terms of dwell time.

[0207] In this application, the first information can be pre-configured on the first sensing node; for example, an administrator configures the first information on the first sensing node. Alternatively, the first information can be sent from the second sensing node to the first sensing node. For example, the second sensing node sends the first information to the first sensing node. Correspondingly, the first sensing node receives the first information from the second sensing node.

[0208] S202: The first sensing node sends second information to the second sensing node based on the first information. Correspondingly, the second sensing node receives the second information from the first sensing node.

[0209] In this application, the second information is used to instruct / request the second sensing node to perform the first sensing task. The second information may be carried in the sensing request.

[0210] One possible implementation is that the first sensing node obtains a first requirement, and if the first capability satisfies the first requirement, it sends second information to the second sensing node.

[0211] In this application, the first requirement refers to the freshness / timeliness requirement of the perceived data for the first sensing task. The first sensing task can be any task that acquires information through perception. For example, the first sensing task can be an environment reconstruction task or a target detection task. Here, detection can refer to detecting one or more features of a target, such as its position, speed, direction of travel, shape, or posture, or detecting the distance between the target and a certain location. A description of the target can be found in the preceding description of the target. Furthermore, the terms "requirement" and "need" in this application can be used interchangeably. For example, the first requirement can be replaced with the first need, and the freshness / timeliness requirement of the perceived data for the first sensing task can be replaced with the freshness / timeliness requirement of the perceived data for the first sensing task.

[0212] In this application, the freshness or timeliness of the sensed data is related to the duration of time elapsed since the data was generated / acquired. A shorter duration indicates fresher data, higher freshness, or stronger timeliness. A longer duration indicates less fresh data, lower freshness, or weaker timeliness.

[0213] For example, taking the generation time of perceived data A as time A, the generation time of perceived data B as time B, and the current time as time C, the freshness or timeliness of perceived data A is related to the duration between time A and time C (denoted as duration A), and the freshness or timeliness of perceived data B is related to the duration between time B and time C (denoted as duration B). If duration A is greater than duration B, then perceived data B is fresher than perceived data A, or perceived data B is more timely than perceived data A; if duration A is less than duration B, then perceived data A is fresher than perceived data B, or perceived data A is more timely than perceived data B.

[0214] One possible implementation is that the first requirement is determined by the first sensing node. For example, the first requirement is pre-configured in the first sensing node. Alternatively, the first requirement is obtained by the first sensing node from other network elements. For example, a core network element (such as an application network element, application function (AF) network element, sensing network element, or SF network element) determines the first requirement and sends a sixth message to the first sensing node to indicate the first requirement. Alternatively, a server managing the first sensing task determines the first requirement and sends a seventh message to the first sensing node to indicate the first requirement.

[0215] One possible design is to express time in absolute terms (as described in time 1 below) or in relative terms (as described in first duration below).

[0216] As an example, the first requirement instructs the first device to obtain the sensing data corresponding to the first sensing task before a certain time (e.g., time 1). The first device can be a first sensing node, the aforementioned core network element, the aforementioned server, or a sensing node executing the first sensing task (e.g., a second sensing node), etc. Time 1 can be represented by a timestamp or by a time-domain resource number, without restriction.

[0217] In the example above, the first sensing node can estimate, based on its first capability, whether the sensing data obtained by the second sensing node in performing the first sensing task can reach the first device at or before time 1. If the sensing data can reach the first device at or before time 1, the first sensing node determines that the first capability meets the first requirement and sends second information to the second sensing node.

[0218] Understandably, considering the transmission latency of the sensing data and the dwell time of the sensing data on a certain node or device, the time 1 corresponding to the second sensing node, the first sensing node, the core network element, and the server are different. Taking time 1a corresponding to the second sensing node, time 1b corresponding to the first sensing node, time 1c corresponding to the core network element, and time 1d corresponding to the server as an example, time 1a is earlier than time 1b, and time 1b is earlier than or equal to time 1c or time 1d. Time 1c can be earlier than time 1d, later than time 1d, or the same as time 1d, without restriction. Specifically, time 1a corresponding to the second sensing node indicates that the first requirement instructs the second sensing node to obtain the sensing data corresponding to the first sensing task before time 1a. Time 1b corresponding to the first sensing node indicates that the first requirement instructs the first sensing node to obtain the sensing data corresponding to the first sensing task before time 1b. Time 1c corresponding to the core network element indicates that the first requirement instructs the core network element to obtain the sensing data corresponding to the first sensing task before time 1c. Time 1d corresponding to the server indicates that the first requirement instructs the server to obtain the sensing data corresponding to the first sensing task before time 1d.

[0219] As another example, the first requirement instructs the first device to acquire the sensing data corresponding to the first sensing task within a certain duration (e.g., a first duration). The first duration represents a period of time, such as 300 milliseconds. The first duration can be equal to the difference between time 1 and time 2, where time 1 is later than time 2. Time 2 is the moment when the first device (e.g., a core network element, server, or first sensing network element) determines the first requirement, or a moment after the first device determines the first requirement.

[0220] In the example above, the first sensing node can estimate whether the sensing data obtained by the second sensing node in performing the first sensing task can reach the first device within a first time period based on the first capability. If the sensing data can reach the first device within the first time period, the first sensing node determines that the first capability meets the first requirement and sends second information to the second sensing node.

[0221] Understandably, considering the transmission latency of the sensing data and the dwell time of the sensing data at a certain node or device, the first duration corresponding to the second sensing node, the first sensing node, the core network element, and the server is different. Taking duration 'a' for the second sensing node, duration 'b' for the first sensing node, duration 'c' for the core network element, and duration 'd' for the server as an example, duration 'a' is shorter than duration 'b', and duration 'b' is shorter than duration 'c' (or duration 'd'). Duration 'c' can be shorter than duration 'd', longer than duration 'd', or the same length as duration 'd'. Specifically, duration 'a' for the second sensing node indicates that the first requirement instructs the second sensing node to obtain the sensing data corresponding to the first sensing task within duration 'a'. Duration 'b' for the first sensing node indicates that the first requirement instructs the first sensing node to obtain the sensing data corresponding to the first sensing task within duration 'b'. Duration 'c' for the core network element indicates that the first requirement instructs the core network element to obtain the sensing data corresponding to the first sensing task within duration 'c'. Duration 'd' for the server indicates that the first requirement instructs the server to obtain the sensing data corresponding to the first sensing task within duration 'd'.

[0222] Understandably, for the two examples above, if the first requirement is determined by the first sensing node, the first device is either the first sensing node or the second sensing node; if the first requirement is indicated by a core network element, the first device is either a core network element, the first sensing node, or the second sensing node; if the first requirement is indicated by a server, the first device is either a server, the first sensing node, or the second sensing node.

[0223] Another possible design, the first requirement is to represent it through perceived priority.

[0224] For example, the first requirement indicates the perception priority of the first perception task. A higher perception priority indicates a higher requirement for the freshness / timeliness of the perceived data, and a lower perception priority indicates a lower requirement for the freshness / timeliness of the perceived data. The perception priority can include N levels, where N is an integer greater than 1.

[0225] In the example above, if the sensing priority is high, the first sensing node sends the second information to the second sensing node if the first dwell time is less than or equal to the first threshold value. If the sensing priority is low, the first sensing node sends the second information to the second sensing node if the first dwell time is greater than the second threshold value. The first threshold value and the second threshold value can be the same or different.

[0226] The first threshold / second threshold is related to the perception priority of the first perception task. The higher the perception priority, the smaller the first threshold / second threshold; the lower the perception priority, the larger the first threshold / second threshold. Furthermore, in practical applications, perception priority can correspond to more than one threshold, without restriction.

[0227] Understandably, in practical applications, in addition to the first capability, the first sensing node can also acquire the capability of at least one sensing node (excluding the second sensing node) to produce fresh sensing data. Based on this capability and the first capability, the sensing node that performs the first sensing task is determined. The sensing node performing the first sensing task can be one or more, without restriction. Furthermore, the capability of at least one sensing node to produce fresh sensing data can be pre-configured on the first sensing node, or it can be sent to the first sensing node by at least one sensing node.

[0228] Understandably, in practical applications, the first sensing node may not necessarily determine the sensing node to perform the first sensing task based on the first requirement. For example, the first sensing node may determine whether the second sensing node should perform the first sensing task based on the historical performance of sensing tasks by the second sensing node (such as whether the task was successfully performed or the timeliness of the generated sensing data) and the first information.

