WO2024022421A1 - 通信感知方法和装置 - Google Patents

通信感知方法和装置 Download PDF

Info

Publication number
WO2024022421A1
WO2024022421A1 PCT/CN2023/109487 CN2023109487W WO2024022421A1 WO 2024022421 A1 WO2024022421 A1 WO 2024022421A1 CN 2023109487 W CN2023109487 W CN 2023109487W WO 2024022421 A1 WO2024022421 A1 WO 2024022421A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensing
terminal device
request message
area information
sensing area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/109487
Other languages
English (en)
French (fr)
Inventor
朱方园
许胜锋
应江威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP23845628.9A priority Critical patent/EP4564861A1/en
Publication of WO2024022421A1 publication Critical patent/WO2024022421A1/zh
Priority to US19/037,400 priority patent/US20250175828A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H04W4/022—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences with dynamic range variability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Definitions

  • the embodiments of the present application relate to the field of communication, and more specifically, to a communication sensing method and device.
  • Wireless sensing technology analyzes the changes in wireless signals during the propagation process to obtain the characteristics of the signal propagation space (channel) to realize scene perception.
  • sensing capabilities have been derived from communication frequency bands, especially millimeter wave frequency bands.
  • the communication system can sense and identify specific areas, specific objects, or specific events. Utilizing the advantages of wide coverage, long-range coverage, large bandwidth, high precision, and low latency in communication networks, ultra-high sensing capabilities can be achieved. If the communication network uses this sensing capability as a new capability, it can solve the sensing needs in many scenarios.
  • a vehicle with terminal capabilities while a vehicle with terminal capabilities is driving, it can use its own sensing capabilities to perceive the surrounding small-scale environment, such as detecting surrounding traffic conditions. Due to the complex road environment or the target area in front being blocked by vehicles traveling in front, the terminal's perception of the surroundings has certain limitations.
  • Embodiments of the present application provide a communication sensing method and device, which obtains sensing area information through collaborative sensing between terminals, which can improve sensing efficiency and system sensing performance.
  • a communication sensing method is provided, which method can be executed by a first terminal device (for example, user equipment (UE1), UE1), or can also be executed by a chip or circuit for the first terminal device, This application does not limit this.
  • a first terminal device for example, user equipment (UE1), UE1)
  • UE1 user equipment
  • UE1 user equipment
  • UE1 user equipment
  • UE1 user equipment
  • UE1 user equipment
  • the method includes: a first terminal device sends a sensing measurement request message to a second terminal device, the sensing measurement request message is used to request the second terminal device to perform sensing measurement, and the sensing measurement request message includes sensing area information for the second terminal device to perform sensing measurement. ; The first terminal device obtains sensing data or sensing results, and the sensing data or sensing results are determined based on sensing measurements performed by the second terminal device.
  • the target sensing area information includes the target sensing area size and/or the target sensing direction
  • the sensing area information for the second terminal device to perform sensing measurement includes the sensing area size and/or direction for the second terminal device to perform sensing measurement.
  • the sensing area information for the second terminal device to perform sensing measurements can be determined based on the target sensing information, and then the sensing data or sensing results determined based on the sensing measurements performed by the second terminal device can be obtained, through the communication between the terminal devices.
  • Collaborative sensing obtains sensing information in a specific sensing area, such as a specific distance and/or a specific direction, to improve sensing efficiency and system sensing performance.
  • the first terminal device obtains the target sensing area information; the first terminal device determines the sensing area information for the second terminal device to perform sensing measurement according to the target sensing area information.
  • the size and/or direction of the sensing area where the second terminal device performs sensing measurement may be exactly the same as the size and/or the target sensing direction of the target sensing area, or may be different, which is not specifically limited in this application. If they are different, the first terminal device can request multiple second terminal devices to respectively perform sensing measurements by sending sensing measurement request messages to multiple second terminal devices, so that the first terminal device finally obtains the size and/or direction of the target sensing area. Corresponding sensing data or sensing results.
  • the first terminal device determines the sensing area information for the second terminal device to perform sensing measurement according to the target sensing area information, including: the first terminal device determines the sensing area information for the second terminal device to perform sensing measurement according to the first terminal device and The distance between the second terminal devices and the target sensing area information determine the sensing area information for the second terminal device to perform sensing measurement.
  • the distance between the first terminal device and the second terminal device and the target sensing area information are combined to determine the sensing area information for the second terminal device to perform sensing measurement, and then the sensing measurement determination based on the second terminal device can be obtained.
  • Perceptual data or perceptual results Taking the position information between terminal devices into consideration to determine the size and/or direction of the sensing area, more accurate sensing data or sensing results can be obtained.
  • the first terminal device obtains the target sensing area information, including: the first terminal device receives a collaborative sensing request message from the application device, and the collaborative sensing request message includes the target sensing area. indication information of the information; the first terminal device determines the target sensing area information according to the indication information of the target sensing area information.
  • the first terminal device can determine the target sensing area and/or the target sensing direction according to the indication information of the target sensing area information, and further determine the area size and/or direction of the second terminal device sensing measurement, which is conducive to subsequent targeted to request the second terminal device to perform sensing measurement, thereby improving sensing efficiency and preventing the second terminal device from blindly performing sensing measurement.
  • the first terminal device before the first terminal device sends the perception measurement request message to the second terminal device, the first terminal device sends a discovery request message, and the discovery request message is used to request discovery of the third terminal device.
  • the discovery request message includes a discovery purpose, and the discovery purpose is used to indicate that the second terminal device supports collaborative sensing; correspondingly, the first terminal device receives a discovery response message from the second terminal device.
  • the first terminal device can determine one or more second terminal devices that are subsequently used to perform sensing measurements. That is, the second terminal device has sensing capabilities and supports collaborative sensing.
  • the auxiliary sensing measurement based on the second terminal device can realize the sensing measurement of the target sensing area and/or the target sensing direction, thereby improving the sensing efficiency and preventing the second terminal device from blindly performing sensing measurement.
  • the discovery request message further includes at least one or more items: location information of the first terminal device, distance requirements between the first terminal device and the second terminal device. Information or direction request information.
  • the terminal that receives the discovery request message can further determine whether it meets the requirements of the first terminal device, so as to better perform the sensing measurement operation in the future, which is conducive to improving efficiency and avoiding the blindness of the second terminal device. perform perceptual measurements.
  • the discovery response message includes location information of the second terminal device.
  • the first terminal device by providing the first terminal device with the location information of the second terminal device, it is convenient for the first terminal device to subsequently determine the distance between the two based on the location information of the two, and then request the second terminal device in a targeted manner.
  • Performing sensing measurements in a specific sensing area size and/or direction can help improve sensing efficiency and prevent the second terminal device from blindly performing sensing measurements.
  • the first terminal device before the first terminal device sends the perception measurement request message to the second terminal device, the first terminal device receives the first broadcast message from the second terminal device, and the first terminal device receives the first broadcast message from the second terminal device.
  • a broadcast message includes the sensing capability of the second terminal device and first indication information, and the first indication information is used to instruct the second terminal device to support collaborative sensing.
  • a terminal device with sensing capabilities can send a first broadcast message to other surrounding terminals, such as a first terminal device, to inform the first terminal device that it has sensing capabilities and supports collaborative sensing with other UEs, so that the first terminal device can
  • a second terminal device is determined from these terminal devices based on the distance relationship to perform subsequent sensing operations.
  • the first broadcast message further includes location information of the second terminal device.
  • the first terminal device by providing the first terminal device with the location information of the second terminal device, it is convenient for the first terminal device to subsequently determine the distance between the two based on the location information of the two, and then request the second terminal device in a targeted manner.
  • Performing sensing measurements in a specific sensing area size and/or direction can help improve sensing efficiency and prevent the second terminal device from blindly performing sensing measurements.
  • the first terminal device determines the distance between the first terminal device and the second terminal device according to the location information of the second terminal device.
  • the first terminal device can specifically request the second terminal device to perform sensing measurements in a specific sensing area size and/or direction, which can It is beneficial to improve the sensing efficiency and prevent the second terminal device from blindly performing sensing measurements.
  • a communication sensing method is provided.
  • the method can be executed by a second terminal device (for example, UE2), or can also be executed by a chip or circuit for the second terminal device.
  • UE2 for example, UE2
  • This application does not limit this.
  • the following description takes execution by the second terminal device as an example.
  • the method includes: the second terminal device receives a sensing measurement request message from the first terminal device, the sensing measurement request message is used to request the second terminal device to perform sensing measurement, and the sensing measurement request message includes a sensing area in which the second terminal device performs sensing measurement. information; The second terminal device performs sensing measurement according to the sensing measurement request message.
  • the second terminal device performs a sensing operation based on the sensing area information carried by the second terminal device in the sensing measurement request message, thereby causing the first terminal device to obtain sensing data or sensing results through multiple Collaborative sensing between terminal devices can obtain target sensing area information and improve sensing efficiency and system sensing performance.
  • the second terminal device sends sensing data or sensing results to the first terminal device, wherein the sensing data or sensing results are determined based on sensing measurements performed by the second terminal device. of.
  • the second terminal device can obtain sensing data or sensing results in a spontaneous and self-receiving sensing mode, and report them to the first terminal device.
  • the second terminal device can send a sensing signal in a self-receiving sensing mode, so that the first terminal device receives the reflected echo signal, and then processes the reflected echo signal to obtain sensing data or sensing results.
  • Target sensing area information can be obtained through collaborative sensing between multiple terminal devices, which is beneficial to improving sensing efficiency and system sensing performance.
  • the second terminal device before the second terminal device receives the perception measurement request message from the first terminal device, the second terminal device receives a discovery request message from the first terminal device, and discovers The request message is used to request discovery of the second terminal device.
  • the discovery request message includes a discovery purpose, and the discovery purpose is used to indicate that the second terminal device supports the cooperative sensing operation; the second terminal device sends a discovery response message to the first terminal device.
  • the first terminal device can determine one or more second terminal devices that are subsequently used to perform sensing measurements. That is, the second terminal device has sensing capabilities and supports collaborative sensing.
  • the auxiliary sensing measurement based on the second terminal device can realize the sensing measurement of the target sensing area and/or the target sensing direction, thereby improving sensing efficiency.
  • the discovery request message further includes at least one or more items: location information of the first terminal device, distance requirements between the first terminal device and the second terminal device. Information or direction request information.
  • the terminal that receives the discovery request message can further determine whether it meets the requirements of the first terminal device, so as to better perform subsequent sensing measurement operations and improve sensing efficiency.
  • the discovery response message includes location information of the second terminal device.
  • the first terminal device by providing the first terminal device with the location information of the second terminal device, it is convenient for the first terminal device to subsequently determine the distance between the two based on the location information of the two, and then request the second terminal device in a targeted manner.
  • Performing sensing measurements in a specific sensing area size and/or direction can help improve sensing efficiency and prevent the second terminal device from blindly performing sensing measurements.
  • the second terminal device before the second terminal device receives the perception measurement request message from the first terminal device, the second terminal device sends the first broadcast message to the first terminal device, and the second terminal device sends the first broadcast message to the first terminal device.
  • a broadcast message includes the sensing capability of the second terminal device and first indication information, and the first indication information is used to instruct the second terminal device to support collaborative sensing.
  • a terminal device with sensing capabilities can send a first broadcast message to other surrounding terminals, such as a first terminal device, to inform the first terminal device that it has sensing capabilities and supports collaborative sensing with other UEs, so that the first terminal device can
  • a second terminal device is determined from these terminal devices based on the distance relationship to perform subsequent sensing operations.
  • the first broadcast message further includes location information of the second terminal device.
  • the first terminal device by providing the first terminal device with the location information of the second terminal device, it is convenient for the first terminal device to subsequently determine the distance between the two based on the location information of the two, and then request the second terminal device in a targeted manner.
  • Performing sensing measurements on a specific sensing area can help improve sensing efficiency and prevent the second terminal device from blindly performing sensing measurements.
  • a communication sensing method is provided.
  • the method can be executed by the first terminal device (for example, UE1), or can also be executed by a chip or circuit used for the first terminal device.
  • This application does not limit this. .
  • the following description takes execution by the first terminal device as an example.
  • the method includes: a first terminal device sends a request message to a second terminal device, the request message is used to request to obtain sensing data, the request message includes sensing area information corresponding to the sensing data to be requested; the first terminal device receives a message from the second terminal device. sensing data.
  • the first terminal device does not need to trigger the second terminal device to perform sensing measurements, but directly sends a request to obtain sensing data to the second terminal device, reducing process complexity and improving sensing efficiency and sensing performance.
  • the second terminal device supports sensing measurement within a range of 50 meters directly in front of it.
  • the first terminal device obtains the target sensing area information; the first terminal device determines the sensing area corresponding to the sensing data to be requested from the second terminal device according to the target sensing area information. information.
  • the first terminal device determines the sensing area information corresponding to the sensing data to be requested from the second terminal device according to the target sensing area information, including: the first terminal device determines the sensing area information corresponding to the sensing data to be requested from the second terminal device according to the first terminal device.
  • a terminal device and a second terminal The distance between the devices and the target sensing area information determine the sensing area information corresponding to the sensing data to be requested from the second terminal device.
  • the sensing area information corresponding to the sensing data to be requested includes sensing area size and/or direction.
  • the first terminal device obtains the target sensing area information, including: the first terminal device receives a collaborative sensing request message from the application device, and the collaborative sensing request message includes the target sensing area. indication information of the information; the first terminal device determines the target sensing area information according to the indication information of the target sensing area information.
  • the first terminal device receives a second broadcast message from the second terminal device, the second broadcast message includes second indication information, and the second indication information is used to indicate the second
  • the second terminal device supports opening local sensing data to the outside world.
  • the second broadcast message further includes location information of the second terminal device, and/or sensing area information corresponding to sensing data that supports external exposure.
  • the first terminal device may initiate a ranging process to obtain the distance between the second terminal device and the first terminal device for Subsequently, the first terminal device determines to request sensing area information corresponding to the sensing data from the second terminal device.
  • the specific implementation method of the Ranging process can refer to the existing technology, and for the sake of simplicity, it will not be described again here.
  • the first terminal device determines the distance between the first terminal device and the second terminal device according to the location information of the second terminal device.
  • a communication sensing method is provided.
  • the method can be executed by a second terminal device (for example, UE2), or can also be executed by a chip or circuit used for the second terminal device.
  • UE2 for example, UE2
  • This application does not limit this.
  • the following description takes execution by the second terminal device as an example.
  • the method includes: the second terminal device receives a request message from the first terminal device, the request message is used to request to obtain sensing data, the request message includes sensing area information corresponding to the sensing data to be requested; the second terminal device sends a request message to the first terminal device. Send sensing data.
  • the target sensing area information is obtained by the first terminal device.
  • the first terminal device receives a collaborative sensing request message from the application device.
  • the collaborative sensing request message includes the target sensing area information, or is used to indicate the target Information about the sensing area information, such as absolute coordinate values.
  • the first terminal device does not need to trigger the second terminal device to perform sensing measurements, but directly sends a request to obtain sensing data to the second terminal device, reducing process complexity and improving sensing efficiency and sensing performance.
  • the second terminal device performs sensing measurement and obtains sensing data and sensing area information corresponding to the sensing data; the second terminal device sends the second terminal device to the first terminal device.
  • broadcast message includes second indication information and sensing area information corresponding to the sensing data.
  • the second indication information is used to instruct the second terminal device to support sending sensing data to the first terminal device.
  • the second broadcast message further includes location information of the second terminal device, and/or sensing area information corresponding to sensing data that supports external exposure.
  • a communication sensing device including: a transceiver unit, configured to send a sensing measurement request message to a second terminal device, the sensing measurement request message being used to request the second terminal device to perform sensing measurement, and the sensing measurement request message includes: The sensing area information of the second terminal device performing sensing measurement; the acquisition unit is used to obtain sensing data or sensing results, and the sensing data or sensing results are determined based on the sensing measurement performed by the second terminal device.
  • the transceiver unit may perform the processing of receiving and transmitting in the foregoing first or third aspect, and the processing unit may perform other processing in addition to receiving and transmitting in the foregoing first or third aspect.