[0229] S203: The second sensing node performs the first sensing task based on the second information.

[0230] One possible implementation is that the second sensing node performs the first sensing task, obtains the first sensing data, and sends the first sensing data back to the first sensing node. Upon receiving the first sensing data, the first sensing node can perform further processing, such as sensing data fusion, to obtain the sensing result of the first sensing task. The first sensing data may include the sensing data corresponding to the first sensing task, such as information about scattering points measured by the second sensing node during the first sensing task. A description of scattering points can be found in the preceding text.

[0231] Optionally, the first sensing data can be carried in LTE positioning protocol (LPP) messages or NR positioning protocol a (NRPPa) messages. When the first sensing node is an access network node and the second sensing node is a terminal, the first sensing data can also be carried in uplink control information (UCI).

[0232] Optionally, the second sensing node can periodically execute the first sensing task and report the obtained sensing data to the first sensing node.

[0233] In this application, the second sensing node can perform the first sensing task in either a single-station sensing mode or a dual-station sensing mode.

[0234] Based on the method shown in Figure 2, when determining the sensing node to perform the first sensing task, the first sensing node can consider the timeliness of the sensing data obtained by the second sensing node, so as to ensure the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, thereby improving the user experience.

[0235] In one implementation, the first dwell time (or first capability) is related to one or more of the sensing scenario, sensing data type, sensing target type, or sensing task type.

[0236] In this application, the perceived scene includes one or more of the following: static scene, quasi-static scene, low-speed scene, or rapidly changing scene. A static scene refers to a scene where the target's movement speed is less than or equal to a first threshold. A quasi-static scene refers to a scene where the target's movement speed is greater than the first threshold but less than or equal to a second threshold. A low-speed scene refers to a scene where the target's movement speed is greater than the second threshold but less than or equal to a third threshold. A rapidly changing scene refers to a scene where the target's movement speed is greater than the third threshold. The first to third thresholds can be set as needed.

[0237] The types of sensing data include one or more of the following: sensing echo signals, distance data, velocity data, position data, angle data, or multipath component data. Among them, multipath component data includes one or more of the following: time delay, amplitude, or phase of the multipath.

[0238] Target types can be distinguished from different dimensions. For example, target types can be distinguished based on one or more dimensions such as distance, proximity, target speed, target number or identifier.

[0239] Taking the classification of sensing targets based on distance as an example, the sensing target types include two or more types of targets, which are divided according to their distance from the first reference position. For example, the sensing target types include a first type of target and a second type of target. The distance between the first type of target and the first reference position is less than or equal to a first distance, and the distance between the second type of target and the first reference position is greater than the first distance. The first distance can be set as needed, and the first reference position can be determined by the first sensing node, the aforementioned core network element, or the aforementioned server.

[0240] Taking the classification of perceived target types based on distance as an example, the perceived target types include two or more types of targets, which are classified according to their distance from the second sensing node.

[0241] Taking the classification of perceived targets based on their movement speed as an example, perceived target types include one or more of the following: static targets, quasi-static targets, low-speed moving targets, or fast-moving targets. A static target is defined as a target whose movement speed is less than or equal to the fourth threshold. A quasi-static target is defined as a target whose movement speed is greater than the fourth threshold but less than or equal to the fifth threshold. A low-speed moving target is defined as a target whose movement speed is greater than the fifth threshold but less than or equal to the sixth threshold. A fast-moving target is defined as a target whose movement speed is greater than the sixth threshold. The fourth to sixth thresholds can be set as needed.

[0242] Understandably, different types of perceived targets can be distinguished by target number or identifier. For example, a static target is identified by 1, and a quasi-static target is identified by 2. Furthermore, the identifiers for the first type of target include 3 to 5, and the identifiers for the second type of target include 6 to 10.

[0243] Perception tasks include one or more of the following: environment reconstruction tasks or object detection tasks.

[0244] One possible design is that the first information includes one or more of the following: dwell time information corresponding to one or more sensing scenarios (hereinafter referred to as dwell time information A), dwell time information corresponding to one or more sensing data types (hereinafter referred to as dwell time information B), dwell time information corresponding to one or more sensing target types (hereinafter referred to as dwell time information C), dwell time information corresponding to one or more sensing task types (hereinafter referred to as dwell time information D), or dwell time information corresponding to multiple of the sensing scenarios, sensing data types, sensing target types, or sensing task types (hereinafter referred to as dwell time information E).

[0245] For example, the dwell time information A includes one or more of the following: dwell time corresponding to a static scenario, dwell time corresponding to a quasi-static scenario, dwell time corresponding to a low-speed scenario, or dwell time corresponding to a rapidly changing scenario. Taking the dwell time information A including the dwell time corresponding to a static scenario as an example, the data format of the dwell time information A is {dwell time corresponding to a static scenario, identifier of the static scenario}.

[0246] Understandably, objects change the slowest or not at all in static scenes, while they change the fastest in fast-changing scenes. Therefore, the dwell time for static scenes can be greater than or equal to the dwell time for quasi-static scenes, the dwell time for quasi-static scenes can be greater than or equal to the dwell time for low-speed scenes, and the dwell time for low-speed scenes can be greater than or equal to the dwell time for fast-changing scenes.

[0247] For example, the dwell time information B includes one or more of the following: dwell time corresponding to the sensed echo signal, dwell time corresponding to distance data, dwell time corresponding to velocity data, dwell time corresponding to position data, dwell time corresponding to angle data, or dwell time corresponding to multipath component data. Taking the dwell time information B as including the dwell time corresponding to distance data and the dwell time corresponding to velocity data as an example, the data format of the dwell time information B is {dwell time corresponding to distance data, identifier of distance data; dwell time corresponding to velocity data, identifier of velocity data}.

[0248] For example, the dwell time information C includes one or more of the following: dwell time corresponding to a static target, dwell time corresponding to a quasi-static target, dwell time corresponding to a low-speed moving target, or dwell time corresponding to a fast-moving target. Taking the dwell time information C including the dwell time corresponding to a static target and the dwell time corresponding to a low-speed moving target as an example, the data format of the dwell time information C is {dwell time corresponding to a static target, identifier of the static target; dwell time corresponding to a low-speed moving target, identifier of the low-speed moving target}.

[0249] Understandably, static targets move the slowest or do not move at all, while fast-moving targets move the fastest. Therefore, the dwell time of a static target can be greater than or equal to that of a quasi-static target, the dwell time of a quasi-static target can be greater than or equal to that of a slow-moving target, and the dwell time of a slow-moving target can be greater than or equal to that of a fast-moving target.

[0250] For example, the dwell time information D includes one or more of the dwell time corresponding to the environment reconstruction task or the dwell time corresponding to the target detection task. Taking the dwell time information D including the dwell time corresponding to the environment reconstruction task as an example, the data format of the dwell time information D is {dwell time corresponding to the environment reconstruction task, identifier of the environment reconstruction task}.

[0251] For example, the dwell time information E includes the dwell time corresponding to the sensing scene and the sensing data type, such as the dwell time corresponding to the static scene and distance data. Alternatively, the dwell time information E includes the dwell time corresponding to the sensing scene, sensing data type, sensing target type, and sensing task type. In this case, the data format of the dwell time information E is {dwell time A, identifier of sensing scene, identifier of sensing data type, identifier of sensing target type, identifier of sensing task type}. Wherein, dwell time A is the dwell time corresponding to the sensing scene, sensing data type, sensing target type, and sensing task type.

[0252] In the above embodiments, the first sensing node can determine whether the second sensing node should execute the first sensing task by combining one or more of the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

[0253] For example, the content of the first information is shown in Table 1. If the sensing scene corresponding to the first sensing task is a static scene, the first sensing node determines whether the second sensing node should execute the first sensing task based on the dwell time a1. If the sensing data type corresponding to the first sensing task is location data, the first sensing node determines whether the second sensing node should execute the first sensing task based on the dwell time b3. If the sensing target type corresponding to the first sensing task is a low-speed moving target, and the sensing data type corresponding to the first sensing task is speed data, the first sensing node determines whether the second sensing node should execute the first sensing task based on the dwell time e1.