  • a communication sensing device including: a transceiver unit, configured to receive a sensing measurement request message from a first terminal device, the sensing measurement request message being used to request a second terminal device to perform sensing measurement, the sensing measurement request message It includes sensing area information for the second terminal device to perform sensing measurement; a processing unit configured to perform sensing measurement according to the sensing measurement request message.
  • the transceiver unit may perform the processing of receiving and transmitting in the aforementioned second or fourth aspect, and the processing unit may perform other processing in addition to receiving and transmitting in the aforementioned second or fourth aspect.
  • a communication sensing device including a processor and a memory.
  • a transceiver may also be included.
  • the memory is used to store computer programs
  • the processor is used to call and run the computer programs stored in the memory, and control the transceiver to send and receive signals, so that the communication device performs the method of any one of the first to fourth aspects, or Any of the first to fourth aspects any possible implementation of the above.
  • a communication device including a processor and a communication interface.
  • the communication interface is used to receive data and/or information and transmit the received data and/or information to the processor.
  • the processor processes the data and/or Information, and the communication interface is also used to output data and/or information processed by the processor, so as to achieve the method of any one of the first to fourth aspects, or any one of the first to fourth aspects. Methods in any possible implementation of the aspect are executed.
  • a computer-readable storage medium is provided.
  • Computer instructions are stored in the computer-readable storage medium.
  • the method of any one of the first to fourth aspects is performed, or The method in any possible implementation manner of any one of the first to fourth aspects is executed.
  • a computer program product includes computer program code.
  • the computer program product includes computer program code.
  • the method of any one of the first to fourth aspects, or the first aspect to The method in any possible implementation of any aspect of the fourth aspect is executed.
  • An eleventh aspect provides a wireless communication system, including one or more of the first terminal device and the second terminal device involved in the method of any one of the first to fourth aspects.
  • Figure 1 is a schematic diagram of a network architecture applicable to this application.
  • FIG. 2 is a schematic diagram of a network architecture for sensing communication applicable to this application.
  • Figure 3 is a schematic diagram of a sensing scenario provided by an embodiment of the present application.
  • FIG. 4 is a flow example diagram of the first communication sensing method provided by the embodiment of the present application.
  • FIG. 5 is a flow example diagram of the second communication sensing method provided by the embodiment of the present application.
  • FIG. 6 is a flow example diagram of the third communication sensing method provided by the embodiment of the present application.
  • FIG. 7 is a flow example diagram of the fourth communication sensing method provided by the embodiment of the present application.
  • FIG. 8 is a flow example diagram of the fifth communication sensing method provided by the embodiment of the present application.
  • FIG. 9 is a flow example diagram of the sixth communication sensing method provided by the embodiment of the present application.
  • Figure 10 is a schematic structural diagram of a communication sensing device provided by an embodiment of the present application.
  • Figure 11 is a schematic structural diagram of another communication sensing device provided by an embodiment of the present application.
  • the technical solution provided by this application can be applied to various communication systems, such as: new radio (NR) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system , LTE time division duplex (TDD) system, etc.
  • NR new radio
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD time division duplex
  • D2D device-to-device
  • V2X vehicle-to-everything
  • M2M machine-to-machine
  • MTC machine type Communication
  • IoT Internet of Things
  • the part operated by the operator can be called the public land mobile network (PLMN), or the operator network, etc.
  • PLMN is a network established and operated by the government or its approved operators for the purpose of providing land mobile communication services to the public. It is mainly a public network where mobile network operators (MNOs) provide mobile broadband access services to users. .
  • MNOs mobile network operators
  • the PLMN described in the embodiments of this application may specifically be a network that meets the standard requirements of the 3rd generation partnership project (3GPP), referred to as a 3GPP network.
  • 3GPP networks generally include but are not limited to fifth-generation mobile communications (5th-generation, 5G) networks, fourth-generation mobile communications (4th-generation, 4G) networks, and other future communication systems, such as (6th-generation, 6G) Network etc.
  • 5G networks With the upgrading of mobile communication technology, 5G networks will be constructed in a flexible and efficient manner. 5G networks can use communication awareness capabilities as a new capability. For the convenience of description, the system architecture of the 5G network is taken as an example.
  • Figure 1 is a schematic diagram of a network architecture 100 applicable to the present application.
  • (a) of Figure 1 is a schematic diagram of a 5G network architecture based on a point-to-point interface.
  • the network architecture may include but is not limited to the following network elements (also known as functional network elements, functional entities, nodes, devices, etc.): user equipment (UE), (wireless) access network equipment (radio access network, ( R)AN), user plane functions (user plane function, UPF) network element, data network (DN), access and mobility management function (AMF) network element, session management function (SMF) network element , policy control function (PCF) network element, application function (AF) network element, network slice selection function (NSSF), authentication server function (AUSF), unified Data management (unified data management, UDM) network element, network exposure function (NEF) network element, unified data repository (UDR) network element, etc.
  • UE user equipment
  • UPF user plane functions
  • DN data network
  • AMF
  • a terminal that communicates with (R)AN can also be called terminal equipment, access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT) , remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device, etc.
  • the terminal device may have sensing capabilities.
  • the RF module of an end device can send RF signals and then learn about the environment by receiving and processing the reflected signals. Therefore, in this application, the terminal device can also detect and/or collect sensing data.
  • RAN is used to provide network access functions for authorized terminal equipment in a specific area, and can use transmission tunnels of different qualities according to the level of the terminal equipment, business requirements, etc.
  • RAN can manage wireless resources, provide access services for terminal equipment, and then complete the forwarding of control signals and terminal equipment data between the terminal equipment and the CN.
  • RAN can also be understood as a base station in a traditional network. In this application, when the base station uses the millimeter wave frequency band for wireless communication, the base station will naturally have radar-like sensing capabilities, that is, the base station will have both wireless communication capabilities and sensing capabilities. Therefore, RAN can detect and/or collect sensory data.
  • the RAN in this application can also be called a communication radar integrated base station. It can not only achieve communication service coverage for ground users, but also achieve coverage for drones and helicopters. , birds and other flying targets, as well as the detection of ground traffic flow, pedestrians, etc.
  • UPF Including user plane functions such as data packet routing and transmission, data packet detection, business usage reporting, quality of service (QoS) processing, legal interception, uplink data packet detection, downlink data packet storage, etc.
  • QoS quality of service
  • DN used to provide a network for transmitting data.
  • the terminal device After the terminal device is connected to the network, it can establish a protocol data unit (PDU) session, access the DN through the PDU session, and interact with the application function network elements deployed in the DN.
  • PDU protocol data unit
  • the network can select the UPF of the access DN as the PDU Session Anchor (PSA) according to the network policy, and access the application function network element through the N6 interface of the PSA.
  • PSA PDU Session Anchor
  • AMF Mainly used for mobility management and access management, etc., and can be used to implement other functions besides session management in the mobility management entity (MME) function, such as legal monitoring and access. Authorization/authentication and other functions.
  • MME mobility management entity
  • SMF Mainly used for session management, network interconnection protocol (IP) address allocation and management of terminal equipment, selection of endpoints for manageable terminal equipment plane functions, policy control and charging function interfaces, and downlink data notifications, etc. .
  • IP network interconnection protocol
  • PCF A unified policy framework used to guide network behavior, providing policy rule information for control plane functional network elements (such as AMF, SMF network elements, etc.).
  • Application function network elements can interact with the 5G system through application function network elements, and are used to access network open function network elements or interact with the policy framework for policy control, etc.
  • NSSF Mainly includes the following functions: selecting a set of network slice instances for the UE, determining the allowed network slice selection assistance information (NSSAI), and determining the set of AMFs that can serve the UE.
  • NSSAI network slice selection assistance information
  • AUSF used for authentication services, generating keys to implement two-way authentication of terminal devices, and supporting a unified authentication framework.
  • UDM/UDR used to process terminal device identification, access authentication, registration and mobility management, etc., which can refer to the user database. Can exist as a single logical repository for storing user data.
  • NEF used to provide customized functions for network opening.
  • the 5G communication system can also open the capabilities supported by 5GC to external application function network elements through NEF network elements, such as providing small data transmission capabilities.
  • NF can be implemented by hardware or software.
  • Figure 1 (b) is a schematic diagram of the 5G network architecture based on service-based interfaces.
  • the network architecture may include but is not limited to the following network elements (also called functional network elements, functional entities, nodes, devices, etc.): UE, (R)AN, UPF network element, DN, AMF network element, SMF network element, PCF Network elements, AF network elements, NSSF network elements, AUSF network elements, UDM network elements, NEF network elements, UDR network elements, etc.
  • the introduction of the functions of each network element can refer to the introduction of the corresponding network element functions in (a) of Figure 1, and will not be described again here.
  • Nnssf, Nnef, Nnrf, Npcf, Nudm, Nudr, Naf, Nausf, Namf, Nsmf, N1, N2, N3, N4, N6 and N9 are interface serial numbers.
  • the meaning of the above interface serial number may refer to the meaning defined in the 3GPP standard protocol. This application does not limit the meaning of the above interface serial number.
  • the interface names between the various network functions in (a) and (b) of Figure 1 are just an example. In specific implementation, the interface names of the system architecture may also be other names. This application is This is not a limitation.
  • the names of the messages (or signaling) transmitted between the various network elements are only examples and do not constitute any limitation on the function of the messages themselves.
  • the above network architecture is only an example of a network architecture described from the perspective of a service-oriented architecture.
  • the network architecture applicable to the embodiments of the present application is not limited to this. Any network architecture that can realize the functions of each of the above network elements is applicable to this application.
  • the communication sensing method provided by the embodiment of the present application may also involve network elements not shown in Figure 1.
  • the communication sensing method provided by the embodiment of the present application may also include only some of the network elements shown in Figure 1.
  • the network architecture 100 may also include a location management service function (LMF) network element, which is used to initiate the positioning process of the terminal device and obtain the location information of the terminal device.
  • LMF location management service function
  • the network architecture 100 may also include a sensing network element, which is responsible for enabling end-to-end sensing services.
  • the sensing network element obtains the sensing demand based on the internal needs of the network or the demand side of the sensing service. After the sensing network element obtains the sensing requirement, it triggers the access network device or terminal device to detect and/or collect sensing data.
  • the sensing network element can communicate with other network elements, such as RAN, AMF, SMF, LMF and other network elements.
  • the sensing network element can be one of the network elements of the 5G core network (5G core, 5GC). Alternatively, the sensing network element may also be a non-core network element. Alternatively, sensing network elements can be deployed independently. Alternatively, the sensing network element can also be a sub-network element or module in the 5GC network element. For example, the sensing network element can be deployed jointly with the AMF, UPF, SMF or LMF network element, which is not specifically limited in this application.
  • FIG. 2 is a schematic diagram of a network architecture 200 for cognitive communication applicable to the present application.
  • the network architecture 200 includes a sensing network element (for example, a sensing function network element (SF)), at least one RAN network element with sensing capability, and at least one UE with sensing capability.
  • a sensing network element for example, a sensing function network element (SF)
  • SF sensing function network element
  • the sensing network element 210 is responsible for enabling end-to-end sensing services.
  • the sensing network element 210 may obtain the sensing demand based on the internal needs of the network or based on the demands of the demander of the sensing service. After the sensing network element 210 obtains the sensing requirement, it triggers the RAN 220 and/or the RAN 230 to detect and/or collect sensing data. For example, the RAN 220 sends a sensing signal to the UE 240 and receives an echo signal from the UE 240, and/or the RAN 230 sends a sensing signal to the UE 250 and receives an echo signal from the UE 250. RAN 220 and RAN 230 respectively perform certain processing on the received echo signals to generate sensing data.
  • the echo signal refers to the reflected signal of the sensing signal passing through the object.
  • the RAN 220 and/or RAN 230 then respectively provide the sensing data to the sensing network element 210, and the sensing network element 210 provides sensing services to the demander based on the sensing data, such as AF, external application server (AS) or terminal equipment, etc. .
  • the sensing network element 210 can optimize the interior of the network based on the sensing data.
  • Figures 1 and 2 are only exemplary communication network architectures, which are not specifically limited by this application. Any network architecture that can realize the functions of each of the above network elements is suitable for the embodiments of this application.
  • electromagnetic waves propagate in space for signal transmission, and at the same time, they also carry environmental information. For example: If the Wi-Fi signal received by the mobile phone is weak, it may be because the mobile phone is far away from the wireless router; and if the Wi-Fi signal strength received by the mobile phone drops sharply, it may be because the mobile phone has entered some specific closed areas. Spaces such as elevators, etc.
  • RSSI received signal strength indicator
  • the location and environment of the mobile phone can be inferred.
  • the selection of signal features has a key impact on perception accuracy, reliability, model generalization ability, etc.
  • radar sensing is a relatively common wireless sensing technology. By analyzing the received target echo characteristics, it extracts and discovers the target's position, shape, motion characteristics and motion trajectory, and can further infer the characteristics of the target and the environment. feature.
  • the advantage of radar technology is the detection of motion. It uses the Doppler effect of the target echo to observe and interpret the target's motion status, such as the direction and speed of movement. When using multi-channel sensors, it can also be observed from different perspectives. target movement. By collecting the target's motion status from different perspectives and analyzing it by combining instantaneous information and historical information, complex motion can be distinguished.
  • 5G networks new network capability requirements based on perception are gradually emerging. For example, in certain scenarios of smart cities and smart transportation, the need to obtain information such as relative positions and angles between objects, and to perceive the distance, speed, and shape of target objects has gradually emerged. In order to meet these business needs, 5G networks should be further enhanced to have the ability to assist wireless networks in sensing. In the future, 5G can deploy radar communication integrated base stations to enhance the base station's sensing capabilities. The precise sensing capabilities of radar can enable precise communication and improve communication efficiency. For example, the communication resources and sensing resources of the base station are time-division multiplexed or space-division multiplexed to realize the perception of the surrounding environment or objects.
  • the sensing function can be used for detection in some security scenes where cameras cannot be installed. For example, in a specific industrial park, the intrusion of flying objects such as drones can be detected.
  • roadside stations can complete traffic flow statistics, vehicle navigation and other functions. These functions require roadside base stations to have certain sensing capabilities.
  • 5G terminals can also have perception capabilities to realize the perception of the surrounding environment or objects.
  • the terminal sends sensing measurement signals and collects sensing signals reflected on other objects in the surrounding environment.
  • This measurement mode can be called spontaneous self-receiving (i.e., UE sends, UE receives).
  • the terminal sends a sensing measurement signal, and other UEs collect sensing signals reflected on other objects in the surrounding environment.
  • This measurement mode can be called spontaneous other-receiving (i.e., the UE transmits and other UEs receive).
  • the vehicle as a UE can use a spontaneous and self-receiving method to perform perception of the small-scale environment around it, such as detecting the surrounding traffic conditions. Due to the complex road environment, the UE's own perception of the surroundings has certain limitations (for example, during driving, there may be obstructions in a certain direction around the vehicle). The UE can obtain the perception information of the surrounding environment with the help of other UEs.
  • sensing modes have different requirements for terminal capabilities.
  • different sensing modes can be used to perform sensing measurements of the surrounding environment.
  • Figure 3 is a schematic diagram of a sensing scenario provided by an embodiment of the present application.
  • the source UE (Source UE) is driving
  • the target area in front such as the road construction area
  • the vehicle driving in front candidate UE#2
  • the source UE may request other UEs (called candidate UEs) to assist the source UE in obtaining sensing information of the target area.
  • candidate UEs the distance between the source UE and the candidate UE may affect the direction in which the candidate UE performs sensing measurements.
  • the target area is located behind candidate UE#1, and candidate UE#1 needs to send the sensing information behind the vehicle to the source UE.
  • the target area is located in front of candidate UE#2, and candidate UE#2 needs to send the sensing information in front of the vehicle. to the source UE.
  • the source UE determines the situation of the target area based on the sensing information of candidate UE#1 and candidate UE#2.
  • this application provides a communication sensing method and device.
  • the source UE when the environment is occluded, the source UE needs to specifically discover candidate UEs related to the characteristic direction and/or specific distance of the target sensing area, and Obtain sensing data that satisfies the condition from the candidate UE. Since there are differences in distances between the source UE and different candidate UEs, the distance between the source UE and the candidate UEs needs to be combined to determine the direction of requesting different candidate UEs to perform sensing measurements.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • “And/or” describes the association of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the related objects are in an "or” relationship.
  • “At least one of the following” or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • At least one of a, b and c can mean: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a , b and c.