[0254] Table 1

[0255] Understandably, the above implementation can further refine the first capability, enabling the first sensing node to provide more sophisticated sensing services (such as providing sensing services with time-sensitive requirements for sensing scenarios, sensing data types, sensing target types, or sensing task types), and / or more complex sensing services (such as providing sensing services with time-sensitive requirements for multiple sensing scenarios, sensing data types, sensing target types, or sensing task types).

[0256] In one implementation, in addition to obtaining the first dwell time based on the first information, the first sensing node can also obtain the first dwell time in the following manner.

[0257] For example, the first sensing node determines a first dwell time based on the second sensing data and its AoI information. The second sensing data is the sensing data obtained by the second sensing node before S202 when performing a second sensing task. The second sensing node may send the aforementioned AoI information to the first sensing node. This AoI information indicates the duration from the generation of the second sensing data to its transmission by the second sensing node. For example, the AoI information may include this duration, or it may include the moment the second sensing data was generated and the moment the second sensing node transmitted the second sensing data.

[0258] For example, the second sensing node sends the time information of generating the second sensing data to the first sensing node. The first sensing node estimates the time when the second sensing node sends the second sensing data by means of one trip time (OTT) or by means of the round trip time (RTT) between the first sensing node and the second sensing node, thereby determining the first dwell time.

[0259] The method shown in Figure 2 above proposes an AoI capability index—the ability of sensing nodes to produce fresh sensing data—to ensure the timeliness of sensing data. Besides the AoI capability index, this application can also ensure the timeliness of sensing data through other information related to the timeliness of sensing data (such as the first timeliness threshold in the method shown in Figure 3 below, or the second timeliness threshold in the method shown in Figure 5 below, etc.). These will be elaborated upon below.

[0260] As shown in Figure 3, another communication method provided in this application may include the following steps:

[0261] S301: The second sensing node sends third information to the first sensing node. Correspondingly, the first sensing node receives the third information from the second sensing node.

[0262] In this application, the third information is used to indicate the validity period of the first sensing data. The first sensing data includes the sensing data corresponding to the first sensing task.

[0263] For example, the second sensing node performs the first sensing task, obtains the first sensing data, and sends the first sensing data back to the first sensing node. The details of the first sensing task can be found in the corresponding description in the method shown in Figure 2, and will not be repeated here.

[0264] Optionally, the first sensing node sends a second message to the second sensing node to request the second sensing node to perform the first sensing task. Upon receiving the second message, the second sensing node performs the first sensing task and obtains the first sensing data. The first sensing data may include information about the scattering points measured by the second sensing node during the first sensing task.

[0265] Optionally, the second sensing node can periodically execute the first sensing task and report the obtained sensing data to the first sensing node.

[0266] In this application, the second sensing node can perform the first sensing task in either a single-station sensing mode or a dual-station sensing mode.

[0267] Optionally, the first sensing data and the third information can be carried in an LPP message or an NRPPa message. When the first sensing node is an access network node and the second sensing node is a terminal, the first sensing data and the third information can also be carried in a UCI. It should be understood that the first sensing data and the third information can be carried in the same message or in different messages, without restriction.

[0268] In this application, the effective time of the first sensing data can be replaced by the shelf life of the first sensing data, which can be a time-related threshold, referred to in this application as the first time-limited threshold. The third information may include the first time-limited threshold. The first time-limited threshold is a threshold related to the AoI of the first sensing data, also known as the AoI time-limited threshold, and is an attribute of the first sensing data itself. The first time-limited threshold is used by the first sensing node to determine whether to re-execute the first sensing task.

[0269] One possible design is that the first timeliness threshold is a duration threshold, for example, the first timeliness threshold is 200 milliseconds, which means that the first sensing data is valid within 200 milliseconds (which may or may not be 200 milliseconds), or that the shelf life of the first sensing data is 200 milliseconds (which may or may not be 200 milliseconds), or that the confidence level of the first sensing data is high within 200 milliseconds (which may or may not be 200 milliseconds), and the confidence level of the first sensing data is low beyond this period.

[0270] For example, when the AoI of the first sensing data is less than the first timeliness threshold, it indicates that the first sensing data is valid, or the confidence level of the first sensing data is high, or the first sensing data is within its shelf life; when the AoI of the first sensing data is greater than or equal to the first timeliness threshold, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within its shelf life. The AoI of the first sensing data can indicate the duration from the time the first sensing data was generated (e.g., the time when the second sensing node executes the first sensing task to obtain the first sensing data) to the current time (e.g., the time when the first sensing node receives / processes the first sensing data). The AoI of the first sensing data can be represented by this duration, or by the timestamp corresponding to the time the first sensing data was generated, and the timestamp corresponding to the time the first sensing node receives / processes the first sensing data.

[0271] In this application, "AoI of the first sensing data is less than the first time-limited threshold" can be replaced with "AoI of the first sensing data is less than or equal to the first time-limited threshold", and "AoI of the first sensing data is greater than or equal to the first time-limited threshold" can be replaced with "AoI of the first sensing data is greater than the first time-limited threshold".

[0272] Another possible design is that the first timeliness threshold is a time-based threshold, indicating that the first perceived data is valid at or before that time, or that the confidence level of the first perceived data is higher at or before that time and lower after that time. For example, the first timeliness threshold could be a timestamp, such as 20250305-174103-000, or it could be represented by the number of a time-domain resource.

[0273] For example, when the time when the first sensing node receives / processes the first sensing data is less than the first timeliness threshold, it indicates that the first sensing data is valid, or the confidence level of the first sensing data is high, or the first sensing data is within its shelf life; when the time when the first sensing node receives / processes the first sensing data is greater than or equal to the first timeliness threshold, it indicates that the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within its shelf life.

[0274] Wherein, if the time when the first sensing node receives / processes the first sensing data is less than the first time-sensitive threshold, it can be understood that the time when the first sensing node receives / processes the first sensing data is earlier than the first time-sensitive threshold; if the time when the first sensing node receives / processes the first sensing data is greater than the first time-sensitive threshold, it can be understood that the time when the first sensing node receives / processes the first sensing data is later than the first time-sensitive threshold.

[0275] In this application, "the time when the first sensing node receives / processes the first sensing data is less than the first time-limited threshold" can be replaced with "the time when the first sensing node receives / processes the first sensing data is less than or equal to the first time-limited threshold", and "the time when the first sensing node receives / processes the first sensing data is greater than or equal to the first time-limited threshold" can be replaced with "the time when the first sensing node receives / processes the first sensing data is greater than the first time-limited threshold".

[0276] One possible design is that the first timeliness threshold is related to one or more of the following: the perception scene corresponding to the first perception task, the perception data type corresponding to the first perception task, the perception target type corresponding to the first perception task, or the perception task type corresponding to the first perception task.

[0277] In this application, the perception scene corresponding to the first perception task can be a static scene, a quasi-static scene, a low-speed scene, or a rapidly changing scene, etc. The descriptions of these perception scenes can be found in the preceding text. Furthermore, objects in a static scene change the slowest or remain unchanged, while objects in a rapidly changing scene change the fastest. Therefore, the first time-sensitive threshold corresponding to a static scene can be greater than or equal to the first time-sensitive threshold corresponding to a quasi-static scene, the first time-sensitive threshold corresponding to a quasi-static scene can be greater than or equal to the first time-sensitive threshold corresponding to a low-speed scene, and the first time-sensitive threshold corresponding to a low-speed scene can be greater than or equal to the first time-sensitive threshold corresponding to a rapidly changing scene.

[0278] The types of data corresponding to the first sensing task include one or more of the following: sensing echo signals, distance data, velocity data, position data, angle data, or multipath component data. For details, please refer to the corresponding description above.

[0279] The target types corresponding to the first perception task include one or more of the following: static targets, quasi-static targets, slow-moving targets, or fast-moving targets. For specific details, please refer to the corresponding descriptions above. Furthermore, static targets move the slowest or remain stationary, while fast-moving targets move the fastest. Therefore, the first time-sensitive threshold for static targets can be greater than or equal to the first time-sensitive threshold for quasi-static targets, the first time-sensitive threshold for quasi-static targets can be greater than or equal to the first time-sensitive threshold for slow-moving targets, and the first time-sensitive threshold for slow-moving targets can be greater than or equal to the first time-sensitive threshold for fast-moving targets.

[0280] The perception task type corresponding to the first perception task includes one or more of the following: environment reconstruction task or object detection task. For details, please refer to the corresponding description above.