  • a, b and c can be single or multiple respectively.
  • for instructions may include for direct instructions and for indirect instructions.
  • indication information when describing that certain indication information is used to indicate A, it may include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A.
  • the instruction methods involved in the embodiments of this application should be understood to cover various methods that can enable the party to be instructed to obtain the information to be instructed.
  • the information to be instructed can be sent together as a whole, or can be divided into multiple sub-information and sent separately, and the sending cycle and/or sending timing of these sub-information can be the same or different. This application does not limit the specific sending method.
  • the “instruction information” in the embodiment of this application may be an explicit indication, that is, a direct indication through signaling, or may be obtained based on parameters indicated by signaling, combined with other rules or other parameters, or obtained through derivation. It can also be an implicit indication, that is, obtained based on rules or relationships, or based on other parameters, or derivation. This application does not specifically limit this.
  • protocol may refer to a standard protocol in the field of communication. For example, it may include 5G protocol, new radio (NR) protocol, and related protocols applied in future communication systems. This application refers to This is not limited.
  • Preconfigured may include predefined. For example, protocol definition. Among them, “pre-definition” can be realized by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device. This application does not limit its specific implementation method.
  • “storage” may refer to saving in one or more memories.
  • One or more memories may be provided separately, or may be integrated in an encoder or decoder, processor, or communication device.
  • One or more memories may be partially provided separately and partially integrated in the decoder, processor, or communication device.
  • the type of memory can be any form of storage medium, and this application is not limited thereto.
  • sensing data is also called sensing business data, sensing business data or sensing application data, etc.
  • Message A includes information a, which can also be expressed as message A includes information a, or message A carries information a.
  • Network element A determines or selects C based on message B, which can also be expressed as network element A determines or selects C based on message B. The description will not be repeated below.
  • FIG 4 is a schematic flowchart of the first communication sensing method 400 provided by the embodiment of the present application. As shown in Figure 4, the method includes the following steps.
  • the first terminal device sends a sensing measurement request message to the second terminal device.
  • the second terminal device receives the perception measurement request message from the first terminal device.
  • the sensing measurement request message is used to request the second terminal device to perform sensing measurement, and the sensing measurement request message includes sensing area information for the second terminal device to perform sensing measurement.
  • the sensing area information for the second terminal device to perform sensing measurement may include the size and/or sensing direction of the sensing area.
  • the first terminal device obtains the target sensing area information, and determines the sensing area information for the second terminal device to perform sensing measurement based on the target sensing area information.
  • the target sensing area information may include the size of the target sensing area and/or the target sensing direction.
  • the size of the target sensing area indicates the size of the environment range that needs to be sensed, and the target sensing direction indicates which direction of the environment needs to be sensed.
  • the first terminal device obtains the target sensing area information, including: the first terminal device receives a collaborative sensing request message from the application device, where the collaborative sensing request message includes indication information of the target sensing area information; The terminal device determines the target sensing area information according to the indication information of the target sensing area information.
  • the application device may send a collaborative sensing request message to the first terminal device to request the first terminal device to obtain environmental information.
  • the collaborative sensing request message also includes one or more of the following: delay information and sensing data reporting period.
  • the delay information may be used to indicate the latest time at which the first terminal device responds to the cooperative sensing request of the first terminal device.
  • the reporting period of sensing data is used to indicate the period in which the first terminal device obtains sensing data.
  • the above target sensing area information may be an explicit indication.
  • the indication information of the target sensing area information received by the first terminal device from the application layer is the size and/or the target sensing direction of the target sensing area; or, It may be an implicit indication, for example, the indication information of the target sensing area information carries information used to indicate the size of the target sensing area and/or the target sensing direction, such as reference coordinates or absolute coordinates of the geographical location, etc., and the first terminal device is based on the reference coordinates. Or the absolute coordinates of the geographical location can further determine the size of the target sensing area and/or the target sensing direction, which is not specifically limited in this application.
  • the application layer may use the first terminal device as a reference coordinate to determine the target sensing area and the target sensing direction. For example, when the first terminal device is used as the reference coordinate, an area in the left direction of the first terminal device with a size of 5 meters by 5 meters is used as the target sensing direction and the target sensing area.
  • the application layer can also determine the target sensing area and target sensing direction based on the absolute coordinates of the geographical location.
  • the target sensing area and target sensing direction are further indicated through a geographical coordinate system (such as longitude and latitude information) or absolute coordinate values.
  • the method for the first terminal device to determine the sensing area information for the second terminal device to perform sensing measurement based on the target sensing area information may be:
  • the first terminal device after the first terminal device obtains the target sensing area information, it does not need to process the target sensing area information locally and directly sends the target sensing area information to the third terminal device as sensing area information requesting the second terminal device to perform sensing measurement.
  • Terminal equipment After the first terminal device obtains the target sensing area information, it does not need to process the target sensing area information locally and directly sends the target sensing area information to the third terminal device as sensing area information requesting the second terminal device to perform sensing measurement.
  • the first terminal device obtains the target sensing area information, and the first terminal device determines that the second terminal device performs execution according to the distance between the first terminal device and the second terminal device and the target sensing area information. Perceptual area information for perceptual measurements.
  • the first terminal device may determine the distance between the first terminal device and the second terminal device based on the location information of the second terminal device and the location information of the first terminal device. It should be understood that the distance between the first terminal device and the second terminal device described in this application refers to the straight-line distance between the two, such as 100 meters.
  • the target sensing area information indicates that the environment that needs to be sensed is a range of 5 meters by 5 meters directly in front of the first terminal device, the distance between the second terminal device and the first terminal device is 10 meters, and the second terminal device If the device is located directly in front of the first terminal device, the size and/or direction of the area determined by the first terminal device to request the second terminal device to perform sensing measurement may be an area of 10 meters by 10 meters directly behind the second terminal device.
  • the target sensing area and the target sensing direction indicate that the environment that needs to be sensed is a range of 10 meters by 10 meters to the right of the first terminal device, and the two second terminal devices (UE2 and UE2') are respectively located at the first terminal.
  • the first terminal device determines that the size and/or direction of the area where UE2' performs sensing measurement can be an area range of 5 meters by 5 meters directly in front of UE2', thereby ensuring that the area range of the sensing measurement of the two second terminal devices is fully covered.
  • the target sensing area is not limited to 5 meters by 5 meters directly in front of UE2'.
  • the first terminal device can specifically determine perceptual area information for each second terminal device to perform perceptual measurement, wherein each second terminal device determines perceptual measurement.
  • the sensing area information of the sensing measurement can be the same or different.
  • the sensing measurement request message may also include a sensing mode, such as: terminal-autonomous sensing mode (UE based sensing mode): the second terminal device sends a sensing signal and receives a reflected echo signal (this mode may also be called UE based sensing mode).
  • UE based sensing mode terminal-autonomous sensing mode
  • the second terminal device sends a sensing signal and receives a reflected echo signal
  • this mode may also be called UE based sensing mode.
  • Spontaneous and self-receiving or multi-terminal collaborative sensing mode: the second terminal device sends a sensing signal, and the first terminal device receives reflected echo signals, etc. (this mode can also be called UE transmitting and other UE receiving).
  • multiple second terminal devices perform collaborative sensing operations and report sensing data to the first terminal device.
  • the sensing measurement request message may not carry the sensing mode; or, if the sensing mode is preconfigured, the sensing measurement request message may not carry the sensing mode.
  • the portability sensing mode is not specifically limited in this application.
  • the first terminal device before the first terminal device sends a perception measurement request message to the second terminal device, the first terminal device sends a discovery request message, and the discovery request message is used to request to discover the second terminal device.
  • the discovery request message The discovery purpose is included, and the discovery purpose is used to indicate that the second terminal device supports collaborative sensing; correspondingly, the first terminal device receives a discovery response message from the second terminal device.
  • the first terminal device may send a discovery request message in the target sensing direction.
  • the discovery request message may carry the discovery purpose and the requirement information for the sensing capability of the second terminal device.
  • the discovery request message requests that the discovered second terminal device has the ability to sense the surrounding environment within 100 meters, and supports performing cooperative sensing operations with other terminal devices.
  • the first terminal device may send discovery request messages in all directions. That is, the first terminal device broadcasts a discovery request message, and the discovery request message may carry the discovery purpose and the requirement information for the sensing capability of the second terminal device.
  • all terminals that receive the discovery request message can determine whether the conditions are met, that is, whether they have the ability to sense the surrounding environment within 100 meters, or whether they support the ability to sense collaboratively with other terminals. If satisfied, a discovery response message is sent to the first terminal device; otherwise, no response is required. That is to say, the terminal that sends the discovery response message is the second terminal device.
  • the discovery request message also includes at least one or more items: location information of the first terminal device, distance requirement information or direction requirement information between the first terminal device and the second terminal device.
  • the location information of the first terminal device can be represented by the absolute coordinates of the geographical location, or the geographical coordinate system (such as longitude and latitude information), or the absolute coordinate value, which is not specifically limited in this application.
  • the distance requirement information between the first terminal device and the second terminal device indicates that the distance between them is required to be less than 100 meters; or, the direction requirement information between the first terminal device and the second terminal device indicates that the distance between the first terminal device and the second terminal device is less than 100 meters.
  • the second terminal device needs to be located to the left of the first terminal device. For example, all terminals that receive the discovery request message can determine the distance or direction between themselves and the first terminal device based on their own location and the location of the first terminal device, and whether the first terminal device and the second terminal device carried in the discovery request message are satisfied. The distance between requires information or the direction requires information. If satisfied, respond to the first terminal device.
  • the discovery response message includes location information of the second terminal device.
  • the location information of the second terminal device can be represented by the absolute coordinates of the geographical location, or the geographical coordinate system (such as longitude and latitude information), or the absolute coordinate value, which is not specifically limited in this application.
  • the first terminal device can initiate a ranging process to obtain the distance between the second terminal device and the first terminal device for subsequent use.
  • the first terminal device specifically determines sensing area information for performing sensing measurement for the second terminal device.
  • the specific implementation method of the Ranging process can refer to the existing technology, and for the sake of simplicity, it will not be described again here.
  • the first terminal device before the first terminal device sends the perception measurement request message to the second terminal device, the first terminal device receives a first broadcast message from the second terminal device, and the first broadcast message includes the second terminal device. Sensing capabilities of the device and first indication information, the first indication information is used to instruct the second terminal device to support collaborative sensing.
  • UE1 and UE2 respectively send a first broadcast message to the first terminal device to indicate that both UE1 and UE2 have sensing capabilities and support collaborative sensing with other UEs, where UE1's sensing capabilities are based on its own position as the center radius. is an area of 100 meters, UE1 is located directly in front of the first terminal device, and the distance between it and the first terminal device is 100 meters; the sensing capability of UE2 is an area with its own position as the center radius of 100 meters, UE2 It is located directly behind the first terminal equipment, and the distance from the first terminal equipment is 50 meters.
  • the first terminal device can further determine that UE2 meets the conditions and send a sensing measurement request message to UE2 to request execution. Perceptual operation. For example, if the target sensing area and the target sensing direction are centered on the first terminal device and have a radius of 150 meters, the first terminal device can further determine that both UE1 and UE2 meet the conditions, and send a sensing measurement request to UE1 and UE2. message, requesting UE1 and UE2 to perform sensing operations to obtain all sensing data in the target sensing area and/or target sensing direction.
  • the first broadcast message also includes location information of the second terminal device.
  • the location information of the second terminal device can be represented by the absolute coordinates of the geographical location, or the geographical coordinate system (such as longitude and latitude information), or the absolute coordinate value, which is not specifically limited in this application.
  • the first terminal device may initiate a ranging process to obtain the distance between the second terminal device and the first terminal device for Subsequently, the first terminal device specifically determines the sensing area information for performing sensing measurement for the second terminal device.
  • S420 The second terminal device performs sensing measurement according to the sensing measurement request message.
  • the sensing measurement request message carries sensing area information for the second terminal device to perform sensing measurement.
  • the sensing area information can be represented by the area size and/or direction: a 10-meter by 10-meter area directly behind the second terminal device, and the second terminal device only supports the terminal-autonomous sensing mode (UE based sensing mode) ), the second terminal device sends a sensing signal to an area of 10 meters by 10 meters directly behind it, receives the reflected echo signal, and processes the reflected echo signal to generate sensing data.
  • the second terminal device may generate a sensing result based on the sensing data.
  • the first terminal device obtains sensing data or sensing results.
  • the sensing data or sensing results are based on execution of the second terminal device. Determined by perceptual measurements.
  • the first terminal device when the sensing mode in which the second terminal device performs the sensing operation is a terminal-autonomous sensing mode, the first terminal device receives sensing data or sensing results from the second terminal device.
  • the sensing mode in which the second terminal device performs the sensing operation is the sensing mode of multi-terminal collaboration, that is, the second terminal device sends a sensing signal, and the first terminal device receives the reflected echo signal, and process the reflected echo signals to generate sensing data or sensing results; or, perform collaborative sensing operations among multiple second terminal devices and report sensing data or sensing results to the first terminal device.
  • the first terminal device sends a collaborative sensing response message to the application layer.
  • the application layer receives the collaborative sensing response message from the first terminal device.
  • the collaborative sensing response message includes sensing data associated with the target sensing area and/or the target sensing direction, or sensing results.
  • the application layer implements the fusion of all sensing data locally based on the received sensing data or sensing results.
  • the sensing area information for the second terminal device to perform sensing measurement is determined, and then the sensing data is obtained. Or sensing results, through collaborative sensing between terminal devices, sensing information at a specific distance and/or a specific direction is obtained to improve sensing efficiency and system sensing performance.
  • Figure 5 is a flow example diagram of the second communication sensing method 500 provided by the embodiment of the present application.
  • the source UE triggers candidate UEs (for example, candidate UE#1 and candidate UE#2) to perform sensing measurements in a specific sensing area size and/or direction, and obtains sensing measurement data from the candidate UEs. Or perceived results.
  • the method includes the following steps.
  • the application layer triggers the source UE to perform sensing.
  • the application device when receiving a sensing service request from the demander, the application device (such as AF) may send a request message #1 to the source UE.
  • the request message #1 is used to request the source UE to perform sensing operations on the surrounding environment or objects. , to get the sensing data#.
  • S512 The source UE performs a sensing operation and obtains sensing data #.
  • the source UE can perform sensing measurements on the surrounding environment or objects using the spontaneous and self-receiving sensing mode according to the AF request message #1, that is, the source UE sends sensing signals to the surrounding environment or objects, and collects the signals reflected to the surrounding environment or objects.
  • the sensing signal on the object is to receive the reflected echo signal.
  • the sensing mode in which the source UE performs sensing measurement is only an example to facilitate understanding of the solution, and is not specifically limited in this application.
  • the sensing operation performed by the source UE can also be other sensing modes, in which the source UE sends sensing signals and other UEs receive reflected echo signals; or other sensing modes in which other UEs send sensing signals and the source UE receives echo signals, etc.
  • the source UE sends sensing data # to the application layer.
  • the application layer receives sensing data # from the source UE.
  • S520 The application layer sends collaborative sensing request message #1 to the source UE.
  • the source UE receives the collaborative sensing request message #1 from the application layer.
  • the collaborative sensing request message #1 includes indication information of target sensing area information.
  • the target sensing area information includes the size of the target sensing area #1 and/or the target sensing direction #1.
  • the application layer can use the source UE as a reference coordinate to indicate the target sensing area information.
  • the source UE is used as the reference coordinate
  • the left direction of the source UE and the area range with a size of 5 meters times 5 meters is used as the target sensing area information, that is, the target sensing direction #1 is the left side of the UE, and the target sensing area
  • the size of #1 is 5 meters by 5 meters area.
  • the application layer can also indicate the target sensing area information in the absolute coordinates of the geographical location.
  • the target sensing area information is further indicated through a geographical coordinate system (such as longitude and latitude information) or absolute coordinate values.
  • the above indication manner of the target sensing area information is only an exemplary description, and this application does not specifically limit the indication manner of the target sensing area information.
  • the collaborative sensing request message #1 also includes one or more of the following: delay information, reporting period of sensing data (ie, the following sensing data #1 and sensing data #2).
  • the delay information may be used to indicate the latest time for the source UE to respond to the collaborative sensing request in step S520, that is, the latest reporting time of the collaborative sensing response message #1 in step S590.