[0281] For example, if the perception scene corresponding to the first perception task is a static scene, the second perception node sends the first time-sensitive threshold corresponding to the static scene to the first perception node, and the data format of the third information is {the first time-sensitive threshold corresponding to the static scene, the identifier of the static scene}. If the perception task type corresponding to the first perception task is an environment reconstruction task, the second perception node sends the first time-sensitive threshold corresponding to the environment reconstruction task to the first perception node, and the data format of the third information is {the first time-sensitive threshold corresponding to the environment reconstruction task, the identifier of the environment reconstruction task}. If the perception target type corresponding to the first perception task is a low-speed moving target, and the perception data type corresponding to the first perception task is speed data, the second perception node sends the first time-sensitive threshold corresponding to the low-speed moving target and speed data to the first perception node, and the data format of the third information is {the first time-sensitive threshold corresponding to the low-speed moving target and speed data, the identifier of the low-speed moving target, the identifier of the speed data}.

[0282] One possible implementation is that the third information is pre-configured on the second sensing node, or the third information is specified in the protocol, or the third information is calculated by the second sensing node based on relevant algorithms or AI models. After obtaining the third information, the second sensing node can send it to the first sensing node.

[0283] For example, the second sensing node can be pre-configured with the timeliness thresholds shown in Table 2, or the protocol can specify the timeliness thresholds shown in Table 2, or the second sensing node can calculate the timeliness thresholds shown in Table 2. The second sensing node can select a first timeliness threshold from the timeliness thresholds shown in Table 2 based on one or more of the sensing scene, sensing data type, sensing target type, or sensing task type corresponding to the first sensing task, and send it to the first sensing node. For example, if the sensing scene corresponding to the first sensing task is a quasi-static scene, the sensing target type corresponding to the first sensing task is a static target, and the sensing task type corresponding to the first sensing task is an environment reconstruction task, then the first timeliness threshold is timeliness threshold c2.

[0284] Table 2

[0285] S302: The first sensing node determines whether to re-execute the first sensing task based on the third information.

[0286] One possible implementation is that the first sensing node obtains the timeliness / freshness of the first sensing data, and determines whether to re-execute the first sensing task based on the timeliness / freshness of the first sensing data and third-party information.

[0287] For example, the second sensing node sends timeliness information of the first sensing data to the first sensing node. This timeliness information indicates the timeliness or freshness of the first sensing data. The timeliness or freshness of the first sensing data can also be replaced by the degree of freshness of the first sensing data, which is an inherent attribute of the first sensing data itself. The timeliness information of the first sensing data can also be called the AoI information of the first sensing data. After receiving the aforementioned timeliness information, the first sensing node can obtain the timeliness / freshness of the first sensing data, and thus determine whether to re-execute the first sensing task based on the timeliness / freshness of the first sensing data and the third information.

[0288] One possible design is that if the timeliness of the first sensing data does not meet the requirement of the effective time of the first sensing data (i.e., the first timeliness threshold), the first sensing node determines to re-execute the first sensing task; or, if the timeliness of the first sensing data meets the requirement of the effective time of the first sensing data (i.e., the first timeliness threshold), the first sensing node determines not to re-execute the first sensing task.

[0289] As an example, the first timeliness threshold is a threshold based on a specific moment, and the timeliness of the first sensing data is represented by the moment the first sensing node receives / processes the first sensing data. In this case, the second sensing node may not need to send the timeliness information of the first sensing data.

[0290] If the timeliness of the first sensing data does not meet the validity period requirement, it can be understood that the time when the first sensing node receives / processes the first sensing data is greater than or equal to the first timeliness threshold. In this case, the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within its shelf life, so the first sensing node decides to re-execute the first sensing task. If the timeliness of the first sensing data meets the validity period requirement, it can be understood that the time when the first sensing node receives / processes the first sensing data is less than the first timeliness threshold. In this case, the first sensing data is valid, or the confidence level of the first sensing data is high, or the first sensing data is within its shelf life, so the first sensing node decides not to re-execute the first sensing task. The first sensing node can then perform further processing on the first sensing data, such as sensing data fusion.

[0291] As another example, the first timeliness threshold is a duration threshold, and the timeliness of the first sensing data is represented by the AoI information of the first sensing data. This AoI information indicates the AoI of the first sensing data. For example, the AoI information includes the time when the first sensing data was generated, or it includes the time when the first sensing data was generated and the time when the second sensing node sent the first sensing data. The first sensing node can determine the AoI of the first sensing data based on the aforementioned generation time and the time when the first sensing node receives / processes the first sensing data (e.g., equal to the difference between these two times); the first sensing node can also determine the AoI of the first sensing data based on the aforementioned generation time and the time when the second sensing node sent the first sensing data (e.g., equal to the difference between these two times). For yet another example, the AoI information includes a second duration, which is the duration between the aforementioned generation time and the time when the second sensing node sent the first sensing data. In this case, the second duration can be used as the AoI of the first sensing data. In this example, the second sensing node can send timeliness information of the first sensing data, which may include the aforementioned AoI information.

[0292] If the timeliness of the first sensing data does not meet the validity period requirement, it can be understood as the AoI of the first sensing data being greater than or equal to the first timeliness threshold. In this case, the first sensing data is invalid, or the confidence level of the first sensing data is low, or the first sensing data is not within its shelf life, so the first sensing node determines to re-execute the first sensing task. If the timeliness of the first sensing data meets the validity period requirement, it can be understood as the AoI of the first sensing data being less than the first timeliness threshold. In this case, the first sensing data is valid, or the confidence level of the first sensing data is high, or the first sensing data is within its shelf life, so the first sensing node determines not to re-execute the first sensing task.

[0293] In this application, when calculating the AoI of the first sensing data, the transmission delay of the first sensing data can be considered or not, without any restriction. Furthermore, the AoI of the first sensing data changes continuously from the generation of the first sensing data to the reception / processing of the first sensing node, while the first timeliness threshold can remain constant.

[0294] Referring to Figure 4, the second sensing node generates the first sensing data at time 401. At time 402 (the time the second sensing node sends the first sensing data), the AoI of the first sensing data is Δ1, where Δ1 is the difference between time 402 and time 401. Δ1 can be understood as the dwell time of the first sensing data at the second sensing node. The first sensing data arrives at node A at time 403. At this time, the AoI of the first sensing data is either Δ1 or (Δ1 + T1), where T1 is the transmission delay between the second sensing node and node A, such as the difference between time 403 and time 402. At time 404 (the time node A sends the first sensing data), the AoI of the first sensing data is (Δ1 + T2), where T2 = Δ2, or T2 = Δ2 + T1. Here, Δ2 is equal to the difference between time 404 and time 403, i.e., the dwell time of the first sensing data at node A. The first sensing data arrives at node B at time 405. At this time, the AoI of the first sensing data is (Δ1+T2) or (Δ1+T2+T3), where T3 is the transmission delay between node B and node A, such as the difference between time 405 and time 404.

[0295] Understandably, when the first sensing node is node A, the first sensing node determines whether to re-execute the first sensing task based on Δ1 or (Δ1+T1). When the first sensing node is node B, the first sensing node determines whether to re-execute the first sensing task based on (Δ1+T2) or (Δ1+T2+T3).

[0296] In this application, for nodes that generate sensing data (such as terminals or access network nodes), the residence time of sensing data at that node is affected by one or more of the following: sensing measurement configuration (such as measurement duration), transmission queuing, or hardware processing speed. For nodes that transmit sensing data (such as terminals, access network nodes, sensing network elements, or network elements in the core network), the residence time of sensing data at that node is affected by one or more of the following: transmission queuing or hardware processing speed.

[0297] One possible implementation is that, if the timeliness information of the first sensing data includes the AoI information of the first sensing data, after the first sensing node receives the timeliness information, it can determine the AoI of the first sensing data based on the timeliness information, and then determine whether to re-execute the first sensing task.

[0298] For example, referring to Figure 4, the second sensing node sends the first sensing data at time 402. The aforementioned timeliness information includes time 401, or may include Δ1. If the first sensing node is node A, then after receiving the timeliness information, node A can determine the AoI of the first sensing data as Δ1 or (Δ1+T1) based on the timeliness information. If the first sensing node is node B, then the first sensing data needs to be forwarded by node A before it can be received by node B. After receiving the first sensing data and its timeliness information, node A can send the first sensing data and the first timeliness information. The first timeliness information includes time 401, or may include (Δ1+T2). After receiving the first timeliness information, node B determines the AoI of the first sensing data as (Δ1+T2) or (Δ1+T2+T3) based on the first timeliness information.

[0299] Understandably, after receiving the third information, the first sensing node can directly determine whether to execute the first sensing task based on the first timeliness threshold. Alternatively, after receiving the third information, the first sensing node can modify (or update) the first timeliness threshold and determine whether to execute the first sensing task based on the modified (or updated) first timeliness threshold. For example, the first sensing node can modify (or update) the first timeliness threshold based on the timeliness requirements / requirements of the first sensing task for the sensing data.

[0300] Understandably, when the first sensing node decides to re-execute the first sensing task, it can re-trigger the first sensing task. For example, the first sensing node can send a fourth message to the third sensing node to request the execution of the first sensing task. The third sensing node and the second sensing node can be the same or different; there are no restrictions.

[0301] Furthermore, in this application, "determine whether to re-execute the first perception task" can be replaced with "determine whether to send the fourth information".

[0302] In one implementation, the first timeliness threshold is also used to perform sensor data fusion on the first sensor data. For example, the first sensor node can configure fusion weights for the first sensor data based on the AoI of the first sensor data and the first timeliness threshold, and perform sensor data fusion based on the fusion weights.

[0303] Understandably, the shorter the AoI (Aspect of Interest) of the first sensing data, or the smaller the AoI compared to the first timeliness threshold, the greater the weight assigned to the first sensing node for the first sensing data. Conversely, the longer the AoI of the first sensing data, or the greater the AoI compared to the first timeliness threshold, the smaller the weight assigned to the first sensing node for the first sensing data. This can improve the accuracy of the sensing results of the first sensing task.

[0304] Understandably, in the method shown in Figure 2, the second sensing node can also send the timeliness information of the first sensing data to the first sensing node, so that the first sensing node can configure the fusion weight for the first sensing data according to the aforementioned timeliness information and perform sensing data fusion based on the fusion weight.

[0305] Based on the method shown in Figure 3, the first sensing node can determine whether to re-execute the first sensing task according to the first timeliness threshold, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, and thus improving the user experience.

[0306] As shown in Figure 5, another communication method provided in this application may include the following steps:

[0307] S501: The first sensing node acquires the fifth information.

[0308] In this application, the fifth piece of information is used to indicate the timeliness / freshness requirements of the sensing data for the first sensing task. The relevant description of the first sensing task can be found in the corresponding description in the method shown in Figure 2, and will not be repeated here. The timeliness / freshness requirements of the sensing data for the first sensing task can be a time-related threshold, which this application names the second timeliness threshold. The fifth piece of information may include the second timeliness threshold.

[0309] For example, the second time-sensitive threshold represents the maximum AoI of the sensing data corresponding to the first sensing task. In other words, the AoI of the sensing data corresponding to the first sensing task should be less than or equal to the second time-sensitive threshold. The second time-sensitive threshold can also be called the maximum AoI value. The second time-sensitive threshold is used by the second sensing node to determine whether to re-execute the first sensing task.

[0310] The second timeliness threshold is a duration threshold, for example, the second timeliness threshold is 400 milliseconds. Alternatively, the second timeliness threshold is a time threshold, for example, the second timeliness threshold is a timestamp, such as 20250305-174103-100, or, for example, the second timeliness threshold is represented by the number of the time-domain resource.

[0311] One possible design is that the second timeliness threshold (i.e., the timeliness / freshness requirement of the sensing data for the first sensing task) is related to one or more of the following: the sensing scenario corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task. For a description of the sensing scenario, sensing data type, sensing target type, and sensing task type corresponding to the first sensing task, please refer to the corresponding descriptions above.

[0312] Understandably, objects change the slowest or not at all in static scenes, while they change the fastest in fast-changing scenes. Therefore, the second time-sensitive threshold corresponding to a static scene can be greater than or equal to the second time-sensitive threshold corresponding to a quasi-static scene, the second time-sensitive threshold corresponding to a quasi-static scene can be greater than or equal to the second time-sensitive threshold corresponding to a low-speed scene, and the second time-sensitive threshold corresponding to a low-speed scene can be greater than or equal to the second time-sensitive threshold corresponding to a fast-changing scene.

[0313] Similarly, static targets move the slowest or do not move at all, while fast-moving targets move the fastest. Therefore, the second time-sensitive threshold corresponding to a static target can be greater than or equal to the second time-sensitive threshold corresponding to a quasi-static target, the second time-sensitive threshold corresponding to a quasi-static target can be greater than or equal to the second time-sensitive threshold corresponding to a slow-moving target, and the second time-sensitive threshold corresponding to a slow-moving target can be greater than or equal to the second time-sensitive threshold corresponding to a fast-moving target.

[0314] One possible implementation is that the fifth information is pre-configured on the first sensing node, or the fifth information is specified in the protocol, or the fifth information is obtained by the first sensing node from other network elements. Other network elements include core network elements (such as application network elements, AF network elements, SF network elements, or sensing network elements), or servers that manage the first sensing task, etc.

[0315] For example, the first sensing node can be pre-configured with the timeliness thresholds shown in Table 3, or the protocol can specify the timeliness thresholds shown in Table 3, or the first sensing node can obtain the timeliness thresholds shown in Table 3 from other network elements. The first sensing node can select a second timeliness threshold from the timeliness thresholds shown in Table 3 based on one or more of the sensing scenario, sensing data type, sensing target type, or sensing task type corresponding to the first sensing task, and carry it in the fifth information. For example, if the sensing data type corresponding to the first sensing task is distance data, then the second timeliness threshold is timeliness threshold b5.

[0316] Table 3

[0317] S502: The first sensing node sends the fifth information to the second sensing node. Correspondingly, the second sensing node receives the fifth information from the first sensing node.

[0318] For example, if the perception scene corresponding to the first perception task is a quasi-static scene, then the data format of the fifth information is {the second time-sensitive threshold corresponding to the static scene, and the identifier of the static scene}. If the perception task type corresponding to the first perception task is an environment reconstruction task, then the data format of the fifth information is {the second time-sensitive threshold corresponding to the environment reconstruction task, and the identifier of the environment reconstruction task}. If the perception target type corresponding to the first perception task is a low-speed moving target, and the perception data type corresponding to the first perception task is speed data, then the data format of the fifth information is {the second time-sensitive threshold corresponding to the low-speed moving target and speed data, the identifier of the low-speed moving target, and the identifier of the speed data}.

[0319] S503: The second sensing node executes the first sensing task and obtains the first sensing data.

[0320] One possible implementation involves the first sensing node sending a second message to the second sensing node, requesting the second sensing node to perform the first sensing task. Upon receiving the second message, the second sensing node performs the first sensing task and obtains first sensing data. The first sensing data may include sensing data corresponding to the first sensing task, such as information about the scattering points measured by the second sensing node during the first sensing task.

[0321] Optionally, the second sensing node can periodically execute the first sensing task and report the obtained sensing data to the first sensing node.

[0322] In this application, the second sensing node can perform the first sensing task in either a single-station sensing mode or a dual-station sensing mode.

[0323] This application does not limit the execution order of S501 to S502 and S503. For example, S501 to S502 can be executed first, and then S503 can be executed, or S503 can be executed first, and then S501 to S502 can be executed, or S501 to S502 and S503 can be executed simultaneously.

[0324] S504: The second sensing node determines whether to re-execute the first sensing task based on the timeliness / freshness of the first sensing data and the fifth information.

[0325] One possible implementation is that if the timeliness / freshness of the first sensing data does not meet the timeliness / freshness requirements of the first sensing task, the second sensing node determines to re-execute the first sensing task; or, if the timeliness / freshness of the first sensing data meets the timeliness / freshness requirements of the first sensing task, the second sensing node determines not to re-execute the first sensing task.

[0326] In this application, the second timeliness threshold (or the timeliness / freshness requirement of the first sensing task for the sensing data) can be set for the first sensing node or for the second sensing node, as will be explained in detail below.

[0327] (1) The second time threshold is set for the second sensing node.