  • the reporting period of sensing data is used to indicate the period in which the source UE returns sensing response message #1.
  • the application layer can request the source The UE sends cooperative sensing request message #1.
  • the source UE determines the target sensing direction #1.
  • the source UE determines the target sensing direction #1 based on the indication information of the target sensing area information in the collaborative sensing request message #1 of the application layer, and then determines in which direction of the source UE it is necessary to discover other UEs. For example, when the target sensing direction #1 indicated in the target sensing area information indicates that the environment information on the left side of the source UE needs to be sensed, then the source UE needs to discover other UEs located on the left side of the source UE to assist the source UE in obtaining the corresponding sensing information. information. It can be understood that determining the target sensing direction #1 by the source UE can improve the efficiency of discovering other UEs.
  • step S530 is not executed, that is, the source UE does not need to determine the target sensing direction #1, then the source UE can discover other UEs in all surrounding directions.
  • S540 The source UE sends discovery request message #1 to other UEs (such as candidate UE#1 and candidate UE#2).
  • other UEs receive the discovery request message #1 from the source UE.
  • the discovery request message #1 includes discovery purpose and requirement information of the sensing capability of the candidate UE.
  • the discovery purpose is used to indicate that this UE discovery is for performing collaborative sensing. That is to say, the discovery request message #1 is used to request the discovery of candidate UEs that have sensing capabilities and can perform collaborative sensing. Among them, there may be one candidate UE that meets the requirements, or there may be multiple. If there are multiple candidate UEs that meet the requirements, the source UE can determine one or more candidate UEs as cooperative sensing candidates. This application does not specifically limit the number of candidate UEs.
  • discovery request message #1 may be Discovery Request message.
  • the discovery request message #1 may also include one or more of the following: the location of the source UE, distance requirement information between the source UE and the candidate UE, or angle/direction requirement information.
  • the distance between the source UE and the candidate UE is required to be less than 100 meters, or the candidate UE is required to be located in the left direction of the source UE.
  • the location of the source UE in the discovery request message #1 may be represented by the absolute coordinates of the geographical location.
  • the source UE may send the discovery request message #1 in the target sensing direction #1.
  • the discovery request message #1 carries the discovery purpose and the requirement information of the sensing capability of the candidate UE.
  • the discovery request message #1 may also include one or more of the following: the location of the source UE, the distance or angle/direction required information between the source UE and the candidate UE. This implementation method can obtain candidate UEs that meet the requirements relatively quickly and accurately.
  • the source UE may adjust the direction of sending the discovery request message #1 according to internal implementation.
  • the source UE may send the discovery request message #1 in all directions. It can be understood that: the source UE broadcasts the discovery request message #1 in all directions, and the discovery request message #1 carries the discovery purpose and the requirement information of the sensing capability of the candidate UE.
  • the discovery request message #1 may also include one or more of the following: the location of the source UE, distance requirement information between the source UE and the candidate UE, or angle/direction requirement information between the source UE and the candidate UE.
  • all UEs that receive the discovery request message #1 can determine whether the conditions are met, and if so, send a response to the source UE.
  • the method for all UEs that receive the discovery request message #1 to determine whether the conditions are met may be: the UEs that receive the discovery request message #1 determine whether the distance/direction between them is met based on their own location and the location of the source UE. The distance or angle/direction requirement information between the source UE and the candidate UE carried in the discovery request message #1.
  • Candidate UE#1 and candidate UE#2 send discovery response message #1 to the source UE.
  • the source UE receives the transmission discovery response message #1 from candidate UE#1 and candidate UE#2.
  • candidate UE#1 and candidate UE#2 after candidate UE#1 and candidate UE#2 determine that they meet the requirements, they send discovery response message #1 to the source UE. That is, candidate UE#1 and candidate UE#2 have sensing capabilities and can perform collaborative sensing.
  • the location of the candidate UE may be located within the target sensing area or outside the target sensing area.
  • the UE that receives the discovery request message #1 is located in the target sensing area of 5 meters by 5 meters. Within the range, the UE can provide the source UE with sensing information of a 5-meter by 5-meter area around the UE's location through its own sensing capabilities.
  • the UE that received the discovery request message #1 is located outside the target sensing area of 5 meters by 5 meters, but the UE has strong sensing capabilities and can provide the source UE with the 5 meters by 5 outside the UE location. Perceptual information in the meter area.
  • the discovery response message #1 includes the location information of the candidate UE#1 and the candidate UE#2, for example, the geographical coordinate system (such as longitude and latitude information) of the candidate UE#1 and the candidate UE#2, or the absolute coordinate value wait.
  • the source UE can promptly determine the distance #1 between the source UE and the candidate UE#1 based on the received location information of the candidate UE#1 and the candidate UE#2, and determine the distance between the source UE and the candidate UE#2.
  • the distance #2 between candidate UE#1 and candidate UE#2 further determines the specific sensing area size and/or direction in which candidate UE#1 and candidate UE#2 perform sensing operations.
  • discovery response message #1 may be Discovery Response message.
  • the UE that returns the Discovery Response message is called a candidate UE. If there are multiple candidate UEs that meet the conditions during this process, then there are multiple UEs that return the Discovery Response message. For example, candidate UE#1 and candidate UE#2. In addition, for other UEs that do not meet the conditions (for example, do not have the ability to sense, or do not have the ability to perform collaborative sensing, or are outside the target sensing area), there is no need to return the Discovery Response message.
  • S560 The source UE establishes PC5 connections with candidate UE#1 and candidate UE#2 respectively.
  • the specific implementation method of establishing the PC5 connection process can refer to the existing technology, and for the sake of simplicity, it will not be described again here.
  • the source UE initiates a ranging process to determine distance #1 and distance #2 between the source UE and candidate UE#1 and candidate UE#2.
  • the source UE cannot further determine distance #1 and distance #2 between itself and candidate UE#1 and candidate UE#2. Then, the source UE can initiate a Ranging process, which is used to measure distance #1 and distance #2 between the source UE and candidate UE#1 and candidate UE#2.
  • the specific implementation method of the Ranging process can refer to the existing technology. For the sake of simplicity, it will not be described again here.
  • step S570 may not be executed.
  • the source UE determines the sensing area information #1 for the candidate UE#1 to perform sensing measurement according to the target sensing area information.
  • the source UE determines sensing area information #1 for candidate UE #1 to perform sensing measurement based on distance #1 and target sensing area information. For example, assuming that the source UE is at the origin of the coordinate system, the application layer requests to sense the direction in front of the source UE (ie, the target sensing direction #1) and an area range of 4 meters by 4 meters (ie, the target sensing area) , that is, an area composed of coordinates (-2,2), (2,2), (-2,6) and (2,6).
  • Candidate UE#1 is located directly in front of the source UE and is at a distance of # 1 is 6m, which can be understood as candidate UE#1 is at the position of coordinates (0,6), then the sensing area information #1 can be an area range of 4 meters by 2 meters in the forward direction of the source UE, corresponding to The area consists of the coordinates (-2,4), (2,4), (-2,6) and (2,6).
  • the source UE uses the target sensing area information as sensing area information #1 for candidate UE#1 to perform sensing measurement. For example, assuming that the source UE is at the origin of the coordinate system, the application layer requests to sense the direction in front of the source UE (ie, the target sensing direction #1) and an area range of 4 meters by 4 meters (ie, the target sensing area) , that is, an area composed of coordinates (-2,2), (2,2), (-2,6) and (2,6). The source UE directly sends the target sensing area information to candidate UE#1.
  • sensing area information #1 can also be represented by sensing area size #1 and/or direction #1.
  • the source UE sends the sensing measurement request message #1 to the candidate UE#1.
  • candidate UE #1 receives sensing measurement request message #1 from the source UE.
  • the sensing measurement request message #1 is used to request the candidate UE #1 to perform sensing measurement.
  • the sensing measurement request message #1 includes: sensing mode (for example, spontaneous self-reception), and sensing area information #1.
  • the sensing measurement request message #1 also includes one or more of the following: sensing measurement period, delay information #1, or reporting period of sensing data (ie, sensing data #1).
  • the sensing measurement period may be used to indicate the period size for candidate UE#1 to perform sensing measurement
  • the delay information #1 may be used to indicate the latest time for candidate UE#1 to respond to sensing measurement request message #1.
  • the reporting period of sensing data is used to indicate the period size of the candidate UE#1 to return the sensing measurement response message #1.
  • candidate UE#1 can perform multiple sensing measurements and send the data of the multiple sensing measurements together to the source UE.
  • candidate UE#1 may send the perceptual measurement data to the source UE each time after performing perceptual measurement.
  • the source UE may determine the sensing measurement period, delay information #1, or sensing data (i.e., carried in the sensing measurement request message #1) based on the delay information carried in the collaborative sensing request message #1 and the reporting period of sensing data. Sensing data #1) reporting cycle.
  • candidate UE#1 further determines sensing result #1 based on sensing data #1.
  • the specific implementation method of obtaining the sensing result according to the sensing data can refer to the existing technology, and for the sake of simplicity, it will not be described again here.
  • candidate UE#1 adopts the spontaneous self-collection sensing mode to perform sensing measurement in a specific sensing area size #1 and/or direction #1.
  • Candidate UE #1 sends sensing measurement response message #1 to the source UE.
  • the source UE receives the sensing measurement response message #1 from the candidate UE#1.
  • the sensing measurement response message #1 includes sensing data #1, or sensing result #1.
  • the source UE determines sensing area information #2 for candidate UE#2 to perform sensing measurement based on the target sensing area information.
  • the source UE determines sensing area information #2 for candidate UE #2 to perform sensing measurement based on distance #2 and target sensing area information. For example, assuming that the source UE is at the origin of the coordinate system, the application layer requests to sense the direction in front of the source UE (ie, the target sensing direction #1) and an area range of 4 meters by 4 meters (ie, the target sensing area) , that is, an area composed of coordinates (-2,2), (2,2), (-2,6) and (2,6).
  • Candidate UE#2 is located directly in front of the source UE and is at a distance of # 1 is 2m, which can be understood as candidate UE#2 is at the position of coordinates (0,2), then sensing area information #2 can be an area range of 4 meters by 2 meters in the forward direction of the source UE, corresponding to The area consists of the coordinates (-2,2), (2,2), (-2,4) and (2,4).
  • the source UE uses the target sensing area information as sensing area information #2 for candidate UE#2 to perform sensing measurement. For example, assuming that the source UE is at the origin of the coordinate system, the application layer requests to sense the direction in front of the source UE (ie, the target sensing direction #1) and an area of 4 meters by 4 meters (ie, the target sensing area) , that is, an area composed of coordinates (-2,2), (2,2), (-2,6) and (2,6). The source UE directly sends the target sensing area information to candidate UE#2.
  • the application layer requests to sense the direction in front of the source UE (ie, the target sensing direction #1) and an area of 4 meters by 4 meters (ie, the target sensing area) , that is, an area composed of coordinates (-2,2), (2,2), (-2,6) and (2,6).
  • the source UE directly sends the target sensing area information to candidate UE#2.
  • sensing area information #2 can also be represented by sensing area size #2 and/or direction #2.
  • the area sizes for the source UE to request different candidate UEs to perform sensing measurements may be the same or different.
  • the sensing area sizes determined in the above steps S581 and S585 may both be greater than or equal to step S520.
  • the size of the designated target sensing area may also be such that the sum of the sizes of the sensing area in step S581 and the sensing area in step S585 is greater than or equal to the size of the target sensing area specified in step S520, which is not specifically limited in this application. That is to say, based on the sensing measurements of candidate UE#1 and candidate UE#2, the source UE can obtain sensing data or sensing results corresponding to the target sensing area and the target sensing direction.
  • S586 The source UE sends the sensing measurement request message #2 to the candidate UE#2.
  • candidate UE #2 receives sensing measurement request message #2 from the source UE.
  • the sensing measurement request message #2 is used to request the candidate UE #2 to perform sensing measurement.
  • the sensing measurement request message #2 includes: sensing mode (for example, spontaneous self-reception), and sensing area information #2.
  • the sensing measurement request message #2 also includes one or more of the following: sensing measurement period, delay information #2, or reporting period of sensing data (ie, sensing data #2).
  • the sensing measurement period may be used to indicate the period size for candidate UE#2 to perform sensing measurement
  • the delay information #2 may be used to indicate the latest time for candidate UE#2 to respond to sensing measurement request message #2.
  • the reporting period of the sensing data is used to indicate the period size of the candidate UE#2 to return the sensing measurement response message #2.
  • candidate UE#2 can perform multiple sensing measurements and send the data of the multiple sensing measurements together to the source UE.
  • candidate UE#2 may send the perceptual measurement data to the source UE each time after performing perceptual measurement.
  • the source UE may determine the sensing measurement period, delay information #2, or sensing data (i.e., carried in the sensing measurement request message #2) based on the delay information carried in the collaborative sensing request message #2 and the reporting period of sensing data. Sensing data #1) reporting cycle.
  • the parameters carried in the sensing measurement request message #1 and the sensing measurement request message #2 may be the same or different, which is not limited in this application.
  • candidate UE#2 further determines sensing result #2 based on sensing data #2.
  • candidate UE #2 adopts the spontaneous self-collection sensing mode to perform sensing measurement in a specific sensing area size #2 and/or direction #2.
  • the source UE receives the sensing measurement response message #2 from the candidate UE#2.
  • the sensing measurement response message #2 includes sensing data #2, or sensing result #2.
  • S590 The source UE sends collaborative sensing response message #1 to the application layer.
  • the application layer receives the collaborative sensing response message #1 from the source UE.
  • the collaborative sensing response message #1 includes sensing data #1 or sensing result #1 in step S584, and sensing data #2 or sensing result #2 in step S588.
  • the application layer locally implements the fusion of all sensing data based on the received sensing data #1 or sensing result #1, sensing data #2 or sensing result #2, and the sensing data # obtained in the above step S513.
  • the source UE controls candidate UEs (for example, candidate UE#1 and candidate UE#2) to perform sensing measurements on the corresponding sensing areas, and obtains sensing measurement data or sensing results from the candidate UEs to facilitate application implementation.
  • candidate UEs for example, candidate UE#1 and candidate UE#2
  • FIG. 6 is a flow example diagram of the third communication sensing method 600 provided by the embodiment of the present application.
  • the source UE triggers the candidate UEs (eg, candidate UE#1 and candidate UE#2) to perform sensing measurements in a specific sensing area size and/or direction.
  • the difference from the above method 500 lies in the different sensing modes, and other steps are similar.
  • the method includes the following steps.
  • the application layer triggers the source UE to perform sensing.
  • S612 The source UE performs a sensing operation and obtains sensing data #.
  • the source UE sends sensing data # to the application layer.
  • the application layer receives sensing data # from the source UE.
  • the application layer sends the collaborative sensing request message #a to the source UE.
  • the source UE receives the collaborative sensing request message #a from the application layer.
  • the collaborative sensing request message #a includes indication information of target sensing area information.
  • the target sensing area information includes target sensing area #a and/or target sensing direction #a.
  • the collaborative sensing request message #a is similar in meaning and specific content to the collaborative sensing request message #1 in step S520 of the above-mentioned method 500. For the sake of brevity, no details will be described here.
  • the source UE determines the target sensing direction #a.
  • S640 The source UE sends discovery request message #a to other UEs (such as candidate UE#1 and candidate UE#2).
  • other UEs receive the discovery request message #a from the source UE.
  • the discovery request message #a is similar in meaning and specific content to the discovery request message #1 in step S540 of the above-mentioned method 500. For the sake of brevity, details will not be described here.
  • the source UE may send a discovery request message #a in the target sensing direction #a.
  • This implementation method can obtain candidate UEs that meet the requirements relatively quickly and accurately.
  • the source UE may send discovery request message #a in all directions.
  • discovery request message #a is a broadcast message.
  • Candidate UE#1 and candidate UE#2 send discovery response message #a to the source UE.
  • the source UE receives the transmission discovery response message #a from candidate UE#1 and candidate UE#2.
  • the discovery response message #a includes location information of candidate UE#1 and candidate UE#2.
  • S660 The source UE establishes PC5 connections with candidate UE#1 and candidate UE#2 respectively.