[0328] As an example, the second timeliness threshold is a duration threshold, and the timeliness / freshness of the first sensing data is represented by the AoI information of the first sensing data. This AoI information indicates the AoI of the first sensing data. For example, the AoI information includes the time when the first sensing data was generated and the time when the second sensing node sent the first sensing data. The second sensing node can determine the AoI of the first sensing data based on these two times (e.g., it is equal to the difference between these two times). Another example is that the AoI information includes a second duration, which is the duration between the aforementioned generation time and the time when the second sensing node sent the first sensing data. In this case, the second duration can be used as the AoI of the first sensing data.

[0329] If the timeliness / freshness of the first sensing data meets the timeliness / freshness requirements of the first sensing task, it can be understood as the AoI of the first sensing data being less than the second timeliness threshold, and the second sensing node determines not to re-execute the first sensing task. If the timeliness / freshness of the first sensing data does not meet the timeliness / freshness requirements of the first sensing task, it can be understood as the AoI of the first sensing data being greater than or equal to the second timeliness threshold, and the second sensing node determines to re-execute the first sensing task.

[0330] In this application, "AoI of the first sensing data is less than the second time-sensitive threshold" can be replaced with "AoI of the first sensing data is less than or equal to the second time-sensitive threshold"; "AoI of the first sensing data is greater than or equal to the second time-sensitive threshold" can be replaced with "AoI of the first sensing data is greater than the second time-sensitive threshold".

[0331] As another example, the second timeliness threshold is a threshold of time. The timeliness / freshness of the first sensing data is represented by the time when the second sensing node sends the first sensing data. If the timeliness / freshness of the first sensing data meets the timeliness / freshness requirements of the first sensing task, it can be understood that the time when the second sensing node sends the first sensing data is less than the second timeliness threshold, and the second sensing node determines not to re-execute the first sensing task. If the timeliness / freshness of the first sensing data does not meet the timeliness / freshness requirements of the first sensing task, it can be understood that the time when the second sensing node sends the first sensing data is greater than or equal to the second timeliness threshold, and the second sensing node determines to re-execute the first sensing task. Wherein, if the time when the second sensing node sends the first sensing data is less than the second timeliness threshold, it can be understood that the time when the second sensing node sends the first sensing data is earlier than the second timeliness threshold; if the time when the second sensing node sends the first sensing data is greater than the second timeliness threshold, it can be understood that the time when the second sensing node sends the first sensing data is later than the second timeliness threshold.

[0332] In this application, "the time when the second sensing node sends the first sensing data is less than the second time-limited threshold" can be replaced with "the time when the second sensing node sends the first sensing data is less than or equal to the second time-limited threshold"; "the time when the second sensing node sends the first sensing data is greater than or equal to the second time-limited threshold" can be replaced with "the time when the second sensing node sends the first sensing data is greater than the second time-limited threshold".

[0333] (2) The second time threshold is set for the first sensing node.

[0334] As an example, the second timeliness threshold is a duration threshold, and the timeliness / freshness of the first sensing data is represented by the AoI information of the first sensing data. This AoI information indicates the AoI of the first sensing data. For example, the AoI information includes the time when the first sensing data was generated and the time when the first sensing node received / processed the first sensing data. The second sensing node can determine the AoI of the first sensing data based on these two times (e.g., equal to the difference between these two times). Another example is that the AoI information includes a third duration, which is the duration between the aforementioned generation time and the time when the first sensing node received / processed the first sensing data. In this case, the third duration can be used as the AoI of the first sensing data. The aforementioned time when the first sensing node received / processed the first sensing data can be determined by the second sensing node based on the transmission delay between itself and the first sensing node, and the time when the second sensing node sent the first sensing data.

[0335] If the timeliness / freshness of the first sensing data meets the timeliness / freshness requirements of the first sensing task, it can be understood as the AoI of the first sensing data being less than the second timeliness threshold, and the second sensing node determines not to re-execute the first sensing task. If the timeliness / freshness of the first sensing data does not meet the timeliness / freshness requirements of the first sensing task, it can be understood as the AoI of the first sensing data being greater than or equal to the second timeliness threshold, and the second sensing node determines to re-execute the first sensing task.

[0336] As another example, the second timeliness threshold is a threshold based on a specific moment. The timeliness / freshness of the first sensing data is represented by the moment the first sensing node receives / processes the data. If the timeliness / freshness of the first sensing data meets the timeliness / freshness requirements of the first sensing task, it can be understood that the moment the first sensing node receives / processes the data is less than the second timeliness threshold, and the second sensing node determines not to re-execute the first sensing task. If the timeliness / freshness of the first sensing data does not meet the timeliness / freshness requirements of the first sensing task, it can be understood that the moment the first sensing node receives / processes the data is greater than or equal to the second timeliness threshold, and the second sensing node determines to re-execute the first sensing task.

[0337] In this application, "the time when the first sensing node receives / processes the first sensing data is less than the second time-limited threshold" can be replaced with "the time when the first sensing node receives / processes the first sensing data is less than or equal to the second time-limited threshold"; "the time when the first sensing node receives / processes the first sensing data is greater than or equal to the second time-limited threshold" can be replaced with "the time when the first sensing node receives / processes the first sensing data is greater than the second time-limited threshold".

[0338] One possible implementation is that when the second sensing node determines not to re-execute the first sensing task, it can send the first sensing data back to the first sensing node. Optionally, the first sensing data can be carried in an LPP message, an NRPPa message, or a UCI.

[0339] Optionally, the second sensing node sends the timeliness information of the first sensing data to the first sensing node, so that the first sensing node can determine the fusion weight based on the timeliness information and perform sensing data fusion according to the fusion weight. The description of the timeliness information of the first sensing data can be found in the corresponding description above.

[0340] One possible implementation is that when the second sensing node determines to re-execute the first sensing task, it re-executes the first sensing task to obtain third sensing data. Based on the timeliness of the third sensing data and a second timeliness threshold, it determines whether to re-execute the first sensing task. If the second sensing node determines not to re-execute the first sensing task, it sends the third sensing data to the first sensing node. If the second sensing node determines to re-execute the first sensing task, it continues executing the first sensing task until it determines not to re-execute the first sensing task based on the second timeliness threshold. Optionally, if the second sensing node repeatedly executes the first sensing task M times and still determines to re-execute the first sensing task, it sends a first indication message to the first sensing node to indicate that the first sensing task failed. M is an integer greater than 1.

[0341] Based on the method shown in Figure 5, the second sensing node can determine whether to re-execute the first sensing task according to the second timeliness threshold, thereby ensuring the timeliness of the sensing data corresponding to the first sensing task, making the sensing results obtained from the sensing data more accurate, and thus improving the user experience.

[0342] It is understandable that the methods shown in Figure 2, Figure 3, and Figure 5 can be combined with each other.

[0343] Taking the combination of the methods shown in Figure 2 and Figure 3 as an example, S301 to S302 can be executed after S203. Taking the combination of the methods shown in Figure 2 and Figure 5 as an example, in the method shown in Figure 2, the first sensing node sends not only the second information to the second sensing node but also a fifth information. After S203, the second sensing node executes S504. Taking the combination of the methods shown in Figure 3 and Figure 5 as an example, in the method shown in Figure 5, if the second sensing node determines not to re-execute the first sensing task, it can send the first sensing data and the third information to the first sensing node. After receiving the third information, the first sensing node determines whether to re-execute the first sensing task based on the third information.

[0344] To better understand the method provided in this application, the following describes the communication method provided in this application by combining the methods shown in Figure 2, Figure 3, and Figure 5 as examples.

[0345] As shown in Figure 6, another communication method provided in this application may include the following steps:

[0346] S601: The first sensing node acquires the first information and the fifth information.

[0347] The specific process of S601 is similar to that of S201 and S501, and you can refer to the corresponding descriptions in S201 and S501.

[0348] In one implementation, the second time threshold is time 1 or the first duration in the method shown in Figure 2.

[0349] S602: The first sensing node sends second and fifth information to the second sensing node. Correspondingly, the second sensing node receives the second and fifth information from the first sensing node.

[0350] The specific process of S602 is similar to that of S202 and S502, and you can refer to the corresponding descriptions in S202 and S502.

[0351] In one implementation, the fifth information is carried within the second information.

[0352] S603: The second sensing node executes the first sensing task and obtains the first sensing data.

[0353] S604: The second sensing node determines whether to re-execute the first sensing task based on the timeliness / freshness of the first sensing data and the fifth information.

[0354] The specific processes of S603 to S604 are similar to those of S503 to S504, and you can refer to the corresponding descriptions in S503 to S504.