  • the source UE initiates a ranging process to determine distance #a and distance #b between the source UE and candidate UE#1 and candidate UE#2.
  • steps S611-S670 For the specific implementation of steps S611-S670, reference may be made to steps S511-S570 in the above-mentioned method 500. For the sake of brevity, no further details will be given here.
  • the source UE determines the sensing area information #a for candidate UE #1 to perform sensing measurement according to the target sensing area information.
  • the specific implementation method of determining the sensing area information #a for candidate UE#1 to perform sensing measurement may refer to step S581 in the above-mentioned method 500, which will not be described again here.
  • S682 The source UE sends the sensing measurement request message #a to the candidate UE#1.
  • candidate UE #1 receives the sensing measurement request message #a from the source UE.
  • the sensing measurement request message #a is used to request candidate UE#1 to perform sensing measurement.
  • the sensing measurement request message #a includes: sensing mode (for example, candidate UE#1 sends a sensing signal, and the source UE receives a reflected echo signal), and Sensing area information #a.
  • the perception measurement request message #a also includes a perception measurement period.
  • the sensing measurement period may be used to indicate the period size of the sensing signal sent by candidate UE#1.
  • Candidate UE#1 performs perception measurement.
  • candidate UE #1 sends sensing signal #a according to sensing area information #a.
  • the source UE receives the sensing signal #a from the candidate UE#1, that is, the source UE receives the reflected echo signal #a and obtains the sensing data #a.
  • the source UE further determines the sensing result #a based on the sensing data #a.
  • the specific implementation method of obtaining the sensing result according to the sensing data can refer to the existing technology, and for the sake of simplicity, it will not be described again here.
  • the source UE determines the sensing area information #b for candidate UE #2 to perform sensing measurement according to the target sensing area information.
  • the specific implementation method of determining the sensing area information #b for candidate UE#2 to perform sensing measurement may refer to step S585 in the above-mentioned method 500, which will not be described again here.
  • S686 The source UE sends the sensing measurement request message #b to the candidate UE#2.
  • candidate UE #2 receives the sensing measurement request message #b from the source UE.
  • the sensing measurement request message #b is used to request the candidate UE#2 to perform sensing measurement, and the sensing measurement request message #a includes: sensing mode (for example, the candidate UE#2 sends a sensing signal, and the source UE receives the reflected echo signal), and Sensing area information #b.
  • the perception measurement request message #a also includes a perception measurement period.
  • the sensing measurement period may be used to indicate the period size of the sensing signal sent by candidate UE#2.
  • candidate UE#2 sends sensing signal #b according to sensing area information #b.
  • the source UE receives the sensing signal #b from the candidate UE#2, that is, the source UE receives the reflected echo signal #b and obtains the sensing data #b.
  • the source UE further determines the sensing result #b based on the sensing data #b.
  • the sizes of the sensing areas determined in the above steps S681 and S685 can both be greater than or equal to the size of the target sensing area specified in step S620, or can be the sum of the sizes of the sensing areas in step S681 and the sensing area in step S685. It is greater than or equal to the size of the target sensing area specified in step S620, which is not specifically limited in this application. That is to say, based on the sensing measurements of candidate UE#1 and candidate UE#2, the source UE can obtain sensing data or sensing results corresponding to the target sensing area and the target sensing direction.
  • S690 The source UE sends the collaborative sensing response message #a to the application layer.
  • the application layer receives the collaborative sensing response message #a from the source UE.
  • the collaborative sensing response message #a includes the sensing data #a or sensing result #a in step S684, and the sensing data #b or sensing result #b in step S688.
  • the application layer locally implements the fusion of all sensing data based on the received sensing data #a or sensing result #a, sensing data #b or sensing result #b, and the sensing data # obtained in the above step S613.
  • the source UE controls candidate UEs (for example, candidate UE#1 and candidate UE#2) to perform sensing measurements on the corresponding sensing areas, and obtains sensing measurement data or sensing results from the candidate UEs to facilitate application implementation. Layer's perception of the environment or objects surrounding the source UE.
  • FIG. 7 is a flow example diagram of the fourth communication sensing method 700 provided by the embodiment of the present application.
  • UEs with sensing capabilities for example, candidate UE#1 and candidate UE#2
  • send broadcast messages to notify the source UE that they have sensing capabilities and can assist the source UE in performing sensing measurements.
  • the source UE in methods 500 and 600 actively discovers other surrounding UEs as candidate UEs to collaboratively assist in sensing the surrounding environment according to its own sensing needs.
  • other UEs first broadcast their sensing capabilities.
  • the source UE further determines the size and/or direction of the sensing area where the candidate UE performs the sensing operation based on the distance.
  • the method includes the following steps.
  • S710 Other UEs (eg, candidate UE#1 and candidate UE#2) send broadcast messages (ie, the first broadcast message) to the source UE.
  • broadcast messages ie, the first broadcast message
  • the source UE receives broadcast messages from candidate UE#1 and candidate UE#2.
  • the broadcast message is used to indicate that candidate UE#1 and candidate UE#2 have sensing capabilities and can assist the source UE in performing sensing measurements.
  • candidate UE#1 and candidate UE#2 support a spontaneous and self-receiving sensing mode.
  • the candidate UE sends a sensing signal and receives a reflected echo signal.
  • the broadcast message may carry the sensing capabilities of candidate UE#1 and candidate UE#2, and indication information #A.
  • the indication information #A is used to indicate that candidate UE#1 and candidate UE#2 can assist the source UE in performing sensing measurement.
  • the broadcast message may also carry location information of candidate UE#1 and candidate UE#2.
  • location information such as longitude and latitude information
  • the geographical coordinate system such as longitude and latitude information
  • absolute coordinate values etc.
  • the application layer triggers the source UE to perform sensing.
  • S712 The source UE performs a sensing operation and obtains sensing data #.
  • the source UE sends sensing data # to the application layer.
  • the application layer receives sensing data # from the source UE.
  • the application layer sends the collaborative sensing request message #A to the source UE.
  • the source UE receives the collaborative sensing request message #A from the application layer.
  • the cooperative sensing request message #A is similar in meaning and specific content to the cooperative sensing request message #1 in step S520 of the above-mentioned method 500. For the sake of brevity, details will not be described here.
  • steps S711-S720 For the specific implementation of steps S711-S720, reference may be made to steps S511-S520 in the above-mentioned method 500. For the sake of brevity, no further details will be given here.
  • S730 The source UE determines candidate UEs that meet the conditions according to the broadcast message.
  • the conditions here can be understood as having the ability to perceive and supporting collaborative sensing measurement.
  • the source UE determines based on the broadcast message in step S710 that there are other surrounding UEs (for example, candidate UE#1 and candidate UE#2) that have sensing capabilities, and candidate UE#1 and candidate UE#2 are capable of performing collaborative sensing.
  • candidate UE#1 and candidate UE#2 are capable of performing collaborative sensing.
  • the source UE can also determine the location information between the source UE and candidate UE#1 based on the location information of candidate UE#1 and candidate UE#2. #A between source UE and candidate UE#2, and determine the distance #B between source UE and candidate UE#2, and then determine the specific sensing area size and/or direction corresponding to the sensing operation that needs to be performed.
  • S740 The source UE establishes PC5 connections with candidate UE#1 and candidate UE#2 respectively.
  • the source UE initiates a ranging process to determine distance #A and distance #B between the source UE and candidate UE#1 and candidate UE#2.
  • the source UE determines the sensing area information #A for the candidate UE#1 to perform sensing measurement based on the target sensing area information.
  • the specific implementation method of determining the sensing area information #A for the candidate UE#1 to perform sensing measurement may refer to step S581 in the above method 500, which will not be described again here.
  • S762 The source UE sends the sensing measurement request message #A to the candidate UE#1.
  • candidate UE #1 receives the sensing measurement request message #A from the source UE.
  • the perceptual measurement request message #A is similar in meaning and specific content to the perceptual measurement request message #1 in step S582 in the above-mentioned method 500. For the sake of brevity, it will not be described again here.
  • candidate UE #1 adopts the spontaneous self-collection sensing mode to perform sensing measurement in a specific sensing area size #A and/or direction #A.
  • Candidate UE #1 sends a sensing measurement response message #A to the source UE.
  • the source UE receives the sensing measurement response message #A from the candidate UE#1.
  • the source UE determines the sensing area information #B for candidate UE#2 to perform sensing measurement according to the target sensing area information.
  • the specific implementation method of determining the sensing area information #B for the candidate UE#2 to perform sensing measurement may refer to step S585 in the above-mentioned method 500, which will not be described again here.
  • S766 The source UE sends the sensing measurement request message #B to the candidate UE#2.
  • candidate UE #2 receives the sensing measurement request message #B from the source UE.
  • the perceptual measurement request message #B is similar in meaning and specific content to the perceptual measurement request message #2 in step S586 in the above-mentioned method 500. For the sake of brevity, it will not be described again here.
  • candidate UE #2 adopts the spontaneous self-collection sensing mode to perform sensing measurement in a specific sensing area size #B and/or direction #B.
  • Candidate UE #2 sends a sensing measurement response message #B to the source UE.
  • the source UE receives the sensing measurement response message #B from candidate UE#2.
  • S770 The source UE sends the collaborative sensing response message #A to the application layer.
  • the application layer receives the collaborative sensing response message #A from the source UE.
  • steps S740-S770 For the specific implementation of steps S740-S770, reference may be made to steps S560-S590 in the above-mentioned method 500. For the sake of brevity, no further details will be given here.
  • the source UE controls candidate UEs (for example, candidate UE#1 and candidate UE#2) to perform sensing measurements on the corresponding sensing areas, and obtains sensing measurement data or sensing results from the candidate UEs to facilitate application implementation. Layer's perception of the environment or objects surrounding the source UE.
  • FIG 8 is a flow example diagram of the fifth communication sensing method 800 provided by the embodiment of the present application.
  • UEs with sensing capabilities for example, candidate UE#1 and candidate UE#2
  • the difference from the above method 700 lies in the different sensing modes, and other steps are similar.
  • the method includes the following steps.
  • S810 Other UEs (eg, candidate UE#1 and candidate UE#2) send broadcast messages (ie, the first broadcast message) to the source UE.
  • broadcast messages ie, the first broadcast message
  • the source UE receives broadcast messages from candidate UE#1 and candidate UE#2.
  • the broadcast message is used to indicate that candidate UE#1 and candidate UE#2 have sensing capabilities and can assist the source UE in performing sensing measurements.
  • candidate UE#1 and candidate UE#2 support the self-receiver sensing mode, that is, candidate UE#1 and candidate UE#2 send sensing signals, and the source UE receives reflected echo signals.
  • the broadcast message may carry the sensing capabilities of candidate UE#1 and candidate UE#2, and indication information #A.
  • the indication information #A is used to indicate that candidate UE#1 and candidate UE#2 can assist the source UE in performing sensing measurement.
  • the broadcast message may also carry location information of candidate UE#1 and candidate UE#2.
  • location information such as longitude and latitude information
  • the geographical coordinate system such as longitude and latitude information
  • absolute coordinate values etc.
  • the application layer triggers the source UE to perform sensing.
  • S812 The source UE performs a sensing operation and obtains sensing data #.
  • the source UE sends sensing data # to the application layer.
  • the application layer receives sensing data # from the source UE.
  • S820 The application layer sends the collaborative sensing request message # ⁇ to the source UE.
  • the source UE receives the collaborative sensing request message # ⁇ from the application layer.
  • the cooperative sensing request message # ⁇ here is similar to the cooperative sensing request message #1 in step S520 in the above-mentioned method 500 and carries specific content. For the sake of brevity, details will not be described here.
  • steps S811-S820 For the specific implementation of steps S811-S820, reference may be made to steps S611-S620 in the above-mentioned method 600. For the sake of brevity, no further details will be given here.
  • S830 The source UE determines candidate UEs that meet the conditions according to the broadcast message.
  • the conditions here can be understood as having the ability to perceive and supporting collaborative sensing measurement.
  • the source UE determines based on the broadcast message in step S810 that there are other surrounding UEs (for example, candidate UE#1 and candidate UE#2) that have sensing capabilities, and candidate UE#1 and candidate UE#2 are capable of performing collaborative sensing.
  • candidate UE#1 and candidate UE#2 are capable of performing collaborative sensing.
  • the source UE can also determine the location information between the source UE and candidate UE#1 based on the location information of candidate UE#1 and candidate UE#2. #1 between the source UE and the candidate UE #2, and then determine the size and/or direction of the specific sensing area corresponding to the sensing operation that needs to be performed.
  • S840 The source UE establishes PC5 connections with candidate UE#1 and candidate UE#2 respectively.
  • the source UE initiates a ranging process to determine distance # ⁇ and distance # ⁇ between the source UE and candidate UE#1 and candidate UE#2.
  • the source UE target sensing area information determines the sensing area information # ⁇ for candidate UE #1 to perform sensing measurement.
  • the specific implementation method of determining the sensing area information # ⁇ for candidate UE#1 to perform sensing measurement may refer to step S681 in the above method 600, which will not be described again here.
  • S862 The source UE sends the sensing measurement request message # ⁇ to the candidate UE#1.
  • candidate UE #1 receives the sensing measurement request message # ⁇ from the source UE.
  • the perceptual measurement request message # ⁇ is similar in meaning and specific content to the perceptual measurement request message #a in step S682 in the above-mentioned method 600. For the sake of brevity, it will not be described again here.
  • Candidate UE#1 performs perception measurement.
  • candidate UE #1 sends the sensing signal # ⁇ according to the sensing area information # ⁇ .
  • the source UE receives the sensing signal # ⁇ from the candidate UE#1, that is, the source UE receives the reflected echo signal # ⁇ , and obtains the sensing data # ⁇ .
  • the source UE determines the sensing area information # ⁇ for candidate UE #2 to perform sensing measurement according to the target sensing area information.
  • the specific implementation method of determining the sensing area information # ⁇ for candidate UE#2 to perform sensing measurement may refer to step S685 in the above method 600, which will not be described again here.
  • the source UE sends the sensing measurement request message # ⁇ to the candidate UE#2.
  • candidate UE #2 receives the sensing measurement request message # ⁇ from the source UE.
  • the perceptual measurement request message # ⁇ is similar in meaning and specific content to the perceptual measurement request message #b in step S686 in the above-mentioned method 600. For the sake of brevity, details will not be repeated here.
  • candidate UE#2 sends the sensing signal # ⁇ according to the sensing area information ## ⁇ .
  • the source UE receives the sensing signal # ⁇ from the candidate UE#2, that is, the source UE receives the reflected echo signal # ⁇ and obtains the sensing data # ⁇ .
  • S870 The source UE sends the collaborative sensing response message # ⁇ to the application layer.
  • the application layer receives the collaborative sensing response message # ⁇ from the source UE.
  • steps S861-S870 may refer to steps S681-S690 in the above-mentioned method 600.
  • steps S681-S690 may refer to steps S681-S690 in the above-mentioned method 600.
  • the source UE controls candidate UEs (for example, candidate UE#1 and candidate UE#2) to perform sensing measurements on the corresponding sensing areas, and obtains sensing measurement data or sensing results from the candidate UEs to facilitate application implementation. Layer's perception of the environment or objects surrounding the source UE.
  • the above methods 500-800 are all for the source UE to dynamically trigger the candidate UE to perform sensing measurements.
  • the candidate UE obtains the sensing data in advance and opens the sensing data to the source UE. That is, the source UE does not need to trigger the candidate UE. To perform sensing measurement, you can directly request the candidate UE to obtain sensing data.
  • Figure 9 is a flow example diagram of the sixth communication sensing method 900 provided by the embodiment of the present application.
  • the candidate UE can externally broadcast its allowed open local sensing data and the sensing direction associated with the sensing data.
  • the source UE filters the final candidate UE according to the distance between the source UE and the candidate UE, and based on the application layer sensing
  • the target sensing direction indicated in the request, and the sensing data in the target sensing direction is obtained from the candidate UE.
  • the method includes the following steps.
  • candidate UE#1 further determines sensing result #11 based on sensing data #1
  • candidate UE#2 further determines sensing result #22 based on sensing data #22.
  • candidate UE#1 supports sensing measurement in a range of 50 meters in front of it and acquires sensing data in this area
  • candidate UE#2 supports sensing measurement in a range of 100 meters behind it and acquires sensing data in this area.