[0355] S605: Without re-executing the first sensing task, the second sensing node sends the first sensing data and the third information to the first sensing node. Correspondingly, the first sensing node receives the first sensing data and the third information from the second sensing node.

[0356] S606: The first sensing node determines whether to re-execute the first sensing task based on the timeliness of the first sensing data and the third information.

[0357] The specific processes of S605 to S606 are similar to those of S301 to S302, and you can refer to the corresponding descriptions in S301 to S302.

[0358] The above mainly describes the solution provided in this application from the perspective of interaction between various network elements. Accordingly, this application also provides a communication device, which can be the first sensing node in the above method embodiment, or a device including the first sensing node, or a component that can be used in the first sensing node; or, the communication device can be the second sensing node in the above method embodiment, or a device including the second sensing node, or a component that can be used in the second sensing node.

[0359] Figure 7 illustrates a possible exemplary block diagram of the communication device involved in the embodiments of this application. As shown in Figure 7, the communication device 70 may include modules or units for implementing the method embodiments described above. In one possible design, the communication device 70 includes a processing module 701 and a communication module 702. The processing module 701, also referred to as a processing unit, is used to perform operations other than transmission and reception operations, and may be, for example, a processing circuit or a processor. The communication module 702, also referred to as an interface unit, is used to perform transmission and reception operations, and may be, for example, an interface circuit, a transceiver, a transceiver unit, or a communication interface.

[0360] In some embodiments, the communication device 70 may further include a storage module (not shown in FIG7) for storing one or more of program instructions, program code or data.

[0361] In some embodiments, the communication device 70 may further include an AI module (not shown in FIG. 7) for implementing AI-related functions. The AI ​​module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI ​​module includes a RIC module. Optionally, the AI ​​module and the storage module are integrated into one module, or the AI ​​module and the processing module 701 are integrated into one module.

[0362] For example, the communication device 70 may be the first sensing node or a module (e.g., circuit, chip, or chip system) in the method shown in FIG2 above.

[0363] For example, in one embodiment, processing module 701 is used to acquire first information. For example, processing module 701 can be used to execute S201.

[0364] The communication module 702 is used to send second information based on the first information. For example, the communication module 702 can be used to execute S202.

[0365] Alternatively, for example, the communication device 70 may be the second sensing node or a module (e.g., a circuit, chip, or chip system) in the method shown in FIG2 above.

[0366] For example, in one embodiment, the communication module 702 is used to receive second information. For example, the communication module 702 can be used to perform S202.

[0367] Processing module 701 is used to perform a first sensing task based on the second information. For example, processing module 701 can be used to execute S203.

[0368] Alternatively, for example, the communication device 70 may be the first sensing node or a module (e.g., circuit, chip, or chip system) in the method shown in FIG3 above.

[0369] For example, in one embodiment, the communication module 702 is used to receive third information from the second sensing node. For example, the communication module 702 can be used to perform S301.

[0370] Processing module 701 is used to determine whether to re-execute the first sensing task based on the third information. For example, processing module 701 can be used to execute S302.

[0371] Alternatively, for example, the communication device 70 may be the second sensing node or a module (e.g., circuit, chip, or chip system) in the method shown in FIG3 above.

[0372] For example, in one embodiment, processing module 701 is used to obtain third information.

[0373] The communication module 702 is used to send third information to the first sensing node. For example, the communication module 702 can be used to execute S301.

[0374] Alternatively, for example, the communication device 70 may be the first sensing node or a module (e.g., circuit, chip, or chip system) in the method shown in FIG5 above.

[0375] For example, in one embodiment, processing module 701 is used to obtain fifth information. For example, processing module 701 can be used to execute S501.

[0376] The communication module 702 is used to send the fifth information to the second sensing node. For example, the communication module 702 can be used to execute S502.

[0377] Alternatively, for example, the communication device 70 may be the second sensing node or a module (e.g., circuit, chip, or chip system) in the method shown in FIG5 above.

[0378] For example, in one embodiment, the communication module 702 is used to receive fifth information from the first sensing node. For example, the communication module 702 can be used to execute S502.

[0379] The processing module 701 is used to perform the first sensing task and obtain the first sensing data. For example, the processing module 701 can be used to execute S503.

[0380] The processing module 701 is also configured to determine whether to re-execute the first sensing task based on the timeliness of the first sensing data and the fifth information. For example, the processing module 701 can be used to execute S504.

[0381] It is understood that the division of units in the above-described device is merely a logical functional division. One function can correspond to one functional unit, or two or more functions can be integrated into one functional unit. In actual implementation, all or some units can be integrated onto a single physical entity, or distributed across different physical entities. Furthermore, the aforementioned functional units can be implemented in hardware, software, or a combination of both. Whether a function is executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for specific applications, but such implementations should not be considered beyond the scope of this application.

[0382] It is understood that one or more of the above modules or units can be implemented by software, hardware, or a combination of both. When any of the above modules or units are implemented by software, the software exists as computer program instructions and is stored in memory. The processor can be used to execute the program instructions and implement the above method flow. The processor can be built into a system-on-a-chip (SoC) or an application-specific integrated circuit (ASIC), or it can be a stand-alone semiconductor chip. In addition to the core that executes software instructions for computation or processing, the processor may further include necessary hardware accelerators, such as field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), or logic circuits that implement dedicated logic operations.

[0383] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a central processing unit (CPU), microprocessor, digital signal processing (DSP) chip, microcontroller unit (MCU), artificial intelligence processor, ASIC, SoC, FPGA, PLD, application-specific digital circuit, hardware accelerator, or non-integrated discrete device, which can run the necessary software or perform the above method flow independently of software.

[0384] In specific implementations, the first sensing node or the second sensing node in the above embodiments can adopt the composition structure shown in FIG8, or include the components shown in FIG8. FIG8 is a schematic diagram of the hardware structure of a communication device applicable to this application. It is understood that the communication device 80 includes means of necessary forms such as modules, units, elements, circuits, or interfaces, which are appropriately configured together to execute the solution provided in this application. For example, the communication device 80 includes one or more processors 801 for implementing the method provided in this application.

[0385] Processor 801 can be a general-purpose processor or a dedicated processor. For example, processor 801 can be a baseband processor or a CPU. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 80 (such as a first sensing node, a second sensing node, or a chip), execute software programs, and process the data of the software programs. Optionally, in one design, processor 801 may include program 805 (sometimes also referred to as code or instructions), which can be run on processor 801 to cause the communication device 80 to perform the methods described in the above embodiments. In yet another possible design, communication device 80 includes circuitry (not shown in FIG8) for implementing the functions of the first sensing node or the second sensing node in the above embodiments.

[0386] Optionally, the communication device 80 may include one or more memories 803. The memory 803 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM), cache, or other type of dynamic storage device capable of storing information and instructions. It may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory provided in this application may generally be non-volatile. Optionally, the memory 803 stores a program 807 (sometimes referred to as code or instructions), which can be run on the processor 801 to cause the communication device 80 to perform the methods described in the above method embodiments.

[0387] Optionally, the processor 801 may include an AI module 806, and / or the memory 803 may include an AI module 808. The aforementioned AI modules are used to implement AI-related functions. The AI ​​modules can be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a RIC module. For example, the AI ​​module can be a near real-time RIC or a non-real-time RIC.

[0388] Optionally, data may also be stored in the processor 801 and / or the memory 803. The processor 801 and the memory 803 may be configured separately or integrated together.

[0389] Optionally, the communication device 80 may also include a transceiver 802 and / or an antenna 804. The processor 801, sometimes referred to as a processing unit, controls the communication device 80. The transceiver 802, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to implement the transmission and reception functions of the communication device 80 via the antenna 804.

[0390] It is understood that the composition shown in Figure 8 does not constitute a limitation on the communication device. In addition to the components shown in Figure 8, the communication device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0391] In one example, the functional units in the communication device 70 may be one or more integrated circuits configured to implement the methods described above, such as: one or more ASICs, or one or more CPUs, one or more MCUs, one or more DSPs, or one or more FPGAs, or a combination of at least two of these integrated circuit forms. For example, the processing module 701 is configured as a processor 801, the communication module 702 is configured as a transceiver 802, and the storage module of the communication device 70 is configured as a memory 803.