  • the sensing mode in which candidate UE#1 and candidate UE#2 perform sensing measurement may be spontaneous self-reception, self-receiver self-receiver, or other-send self-receiver, which is not specifically limited in this application.
  • candidate UE #1 uses a spontaneous and self-received sensing mode to perform sensing measurements, including sending sensing signal #11 and receiving reflected echo signal #11.
  • candidate UE#2 uses the self-sending sensing mode to perform sensing measurement, including other UEs sending sensing signal #22, candidate UE#2 receiving reflected echo signal #22, and so on.
  • S910 Other UEs (eg, candidate UE#1 and candidate UE#2) send broadcast message # (ie, the second broadcast message) to the source UE.
  • broadcast message # ie, the second broadcast message
  • the source UE receives broadcast message # from candidate UE#1 and candidate UE#2.
  • the broadcast message # carries indication information #11, and the indication information #11 is used to indicate that candidate UE#1 and candidate UE#2 support opening local sensing data to the outside world.
  • the broadcast message # may also carry sensing area information corresponding to sensing data that supports external exposure, such as the size and/or direction of the sensing area.
  • candidate UE#1 is allowed to open to the source UE the sensing data in the 50-meter range in front of the candidate UE#1
  • the candidate UE#2 is allowed to open to the source UE the sensing data in the 100-meter range behind the candidate UE#2, etc.
  • the broadcast message # may also carry the location information of the candidate UE#1 and candidate UE#2.
  • the geographical coordinate system such as longitude and latitude information
  • candidate UE#1 and candidate UE#2 or absolute coordinate values, etc.
  • the application layer triggers the source UE to perform sensing.
  • S912 The source UE performs a sensing operation and obtains sensing data #.
  • the source UE sends sensing data # to the application layer.
  • the application layer receives sensing data # from the source UE.
  • the application layer sends collaborative sensing request message #11 to the source UE.
  • the source UE receives the collaborative sensing request message #11 from the application layer.
  • the collaborative sensing request message #11 is similar in meaning and specific content to the collaborative sensing request message #A in step S720 of the above-mentioned method 700. For the sake of brevity, details will not be described here.
  • the source UE determines the candidate UE that meets the condition according to the broadcast message # sent by the candidate UE.
  • the source UE may determine the candidate UE according to the indication information #11 carried in the broadcast message # and the sensing area information corresponding to the sensing data that supports external opening.
  • S940 The source UE establishes PC5 connections with candidate UE#1 and candidate UE#2 respectively.
  • the source UE initiates a ranging process to determine distance #11 and distance #22 between the source UE and candidate UE#1 and candidate UE#2.
  • steps S911-S950 For the specific implementation of steps S911-S950, reference may be made to steps S711-S750 in the above-mentioned method 700. For the sake of brevity, no further details will be given here.
  • the source UE determines, based on the target sensing area information, to request the sensing area information #11 corresponding to the sensing data from the candidate UE#1, such as sensing area size #11 and/or direction #11.
  • the method for determining the sensing area information #11 corresponding to the sensing data requested from the candidate UE #1 may refer to step S581 in the above-mentioned method 500, which will not be described again here.
  • S962 The source UE sends the sensing data request message #11 to the candidate UE#1.
  • candidate UE #1 receives sensing data request message #11 from the source UE.
  • the sensing data request message #11 carries sensing area information #11 corresponding to the sensing data requested from candidate UE #1 determined in step S961.
  • Candidate UE #1 sends sensing data response message #11 to the source UE.
  • the source UE receives the sensing data response message #11 from the candidate UE#1.
  • the sensing data response message #11 includes sensing data #111, or sensing result #111.
  • the sensing data #111 or the sensing result #111 is determined by the candidate UE #1 based on the sensing area information #11 and the local sensing data that supports external opening. It can be understood that the sensing area information corresponding to the sensing data supported by candidate UE#1 that supports external opening includes sensing area information #11, and the candidate UE#1 determines sensing data # from the sensing data #11 that supports external opening based on the sensing area information #11. 111, or perceived result #111.
  • the sensing data #111 or the sensing result #111 may be the same as the sensing data #11 or the sensing result #11 in the above step S901, or may be different, which mainly depends on what is indicated by the sensing area information #11 sent by the source UE. Sensing area size #11 and/or direction #11.
  • the source UE determines, based on the target sensing area information, to request the sensing area information #22 corresponding to the sensing data data from the candidate UE#2, such as area size #22 and/or direction #22.
  • the method for determining the sensing area information #22 corresponding to the sensing data requested from the candidate UE#2 may refer to step S585 in the above-mentioned method 500, which will not be described again here.
  • the source UE sends the sensing data request message #22 to the candidate UE#2.
  • candidate UE #1 receives sensing data request message #22 from the source UE.
  • the sensing data request message #22 carries sensing area information #22 corresponding to the sensing data requested from candidate UE #2 determined in step S964.
  • Candidate UE #2 sends sensing data response message #22 to the source UE.
  • the source UE receives the sensing data response message #22 from the candidate UE#2.
  • the sensing data response message #22 includes sensing data #222, or sensing result #222.
  • the sensing data #222 or the sensing result #222 is determined by the candidate UE #2 based on the sensing area information #22 and the local sensing data that supports external opening. It can be understood that the sensing area information corresponding to the sensing data supported by candidate UE#2 that supports external opening includes sensing area information #22, and the candidate UE#2 determines sensing data #222 from the sensing data that supports external opening based on the sensing area information #22. Or perceived result #222. In other words, the sensing data #222 or the sensing result #222 may be the same as the sensing data #22 or the sensing result #22 in the above step S902, or may be different, which mainly depends on what is indicated by the sensing area information #22 sent by the source UE. Sensing area size #22 and/or direction #22.
  • S970 The source UE sends collaborative sensing response message #11 to the application layer.
  • the application layer receives the collaborative sensing response message #11 from the source UE.
  • step S770 in the above-mentioned method 700.
  • step S770 in the above-mentioned method 700.
  • the candidate UE can externally broadcast its allowed open local sensing data and the sensing direction associated with the sensing data.
  • the source UE filters the final candidate UE based on the distance between the source UE and the candidate UE, and based on the application layer sensing For the target sensing direction indicated in the request, the sensing data in the target sensing direction is obtained from the candidate UE to facilitate the application layer's perception of the environment or objects around the source UE.
  • the communication sensing method-side embodiment of the present application is described in detail above with reference to FIGS. 1 to 9 .
  • the device-side embodiment of the present application will be described in detail with reference to FIGS. 10 and 11 . It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, the parts not described in detail can be referred to the previous method embodiments.
  • FIG 10 is a schematic block diagram of a communication sensing device 1000 provided by an embodiment of the present application.
  • the device 1000 may include a transceiver unit 1010, a processing unit 1020 and an acquisition unit 1030.
  • the transceiver unit 1010 can communicate with the outside, and the acquisition unit 1030 can also communicate with the outside. Without special emphasis, the transceiver unit 1010 and the acquisition unit 1030 may have the same functions.
  • the processing unit 1020 is used for data processing.
  • the transceiver unit 1010 may also be called a communication interface or a transceiver unit.
  • the apparatus 1000 can implement steps or processes corresponding to those performed by the first terminal device (for example, the source UE) in the above method embodiment, wherein the processing unit 1020 is used to perform the above method implementation.
  • the transceiver unit 1010 is configured to perform the transceiver-related operations of the first terminal device in the above method embodiment.
  • the acquisition unit 1030 is configured to perform operations related to processing of the first terminal device in the above method embodiment.
  • the apparatus 1000 may implement steps or processes corresponding to those performed by the second terminal device (for example, candidate UE#1 or candidate UE#2) in the above method embodiment, wherein the transceiver unit
  • the processing unit 1010 is used to perform operations related to the transmission and reception of the second terminal device in the above method embodiment
  • the processing unit 1020 is used to perform the processing related operations of the second terminal device in the above method embodiment.
  • the device 1000 here is embodied in the form of a functional unit.
  • the term "unit” as used herein may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a proprietary processor, or a group of processors) used to execute one or more software or firmware programs. processor, etc.) and memory, merged logic circuitry, and/or other suitable components to support the described functionality.
  • ASIC application specific integrated circuit
  • processor such as a shared processor, a proprietary processor, or a group of processors
  • memory merged logic circuitry, and/or other suitable components to support the described functionality.
  • the device 1000 can be specifically the sending end in the above embodiment, and can be used to perform various processes and/or steps corresponding to the sending end in the above method embodiment, or, The device 1000 may be specifically a receiving end in the above embodiments, and may be used to perform various processes and/or steps corresponding to the receiving end in the above method embodiments. To avoid duplication, they will not be described again here.
  • the device 1000 of each of the above solutions has the function of realizing the corresponding steps performed by the sending end in the above method, or the device 1000 of each of the above solutions has the function of realizing the corresponding steps of the receiving end of the above method.
  • Functions can be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (for example, the transmitting unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver. ), other units, such as a processing unit, can be replaced by a processor to respectively perform the sending and receiving operations and related processing operations in each method embodiment.
  • the above-mentioned transceiver unit may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit may be a processing circuit.
  • the device in Figure 10 may be the receiving end or transmitting end in the aforementioned embodiment, or it may be a chip or a chip system, such as a system on chip (SoC).
  • SoC system on chip
  • the transceiver unit may be an input-output circuit or a communication interface.
  • the processing unit is a processor or microprocessor or integrated circuit integrated on the chip. No limitation is made here.
  • Figure 11 shows a communication sensing device 2000 provided by an embodiment of the present application.
  • the device 2000 includes a processor 2010 and a transceiver 2020.
  • the processor 2010 and the transceiver 2020 communicate with each other through an internal connection path, and the processor 2010 is used to execute instructions to control the transceiver 2020 to send signals and/or receive signals.
  • the device 2000 may also include a memory 2030, which communicates with the processor 2010 and the transceiver 2020 through internal connection paths.
  • the memory 2030 is used to store instructions, and the processor 2010 can execute the instructions stored in the memory 2030.
  • the apparatus 2000 is configured to implement various processes and steps corresponding to the first terminal device (for example, source UE) in the above method embodiment.
  • the first terminal device for example, source UE
  • the apparatus 2000 is configured to implement various processes and steps corresponding to the second terminal device (for example, candidate UE#1 or candidate UE#2) in the above method embodiment.
  • the second terminal device for example, candidate UE#1 or candidate UE#2
  • the device 2000 may be specifically the transmitting end or the receiving end in the above embodiment, or may be a chip or a chip system.
  • the transceiver 2020 may be the transceiver circuit of the chip, which is not limited here.
  • the device 2000 can be used to perform various steps and/or processes corresponding to the sending end or the receiving end in the above method embodiments.
  • the memory 2030 may include read-only memory and random access memory and provide instructions and data to the processor.
  • a portion of the memory may also include non-volatile random access memory.
  • the memory may also store device type information.
  • the processor 2010 can be used to execute instructions stored in the memory, and when the processor 2010 executes the instructions stored in the memory, the processor 2010 is used to execute various steps of the above method embodiment corresponding to the sending end or the receiving end. and/or process.
  • each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor.
  • the steps of the methods disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.
  • the processor in the embodiment of the present application can implement or execute the various methods, steps and logical block diagrams disclosed in the embodiment of the present application.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the present application also provides a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the above embodiments. Methods.
  • the present application also provides a computer-readable medium.
  • the computer-readable medium stores program code.
  • the program code When the program code is run on a computer, it causes the computer to execute the above-described embodiments. Methods.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separate.
  • a component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • Functions may be stored in a computer-readable storage medium when implemented in the form of software functional units and sold or used as independent products.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk and other various media that can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

本申请实施例提供了一种通信感知方法和装置。该方法包括第一终端设备向第二终端设备发送感知测量请求消息，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息，获取感知数据或感知结果，感知数据或感知结果是基于第二终端设备执行的感知测量确定的。本申请所揭示的方法，通过终端之间的协同感知获取感知区域信息，进而提升感知效率和系统感知性能。

Description

通信感知方法和装置
本申请要求于2022年07月28日提交国家知识产权局、申请号为202210897819.7、申请名称为“通信感知方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信领域，并且更具体地，涉及一种通信感知方法和装置。
背景技术
无线感知技术(或称为非传感器场景感知技术)通过分析无线信号在传播过程中的变化，获得信号传播空间(信道)的特性，以实现场景的感知。
随着通信技术的演进，通信频段衍生出感知能力，特别是毫米波频段。当基站或终端拥有感知能力时，通信系统就可以对特定区域、特定物体或特定事件等进行感知识别。利用通信网络中所具备的广覆盖、远覆盖、大带宽、高精度、低时延等优点，可以达到超高的感知能力。通信网络如果将这种感知能力作为一种新的能力，可以解决很多场景下的感知需求。
示例性的，具备终端能力的车辆在行驶过程中，可以利用自身的感知能力执行对周边小范围环境的感知，如检测周围的车流情况。由于道路环境复杂，或者前方目标区域被前方行驶车辆遮挡，导致终端对周围的感知存在一定局限性。
发明内容
本申请实施例提供了一种通信感知方法和装置，通过终端之间的协同感知获取感知区域信息，能够提升感知效率和系统感知性能。
第一方面，提供了一种通信感知方法，该方法可以由第一终端设备(例如，用户设备(user equipment，UE1)执行，或者，也可以由用于第一终端设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第一终端设备执行为例进行说明。
该方法包括：第一终端设备向第二终端设备发送感知测量请求消息，感知测量请求消息用于请求第二终端设备执行感知测量，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息；第一终端设备获取感知数据或感知结果，感知数据或感知结果是基于第二终端设备执行的感知测量确定的。
示例性的，目标感知区域信息包括目标感知区域大小和/或目标感知方向，第二终端设备执行感知测量的感知区域信息包括第二终端设备执行感知测量的感知区域大小和/或方向。
根据本申请提供的方案，根据目标感知信息可以确定第二终端设备执行感知测量的感知区域信息，进而能够获取基于第二终端设备执行的感知测量确定的感知数据或感知结果，通过终端设备之间的协同感知获取特定感知区域，例如特定距离和/或特定方向的感知信息，提升感知效率和系统感知性能。
结合第一方面，在第一方面的某些实现方式中，第一终端设备获取目标感知区域信息；第一终端设备根据目标感知区域信息确定第二终端设备执行感知测量的感知区域信息。
需要说明的是，第二终端设备执行感知测量的感知区域大小和/或方向可以与目标感知区域大小和/或目标感知方向完全相同，也可以不同，本申请对此不作具体限定。若不同，则第一终端设备可以通过向多个第二终端设备发送感知测量请求消息，请求多个第二终端设备分别执行感知测量，使得第一终端设备最终获取目标感知区域大小和/或方向对应的感知数据或感知结果。
结合第一方面，在第一方面的某些实现方式中，第一终端设备根据目标感知区域信息确定第二终端设备执行感知测量的感知区域信息，包括：第一终端设备根据第一终端设备和第二终端设备之间的距离，以及目标感知区域信息确定第二终端设备执行感知测量的感知区域信息。
基于上述方案，结合第一终端设备和第二终端设备之间的距离，以及目标感知区域信息确定第二终端设备执行感知测量的感知区域信息，进而能够获取基于第二终端设备执行的感知测量确定的感知数据或感知结果。考虑到终端设备之间的位置信息来确定感知区域大小和/或方向，能够获取更准确的感知数据或感知结果。
结合第一方面，在第一方面的某些实现方式中，第一终端设备获取目标感知区域信息，包括：第一终端设备接收来自应用设备的协同感知请求消息，协同感知请求消息包括目标感知区域信息的指示信息；第一终端设备根据目标感知区域信息的指示信息确定目标感知区域信息。
基于上述方案，第一终端设备可以根据目标感知区域信息的指示信息确定目标感知区域和/或目标感知方向，进一步确定第二终端设备感知测量的区域大小和/或方向，有利于后续有针对性地请求第二终端设备执行感知测量，进而提升感知效率，避免第二终端设备盲目地执行感知测量。
结合第一方面，在第一方面的某些实现方式中，在第一终端设备向第二终端设备发送感知测量请求消息之前，第一终端设备发送发现请求消息，发现请求消息用于请求发现第二终端设备，发现请求消息包括发现目的，发现目的用于指示第二终端设备支持协同感知；对应的，第一终端设备接收来自第二终端设备的发现响应消息。
基于上述方案，通过发现流程，第一终端设备可以确定后续用于执行感知测量的一个或多个第二终端设备。即该第二终端设备具备感知能力，且支持协同感知。基于第二终端设备的辅助感知测量能够实现对目标感知区域和/或目标感知方向上的感知测量，进而提升感知效率，避免第二终端设备盲目地执行感知测量。
结合第一方面，在第一方面的某些实现方式中，发现请求消息还包括至少一项或者多项：第一终端设备的位置信息、第一终端设备和第二终端设备之间的距离要求信息或方向要求信息。
基于上述方案，基于上述参数使得接收到发现请求消息的终端可以进一步判断自身是否符合第一终端设备的要求，以便于后续更好地执行感知测量操作，有利于提升效率，避免第二终端设备盲目地执行感知测量。
结合第一方面，在第一方面的某些实现方式中，发现响应消息包括第二终端设备的位置信息。
基于上述方案，通过向第一终端设备提供第二终端设备的位置信息，便于后续第一终端设备根据二者的位置信息确定二者之间的距离，进而有针对性地请求第二终端设备在特定的感知区域大小和/或方向上执行感知测量，能够有利于提升感知效率，避免第二终端设备盲目地执行感知测量。
结合第一方面，在第一方面的某些实现方式中，在第一终端设备向第二终端设备发送感知测量请求消息之前，第一终端设备接收来自第二终端设备的第一广播消息，第一广播消息包括第二终端设备的感知能力和第一指示信息，第一指示信息用于指示第二终端设备支持协同感知。
基于上述方案，具备感知能力的终端设备可以向周围其他终端，例如第一终端设备发送第一广播消息，告知第一终端设备其具备感知能力且支持与其他UE协同感知，使得第一终端设备可以在基于距离关系从这些终端设备中确定第二终端设备来执行后续的感知操作。
结合第一方面，在第一方面的某些实现方式中，第一广播消息还包括第二终端设备的位置信息。
基于上述方案，通过向第一终端设备提供第二终端设备的位置信息，便于后续第一终端设备根据二者的位置信息确定二者之间的距离，进而有针对性地请求第二终端设备在特定的感知区域大小和/或方向上执行感知测量，能够有利于提升感知效率，避免第二终端设备盲目地执行感知测量。
结合第一方面，在第一方面的某些实现方式中，第一终端设备根据第二终端设备的位置信息，确定第一终端设备和第二终端设备之间的距离。
基于上述方案，通过确定第一终端设备和第二终端设备之间的距离，第一终端设备可以有针对性地请求第二终端设备在特定的感知区域大小和/或方向上执行感知测量，能够有利于提升感知效率，避免第二终端设备盲目地执行感知测量。
第二方面，提供了一种通信感知方法，该方法可以由第二终端设备(例如，UE2)执行，或者，也可以由用于第二终端设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第二终端设备执行为例进行说明。
该方法包括：第二终端设备接收来自第一终端设备的感知测量请求消息，感知测量请求消息用于请求第二终端设备执行感知测量，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息； 第二终端设备根据感知测量请求消息执行感知测量。
根据本申请提供的方案，第二终端设备基于感知测量请求消息中携带的第二终端设备执行感知测量的感知区域信息执行感知操作，进而使得第一终端设备获取感知数据或感知结果，通过多个终端设备之间的协同感知能够获取目标感知区域信息，能够提升感知效率和系统感知性能。
结合第二方面，在第二方面的某些实现方式中，第二终端设备向第一终端设备发送感知数据或感知结果，其中，感知数据或感知结果是基于第二终端设备执行的感知测量确定的。
基于上述方案，第二终端设备可以在自发自收的感知模式下获取感知数据或感知结果，并上报给第一终端设备。或者，第二终端设备可以在自发他收的感知模式下发送感知信号，使得第一终端设备接收反射回波信号，进而对反射回波信号进行处理后得到感知数据或感知结果。通过多个终端设备之间的协同感知能够获取目标感知区域信息，有利于提升感知效率和系统感知性能。
结合第二方面，在第二方面的某些实现方式中，在第二终端设备接收来自第一终端设备的感知测量请求消息之前，第二终端设备接收来自第一终端设备的发现请求消息，发现请求消息用于请求发现第二终端设备，发现请求消息包括发现目的，发现目的用于指示第二终端设备支持协同感知操作；第二终端设备向第一终端设备发送发现响应消息。
基于上述方案，通过发现流程，第一终端设备可以确定后续用于执行感知测量的一个或多个第二终端设备。即该第二终端设备具备感知能力，且支持协同感知。基于第二终端设备的辅助感知测量能够实现对目标感知区域和/或目标感知方向上的感知测量，进而提升感知效率。
结合第二方面，在第二方面的某些实现方式中，发现请求消息还包括至少一项或者多项：第一终端设备的位置信息、第一终端设备和第二终端设备之间的距离要求信息或方向要求信息。
基于上述方案，基于上述参数使得接收到发现请求消息的终端可以进一步判断自身是否符合第一终端设备的要求，以便于后续更好地执行感知测量操作，有利于提升感知效率。
结合第二方面，在第二方面的某些实现方式中，发现响应消息包括第二终端设备的位置信息。
基于上述方案，通过向第一终端设备提供第二终端设备的位置信息，便于后续第一终端设备根据二者的位置信息确定二者之间的距离，进而有针对性地请求第二终端设备在特定的感知区域大小和/或方向上执行感知测量，能够有利于提升感知效率，避免第二终端设备盲目地执行感知测量。
结合第二方面，在第二方面的某些实现方式中，在第二终端设备接收来自第一终端设备的感知测量请求消息之前，第二终端设备向第一终端设备发送第一广播消息，第一广播消息包括第二终端设备的感知能力和第一指示信息，第一指示信息用于指示第二终端设备支持协同感知。
基于上述方案，具备感知能力的终端设备可以向周围其他终端，例如第一终端设备发送第一广播消息，告知第一终端设备其具备感知能力且支持与其他UE协同感知，使得第一终端设备可以在基于距离关系从这些终端设备中确定第二终端设备来执行后续的感知操作。
结合第二方面，在第二方面的某些实现方式中，第一广播消息还包括第二终端设备的位置信息。
基于上述方案，通过向第一终端设备提供第二终端设备的位置信息，便于后续第一终端设备根据二者的位置信息确定二者之间的距离，进而有针对性地请求第二终端设备在特定的感知区域上执行感知测量，能够有利于提升感知效率，避免第二终端设备盲目地执行感知测量。
第三方面，提供了一种通信感知方法，该方法可以由第一终端设备(例如，UE1)执行，或者，也可以由用于第一终端设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第一终端设备执行为例进行说明。
该方法包括：第一终端设备向第二终端设备发送请求消息，请求消息用于请求获取感知数据，请求消息包括待请求的感知数据对应的感知区域信息；第一终端设备接收来自第二终端设备的感知数据。
根据本申请提供的方案，第一终端设备无需触发第二终端设备执行感知测量，而是直接向第二终端设备发送获取感知数据的请求，减少流程上的复杂度，提升感知效率和感知性能。
示例性的，第二终端设备支持其正前方50米范围的感知测量。
结合第三方面，在第三方面的某些实现方式中，第一终端设备获取目标感知区域信息；第一终端设备根据目标感知区域信息确定向第二终端设备待请求的感知数据对应的感知区域信息。
结合第三方面，在第三方面的某些实现方式中，第一终端设备根据目标感知区域信息确定向第二终端设备待请求的感知数据对应的感知区域信息，包括：第一终端设备根据第一终端设备和第二终端 设备之间的距离，以及目标感知区域信息确定向第二终端设备待请求的感知数据对应的感知区域信息。
示例性的，待请求的感知数据对应的感知区域信息包括感知区域大小和/或方向。
结合第三方面，在第三方面的某些实现方式中，第一终端设备获取目标感知区域信息，包括：第一终端设备接收来自应用设备的协同感知请求消息，协同感知请求消息包括目标感知区域信息的指示信息；第一终端设备根据目标感知区域信息的指示信息确定目标感知区域信息。
结合第三方面，在第三方面的某些实现方式中，第一终端设备接收来自第二终端设备的第二广播消息，第二广播消息包括第二指示信息，第二指示信息用于指示第二终端设备支持对外开放本地感知数据。
结合第三方面，在第三方面的某些实现方式中，第二广播消息还包括第二终端设备的位置信息，和/或，与支持对外开放的感知数据对应的感知区域信息。
可选地，若第二广播消息中不携带第二终端设备的位置信息，则第一终端设备可以发起测距Ranging流程，以得到第二终端设备与第一终端设备之间的距离，用于后续第一终端设备确定向第二终端设备请求感知数据对应的感知区域信息。其中，Ranging流程的具体实现方式可以参考现有技术，为了简洁，此处不再赘述。
结合第三方面，在第三方面的某些实现方式中，第一终端设备根据第二终端设备的位置信息，确定第一终端设备和第二终端设备之间的距离。
第四方面，提供了一种通信感知方法，该方法可以由第二终端设备(例如，UE2)执行，或者，也可以由用于第二终端设备的芯片或电路执行，本申请对此不作限定。为了便于描述，下面以由第二终端设备执行为例进行说明。
该方法包括：第二终端设备接收来自第一终端设备的请求消息，请求消息用于请求获取感知数据，请求消息包括待请求的感知数据对应的感知区域信息；第二终端设备向第一终端设备发送感知数据。
需要说明的是，目标感知区域信息，例如目标感知区域和/或目标感知方向是第一终端设备获取的。例如，当目标感知区域和/或目标感知方向的感知数据缺失或错误时，第一终端设备接收来自应用设备的协同感知请求消息，该协同感知请求消息包括目标感知区域信息，或者用于指示目标感知区域信息的信息，例如绝对坐标值。
根据本申请提供的方案，第一终端设备无需触发第二终端设备执行感知测量，而是直接向第二终端设备发送获取感知数据的请求，减少流程上的复杂度，提升感知效率和感知性能。
结合第四方面，在第四方面的某些实现方式中，第二终端设备执行感知测量，并获取感知数据以及与感知数据对应的感知区域信息；第二终端设备向第一终端设备发送第二广播消息，第二广播消息包括第二指示信息，以及与感知数据对应的感知区域信息，第二指示信息用于指示第二终端设备支持向第一终端设备发送感知数据。
结合第四方面，在第四方面的某些实现方式中，第二广播消息还包括第二终端设备的位置信息，和/或，与支持对外开放的感知数据对应的感知区域信息。
第五方面，提供了一种通信感知装置，包括：收发单元，用于向第二终端设备发送感知测量请求消息，感知测量请求消息用于请求第二终端设备执行感知测量，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息；获取单元，用于获取感知数据或感知结果，感知数据或感知结果是基于第二终端设备执行的感知测量确定的。
该收发单元可以执行前述第一方面或第三方面中的接收和发送的处理，处理单元可以执行前述第一方面或第三方面中除了接收和发送之外的其他处理。
第六方面，提供了一种通信感知装置，包括：收发单元，用于接收来自第一终端设备的感知测量请求消息，感知测量请求消息用于请求第二终端设备执行感知测量，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息；处理单元，用于根据感知测量请求消息执行感知测量。
该收发单元可以执行前述第二方面或第四方面中的接收和发送的处理，处理单元可以执行前述第二方面或第四方面中除了接收和发送之外的其他处理。
第七方面，提供一种通信感知装置，包括处理器和存储器。可选地，还可以包括收发器。其中，存储器用于存储计算机程序，处理器用于调用并运行存储器中存储的计算机程序，并控制收发器收发信号，以使通信装置执行如第一方面至第四方面的任一方面的方法，或第一方面至第四方面的任一方 面的任一可能的实现方式的方法。
第八方面，提供一种通信装置，包括处理器和通信接口，通信接口用于接收数据和/或信息，并将接收到的数据和/或信息传输至处理器，处理器处理数据和/或信息，以及，通信接口还用于输出经处理器处理之后的数据和/或信息，以使得如第一方面至第四方面的任一方面的方法，或第一方面至第四方面的任一方面的任一可能的实现方式中的方法被执行。
第九方面，提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机指令，当计算机指令在计算机上运行时，使得如第一方面至第四方面的任一方面的方法，或第一方面至第四方面的任一方面的任一可能的实现方式中的方法被执行。
第十方面，提供一种计算机程序产品，计算机程序产品包括计算机程序代码，当计算机程序代码在计算机上运行时，使得如第一方面至第四方面的任一方面的方法，或第一方面至第四方面的任一方面的任一可能的实现方式中的方法被执行。
第十一方面，提供一种无线通信系统，包括如第一方面至第四方面的任一方面的方法中涉及到的第一终端设备、第二终端设备中的一个或多个。
附图说明
图1是适用本申请的一种网络架构的示意图。
图2是适用本申请的一种用于感知通信的网络架构的示意图。
图3是本申请实施例提供的一种感知场景的示意图。
图4是本申请实施例提供的第一种通信感知方法的流程示例图。
图5是本申请实施例提供的第二种通信感知方法的流程示例图。
图6是本申请实施例提供的第三种通信感知方法的流程示例图。
图7是本申请实施例提供的第四种通信感知方法的流程示例图。
图8是本申请实施例提供的第五种通信感知方法的流程示例图。
图9是本申请实施例提供的第六种通信感知方法的流程示例图。
图10是本申请实施例提供的一种通信感知装置的结构示意图。
图11是本申请实施例提供的另一种通信感知装置的结构示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本申请提供的技术方案可以应用于各种通信系统，例如：新无线(new radio，NR)系统、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)系统等。本申请提供的技术方案还可以应用于设备到设备(device to device，D2D)通信，车到万物(vehicle-to-everything，V2X)通信，机器到机器(machine to machine，M2M)通信，机器类型通信(machine type communication，MTC)，以及物联网(internet of things，IoT)通信系统或其他通信系统。