[0392] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0393] Optionally, this application also provides a chip system, including: at least one processor and an interface, wherein the at least one processor is coupled to a memory via the interface, and when the at least one processor executes a computer program or instructions in the memory, the method in any of the above method embodiments is executed. In one possible implementation, the chip system further includes a memory. Optionally, the chip system may be composed of chips or may include chips and other discrete devices; this application does not specifically limit this.

[0394] Optionally, this application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. This program can be stored in the aforementioned computer-readable storage medium. When executed, the program can include the processes described in the above method embodiments. The computer-readable storage medium can be an internal storage unit of the communication device in any of the foregoing embodiments, such as the hard disk or memory of the communication device. The aforementioned computer-readable storage medium can also be an external storage device of the communication device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the communication device. Further, the aforementioned computer-readable storage medium can include both internal storage units and external storage devices of the communication device. The aforementioned computer-readable storage medium is used to store the aforementioned computer program and other programs and data required by the communication device. The aforementioned computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0395] Optionally, this application also provides a computer program product. All or part of the processes in the above method embodiments can be executed by a computer program instructing related hardware. This program can be stored in the above computer program product, and when executed, it can include the processes described in the above method embodiments.

[0396] Optionally, this application also provides computer instructions. All or part of the processes in the above method embodiments can be executed by computer instructions instructing related hardware (such as a computer, processor, first sensing node, or second sensing node, etc.). The program can be stored in the aforementioned computer-readable storage medium or the aforementioned computer program product.

[0397] Optionally, this application also provides a communication system, including: a first sensing node and a second sensing node as described in the above embodiments.

[0398] It is understood that the term "connection" in this application can refer to a direct connection or an indirect connection; furthermore, it can refer to an electrical connection or a communication connection. For example, the connection of two electrical components A and B can refer to a direct connection between A and B, or an indirect connection between A and B through other electrical components or connection media, enabling the transmission of electrical signals between A and B; similarly, the connection of two devices A and B can refer to a direct connection between A and B, or an indirect connection between A and B through other communication devices or communication media, enabling communication between A and B.

[0399] It is understood that the message names or parameter names between network elements in the above embodiments of this application are merely examples, and other names may be used in specific implementations. This application does not impose any specific limitations on these names. Furthermore, the terms "system" and "network" in this application can be used interchangeably.

[0400] It is understood that in this application, " / " can indicate that the objects before and after it are in an "or" relationship. For example, A / B can mean A or B. "And / or" can be used to describe three relationships between the related objects. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. Furthermore, expressions like "at least one of A, B, and C" or "at least one of A, B, or C" are generally used to indicate any of the following: A exists alone; B exists alone; C exists alone; A and B exist simultaneously; A and C exist simultaneously; B and C exist simultaneously; A, B, and C exist simultaneously. The above examples using three elements (A, B, and C) illustrate the optional entries for this item. When the expression contains more elements, its meaning can be obtained according to the aforementioned rules.

[0401] To facilitate the description of the technical solutions of this application, the terms "first" and "second" may be used to distinguish technical features with the same or similar functions. The terms "first" and "second" do not limit the number or execution order, nor do they imply that they are necessarily different. In this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" should not be construed as being more preferred or advantageous than other embodiments or design schemes. The use of "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0402] It is understood that the term "embodiment" used throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, various embodiments throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It is understood that in the various embodiments of this application, the sequence number of each process does not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application.

[0403] It is understood that in this application, "when," "under the circumstances," "if," and "if" all refer to the corresponding processing that will be carried out under certain objective circumstances, and are not time-limited, nor do they require that there must be a judgment action when implemented, nor do they imply any other limitations.

[0404] In this application, "simultaneously" can be understood as at the same point in time, within a period of time, or within the same cycle.

[0405] In this application, "greater than or equal to" can be replaced with "greater than" or "equal to"; "less than or equal to" can be replaced with "less than" or "equal to". For example, "A is greater than or equal to B" can be replaced with "A is greater than B" or "A is equal to B"; "A is less than or equal to B" can be replaced with "A is less than B" or "A is equal to B".

[0406] It is understood that some optional features in this application can be implemented independently in certain scenarios without relying on other features, such as the current solution upon which they are based, to solve the corresponding technical problems and achieve the corresponding effects. Alternatively, they can be combined with other features as needed in certain scenarios. Correspondingly, the apparatus provided in this application can also implement these features or functions, which will not be elaborated here.

[0407] It is understood that the same step or step with the same function or technical feature in this application can be referenced and learned from each other in different embodiments.

[0408] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0409] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0410] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0411] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, The method, applied to a first sensing node or a module within a first sensing node, includes: Receive first information, the first information being used to indicate a first capability, the first capability being used to characterize the timeliness of the sensing data acquired by the second sensing node; Based on the first information, a second information is sent, which instructs the second sensing node to perform a first sensing task.

2. The method according to claim 1, characterized in that, The method further includes: Receive third information, the third information being used to indicate the validity period of the first sensing data, the first sensing data including the sensing data corresponding to the first sensing task; Based on the third information, perform one or more of the following operations: Perform sensory data fusion on the first sensory data; or, Determine whether to send a fourth message, which is used to instruct the third sensing node to perform the first sensing task.

3. The method according to claim 2, characterized in that, Determining whether to send fourth information based on the third information includes: If the timeliness of the first sensed data does not meet the requirement of the effective time, the fourth information is sent.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: A fifth message is sent to the second sensing node, the fifth message being used to indicate the timeliness requirement of the first sensing task for the sensing data.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The timeliness information of the first sensing data is received. The first sensing data includes the sensing data corresponding to the first sensing task. The timeliness information of the first sensing data is used to indicate the timeliness of the first sensing data.

6. A communication method, characterized in that, The method, applied to a second sensing node or a module within a second sensing node, includes: Send first information to the first sensing node, the first information being used to indicate a first capability, the first capability being used to characterize the timeliness of the sensing data acquired by the second sensing node; Receive second information from the first sensing node, the second information being used to instruct the second sensing node to perform the first sensing task; The first perception task is performed based on the second information.

7. The method according to claim 6, characterized in that, The method further includes: A third message is sent, which is used to indicate the validity period of the first sensing data, the first sensing data including the sensing data corresponding to the first sensing task.

8. The method according to claim 7, characterized in that, The method further includes: If the timeliness of the first sensing data does not meet the requirement of the effective time, a fourth message is received, which is used to instruct the second sensing node to perform the first sensing task.

9. The method according to any one of claims 6 to 8, characterized in that, The method further includes: Receive fifth information from the first sensing node, the fifth information being used to indicate the timeliness requirement of the first sensing task for sensing data; Based on the fifth piece of information, determine whether to re-execute the first perception task.

10. The method according to claim 9, characterized in that, The step of determining whether to re-execute the first perception task based on the fifth information includes: If the timeliness of the first sensed data does not meet the timeliness requirement, determine to re-execute the first sensed task; or... If the timeliness of the first sensed data meets the timeliness requirement, it is determined not to re-execute the first sensed task; The first perception data includes the perception data corresponding to the first perception task.

11. The method according to any one of claims 6 to 10, characterized in that, The method further includes: The timeliness information of the first sensing data is sent. The first sensing data includes the sensing data corresponding to the first sensing task. The timeliness information of the first sensing data indicates the timeliness of the first sensing data.

12. The method according to any one of claims 1 to 11, characterized in that, The first capability is represented by the duration of time the sensed data remains at the second sense node.

13. The method according to any one of claims 1-12, characterized in that, The first capability relates to one or more of the following: perceiving the scene, perceiving the data type, perceiving the target type, or perceiving the task type.

14. The method according to claim 2, 3, 7 or 8, characterized in that, The validity period of the first sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

15. The method according to claim 4, 9, or 10, characterized in that, The timeliness requirement of the first sensing task for sensing data is related to one or more of the following: the sensing scene corresponding to the first sensing task, the sensing data type corresponding to the first sensing task, the sensing target type corresponding to the first sensing task, or the sensing task type corresponding to the first sensing task.

16. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 1 to 15.

17. A communication device, characterized in that, include: A processor coupled to a memory for storing a program or instructions which, when executed by the processor, cause the apparatus to perform the method as described in any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that, It includes a computer program or instructions that, when executed, cause a computer to perform the method as described in any one of claims 1 to 15.

19. A computer program product, characterized in that, It includes computer program code that, when run on a computer, causes the computer to perform the method of any one of claims 1 to 15.

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