在通信系统中，由运营者运营的部分可称为公共陆地移动网络(public land mobile network，PLMN)，也可以称为运营商网络等。PLMN是由政府或其所批准的经营者为公众提供陆地移动通信业务目的而建立和经营的网络，主要是移动网络运营商(mobile network operator，MNO)为用户提供移动宽带接入服务的公共网络。本申请实施例中所描述的PLMN，具体可为符合第三代合作伙伴项目(3rd generation partnership project，3GPP)标准要求的网络，简称3GPP网络。3GPP网络通常包括但不限于第五代移动通信(5th-generation，5G)网络、第四代移动通信(4th-generation，4G)网络，以及未来的其他通信系统，例如(6th-generation，6G)网络等。
随着移动通信技术的更新换代，5G网络将以灵活高效的方式构建。5G网络可以将通信感知能力作为一种新的能力。为了方便描述，以5G网络的系统架构为例进行说明。
图1是适用本申请的一种网络架构100的示意图，图1的(a)为基于点对点接口的5G网络架构示意图。该网络架构可以包括但不限于以下网元(或者称为功能网元、功能实体、节点、设备等)：用户设备(user equipment，UE)、(无线)接入网设备(radio access network，(R)AN)、用户面功能 (user plane function，UPF)网元、数据网络(data network，DN)、接入和移动性管理功能(access and mobility management function，AMF)网元、会话管理功能(session management function，SMF)网元、策略控制功能(policy control function，PCF)网元、应用功能(application function，AF)网元、网络切片选择功能(network slice selection function，NSSF)、认证服务器功能(authentication server function，AUSF)、统一数据管理(unified data management，UDM)网元、网络开放功能(network exposure function，NEF)网元、统一数据存储(unified data repository，UDR)网元等。
下面对图1的(a)中示出的各网元进行简单介绍：
1、UE：为与(R)AN通信的终端也可以称为终端设备、接入终端、用户单元、用户站、移动站、移动台(mobile station，MS)、移动终端(mobile terminal，MT)、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置等。本申请中，终端设备可以具备感知的能力。例如，终端设备的射频模块可以发送射频信号，然后通过接收和处理反射信号来了解环境。因此，在本申请中，终端设备也可以进行感知数据的探测和/或收集。
2、(R)AN：RAN用于为特定区域的授权终端设备提供入网功能，并能够根据终端设备的级别，业务的需求等使用不同质量的传输隧道。RAN能够管理无线资源，为终端设备提供接入服务，进而完成控制信号和终端设备数据在终端设备和CN之间的转发，RAN也可以理解为传统网络中的基站。在本申请中，当基站采用毫米波频段进行无线通信时，基站将天然拥有类似雷达的感知能力，即基站将同时拥有无线通信能力和感知的能力。因此，RAN可以进行感知数据的探测和/或收集，也可以将本申请中的RAN称为通信雷达一体化基站，不仅可以实现对地面用户进行通信业务覆盖，还可以实现对无人机、直升机、鸟类等飞行目标以及对地面车流量，行人等进行探测。
3、UPF：包括数据包路由和传输、数据包检测、业务用量上报、服务质量(quality of service，QoS)处理、合法监听、上行数据包检测、下行数据包存储等用户面功能。
4、DN：用于提供传输数据的网络。终端设备接入网络后可以建立协议数据单元(protocol data unit，PDU)会话，并通过PDU会话访问DN，可以与部署在DN中的应用功能网元交互。根据用户访问的DN不同，网络可以根据网络策略选择接入DN的UPF作为为PDU会话锚点(PDU Session Anchor，PSA)，并通过PSA的N6接口访问应用功能网元。
5、AMF：主要用于移动性管理和接入管理等，可以用于实现移动性管理网元(mobility management entity，MME)功能中除会话管理之外的其它功能，例如，合法监听以及接入授权/鉴权等功能。
6、SMF：主要用于会话管理、终端设备的网络互连协议(internet protocol，IP)地址分配和管理、选择可管理终端设备平面功能、策略控制和收费功能接口的终结点以及下行数据通知等。
7、PCF：用于指导网络行为的统一策略框架，为控制面功能网元(例如AMF，SMF网元等)提供策略规则信息等。
8、AF：应用功能网元可以通过应用功能网元与5G系统交互，用于接入网络开放功能网元或与策略框架交互进行策略控制等。
9、NSSF：主要包括以下功能：为UE选择一组网络切片实例、确定允许的网络切片选择辅助信息(network slice selection assistance information，NSSAI)和确定可以服务UE的AMF集合等。
10、AUSF：用于鉴权服务、产生密钥实现对终端设备的双向鉴权，支持统一的鉴权框架。
11、UDM/UDR：用于处理终端设备标识，接入鉴权，注册以及移动性管理等，可以是指用户数据库。可以作为一个存储用户数据的单一逻辑存储库存在。
12、NEF：用于提供网络开放的定制功能。5G通信系统还可以通过NEF网元，向外部的应用功能网元开放5GC支持的能力，譬如提供小数据传递能力等。
可以理解的是，上述网元或者功能既可以是硬件设备中的物理实体，也可以是在专用硬件上运行的软件实例，或者是共享平台(例如，云平台)上实例化的虚拟化功能。简单来说，一个NF可以由硬件来实现，也可以由软件来实现。
图1的(b)为基于服务化接口的5G网络架构示意图。该网络架构可以包括但不限于以下网元(或者称为功能网元、功能实体、节点、设备等)：UE、(R)AN、UPF网元、DN、AMF网元、SMF网元、PCF网元、AF网元、NSSF网元、AUSF网元、UDM网元、NEF网元、UDR网元等。其中，各个网元功能的介绍可以参考图1的(a)中对应的网元功能的介绍，这里不再赘述。
图1的(a)和(b)中Nnssf、Nnef、Nnrf、Npcf、Nudm、Nudr、Naf、Nausf、Namf、Nsmf、N1、N2、N3、N4，N6以及N9为接口序列号。示例性的，上述接口序列号的含义可参见3GPP标准协议中定义的含义，本申请对于上述接口序列号的含义不做限制。需要说明的是，图1的(a)和(b)中的各个网络功能之间的接口名称仅仅是一个示例，在具体实现中，该系统架构的接口名称还可能为其他名称，本申请对此不作限定。此外，上述各个网元之间的所传输的消息(或信令)的名称也仅仅是一个示例，对消息本身的功能不构成任何限定。
应理解，上述网络架构仅是从服务化架构的角度示例描述的网络架构，适用本申请实施例的网络架构并不局限于此，任何能够实现上述各个网元的功能的网络架构都适用于本申请实施例。本申请实施例提供的通信感知方法还可以涉及图1中未示出的网元，当然本申请实施例提供的通信感知方法也可以只包括图1示出的部分网元。
还应理解，上述命名仅为便于区分不同的功能而定义，不应对本申请构成任何限定。本申请并不排除在5G网络以及未来其它的网络中采用其他命名的可能。例如，在6G网络中，上述各个网元中的部分或全部可以沿用5G中的术语，也可能采用其他名称等。
在本申请中，该网络架构100还可以包括位置管理服务功能(location management service，LMF)网元，用于发起终端设备的定位流程，获取终端设备的位置信息。
在本申请中，该网络架构100还可以包括感知网元，感知网元负责端到端使能感知业务。例如感知网元基于网络内部需求或者感知业务的需求方的需求，获得感知需求。感知网元获得感知需求之后，触发接入网设备或终端设备进行感知数据的探测和/或收集。在本申请中，感知网元可以和其他网元，例如RAN、AMF、SMF、LMF等网元进行通信。
需要说明的是，在5G网络中，感知网元可以为5G核心网(5G core，5GC)的网元之一。或者，感知网元也可以是非核心网网元。或者，感知网元可以独立部署。或者，感知网元也可以是5GC的网元中的子网元或模块。例如，感知网元可以与AMF、UPF、SMF或LMF网元合并部署，本申请对此不作特别限定。
图2是适用本申请的一种用于感知通信的网络架构200的示意图。如图2所示，该网络架构200包括感知网元(例如，感知功能网元(sensing function，SF))、至少一个具有感知能力的RAN网元，以及至少一个具有感知能力的UE。例如，图2所示的感知网元210，RAN 220和RAN 230，以及UE 240和UE 250。感知网元210负责端到端使能感知业务。
示例性的，感知网元210可以基于网络内部需求，或者基于感知业务的需求方的需求，获得感知需求。感知网元210获得感知需求之后，触发RAN 220和/或RAN 230进行感知数据的探测和/或收集。比如，RAN 220向UE 240发送感知信号，并从UE 240接收回波信号，和/或RAN 230向UE 250发送感知信号，并从UE 250接收回波信号。RAN 220和RAN 230分别根据所接收到的回波信号进行一定的处理生成感知数据。应理解，回波信号是指感知信号经过物体的反射信号。RAN 220和/或RAN 230再分别将感知数据提供给感知网元210，由感知网元210基于感知数据向需求方提供感知业务，比如AF、外部应用服务器(application server，AS)或者终端设备等。或者，感知网元210可以基于感知数据，对网络内部进行优化等。
应理解，图1和图2仅是示例性的通信网络架构，本申请对此不作具体限定，任何能够实现上述各个网元的功能的网络架构都适用于本申请实施例。
无线通信过程中，电磁波在空间传播进行信号传递的同时，也携带了环境信息。例如：如果手机接收到的Wi-Fi信号较弱，可能是由于手机距离无线路由器较远；而如果手机接收到的Wi-Fi信号强度骤降，很可能是因为手机进入了某些特定的封闭空间如电梯等。将接收信号强度(received signal strength indicator，RSSI)作为特征，可以推断手机的位置和所处的环境。信号特征的选取对于感知精度、可靠性、模型泛化能力等具有关键影响。
示例性的，雷达感知是一种比较常见的无线感知技术，通过分析接收到的目标回波特性，提取并发现目标的位置、形状、运动特性和运动轨迹，并且可以进一步推断目标和环境的特征。雷达技术的优势就是对于运动的检测，通过对目标回波的多普勒效应来观测和解读目标的运动状态，如运动方向和运动速度；在使用多通道传感器时，还可以从不同的视角观察目标的运动。通过从不同的视角采集目标的运动状态，并结合瞬时信息和历史信息进行分析，从而实现对复杂运动的分辨。
随着5G网络发展，基于感知的新型网络能力需求正逐渐涌现。例如在智慧城市、智慧交通某些场景中，获取物体间相对位置和角度，以及感知目标对象的距离、速度和形状等信息的需求逐渐显现。为了满足这些业务需求，5G网络应进一步增强，具备协助无线网进行感知的能力。未来5G可以部署雷达通信一体化基站来增强基站的感知能力，雷达的精确感知能力可以进行精确地通信，提升通信效率。如将基站的通信资源和感知资源时分复用，或者空分复用，来实现对周围环境或者物体的感知。感知功能可以在一些不能安装摄像头类的安防场景等进行探测。如在特定工业园区，可以检测无人机等飞行物体入侵。在交通场景，路边站可以完成交通流量统计，车辆导航等功能，这些功能均需要路边基站有一定的感知能力。
5G终端也可以具备感知能力，来实现对周围环境或者物体的感知。比如，终端发送感知测量信号，并收集反射到周边环境中其他物体上的感知信号，这种测量模式可以称为自发自收(即UE发，UE收)。再比如，终端发送感知测量信号，其他UE收集反射到周边环境中其他物体上的感知信号，这种测量模式可以称为自发他收(即UE发，其他UE收)。示例性的，车辆行驶过程中，车辆作为UE可以采用自发自收的方式，执行对自己周边小范围环境的感知，如检测周围的车流情况。由于道路环境复杂，UE自己对周围的感知存在一定局限性(如行驶过程中，车辆周围可能出现某个方向的遮挡)，UE可以借助其他UE获取周边环境的感知信息。
可以理解的是，不同的感知模式对终端能力具备不同的要求，在不同的应用场景中，可以采用不同的感知模式对周围环境进行感知测量。
图3是本申请实施例提供的一种感知场景的示意图。如图3所示，源UE(Source UE)在行驶过程中，前方目标区域(如道路施工区域)被前方行驶车辆(候选UE#2)遮挡，因此无法利用自身的感知能力探测到目标区域，源UE可以请求其他UE(称为候选UE)来协助源UE获取目标区域的感知信息。然而，源UE和候选UE之间的距离会影响候选UE执行感知测量的方向。比如，目标区域位于候选UE#1的后方，候选UE#1需要将车辆后方的感知信息发给源UE，目标区域位于候选UE#2的前方，候选UE#2需要将车辆前方的感知信息发给源UE。源UE基于候选UE#1和候选UE#2的感知信息确定目标区域的情况。
综上，本申请提供了一种通信感知方法和装置，在感知场景中，当环境被遮挡时，源UE需要针对性地发现有关目标感知区域的特性方向和/或特定距离的候选UE，并从该候选UE获取满足条件的感知数据。由于源UE和不同候选UE之间的距离存在差异性，因此需要结合源UE和候选UE之间的距离大小来确定向不同候选UE请求执行感知测量的方向。
为了便于理解本申请实施例，作出以下几点说明：
第一、在本申请中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
第二、在本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。在本申请的文字描述中，字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b和c中的至少一项(个)，可以表示：a，或，b，或，c，或，a和b，或，a和c，或，b和c，或，a、b和c。其中a、b和c分别可以是单个，也可以是多个。
第三、在本申请中，“第一”、“第二”以及各种数字编号(例如，#1、#2等)指示为了描述方便进行的区分，并不用来限制本申请实施例的范围。例如，区分不同的消息等，而不是用于描述特定的顺序或先后次序。应理解，这样描述的对象在适当情况下可以互换，以便能够描述本申请的实施例以外的方案。
第四、在本申请中，“当……时”、“在……的情况下”以及“如果”等描述均指在某种客观情况下设备会做出相应的处理，并非是限定时间，且也不要求设备在实现时一定要有判断的动作，也不意味着存在其它限定。
第五、在本申请中，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元， 而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
第六、在本申请中，“用于指示”可以包括用于直接指示和用于间接指示。当描述某一指示信息用于指示A时，可以包括该指示信息直接指示A或间接指示A，而并不代表该指示信息中一定携带有A。
本申请实施例涉及的指示方式应理解为涵盖可以使得待指示方获知待指示信息的各种方法。待指示信息可以作为整体一起发送，也可以分成多个子信息分开发送，而且这些子信息的发送周期和/或发送时机可以相同，也可以不同，本申请对具体的发送方法不作限定。
本申请实施例中的“指示信息”可以是显式指示，即通过信令直接指示，或者根据信令指示的参数，结合其他规则或结合其他参数或通过推导获得。也可以是隐式指示，即根据规则或关系，或根据其他参数，或推导获得。本申请对此不作具体限定。
第七、在本申请中，“协议”可以是指通信领域的标准协议，例如可以包括5G协议、新空口(new radio，NR)协议以及应用于未来的通信系统中的相关协议，本申请对此不做限定。“预配置”可以包括预先定义。例如，协议定义。其中，“预先定义”可以通过在设备中预先保存相应的代码、表格或其他可用于指示相关信息的方式来实现，本申请对于其具体的实现方式不做限定。
第八、在本申请中，“存储”可以是指保存在一个或者多个存储器中。一个或者多个存储器可以是单独的设置，也可以是集成在编码器或者译码器、处理器、或通信装置中。一个或者多个存储器，也可以是一部分单独设置，一部分集成在译码器、处理器、或通信装置中。存储器的类型可以是任意形式的存储介质，本申请并不对此限定。
第九、在本申请中，“通信”还可以描述为“数据传输”、“信息传输”、“数据处理”等。“传输”包括“发送”和“接收”，本申请对此不作限定。
第九、感知数据也称为感知业务数据、感知业务数据或感知应用数据等。消息A包括信息a，也可以替换表述为消息A包含信息a，或者消息A中携带信息a。网元A根据消息B，确定或者选择C，也可以表述为网元A基于消息B，确定或者选择C，下文不再重复说明。
下面将结合附图详细说明本申请提供的技术方案。
图4是本申请实施例提供的第一种通信感知方法400的流程示意图。如图4所示，该方法包括如下多个步骤。
S410，第一终端设备向第二终端设备发送感知测量请求消息。
对应的，第二终端设备接收来自第一终端设备的感知测量请求消息。
其中，感知测量请求消息用于请求第二终端设备执行感知测量，感知测量请求消息包括第二终端设备执行感知测量的感知区域信息。其中，第二终端设备执行感知测量的感知区域信息可以包括感知区域的大小和/或感知方向。
在一种可能的实现方式中，第一终端设备获取目标感知区域信息，并根据目标感知区域信息确定第二终端设备执行感知测量的感知区域信息。
示例性的，目标感知区域信息可以包括目标感知区域的大小和/或目标感知方向。目标感知区域的大小表示需要执行感知的环境范围的大小，目标感知方向表示哪个方向的环境需要执行感知。
在一种可能的实现方式中，第一终端设备获取目标感知区域信息，包括：第一终端设备接收来自应用设备的协同感知请求消息，协同感知请求消息包括目标感知区域信息的指示信息；第一终端设备根据目标感知区域信息的指示信息确定目标感知区域信息。
示例性的，当第一终端设备被周围物体遮挡，导致其感知测量存在局限性，应用设备可以向第一终端设备发送协同感知请求消息，用于请求获取第一终端设备获取环境信息。
可选地，协同感知请求消息还包括以下一项或者多项：时延信息、感知数据的上报周期。其中，时延信息可以用于指示第一终端设备响应第一终端设备的协同感知请求的最晚时刻。感知数据的上报周期用于指示第一终端设备获取感知数据的周期。
需要说明的是，上述目标感知区域信息可以是显式指示，例如第一终端设备从应用层接收的目标感知区域信息的指示信息即为目标感知区域的大小和/或目标感知方向；或者，也可以是隐式指示，例如目标感知区域信息的指示信息携带用于指示目标感知区域的大小和/或目标感知方向的信息，例如参考坐标或者地理位置的绝对坐标等，第一终端设备基于参考坐标或者地理位置的绝对坐标可以进一步确定目标感知区域的大小和/或目标感知方向，本申请对此不作具体限定。
示例性的，应用层可以以第一终端设备作为参考坐标来确定目标感知区域和目标感知方向。例如，以第一终端设备为参考坐标时，将第一终端设备的左侧方向且大小为5米乘以5米的区域范围作为目标感知方向和目标感知区域。
示例性的，应用层也可以以地理位置的绝对坐标来确定目标感知区域和目标感知方向。例如，通过地理坐标系(geographic coordinate system)(如经度、纬度信息)，或者绝对坐标值进一步指示目标感知区域和目标感知方向。
第一终端设备根据目标感知区域信息确定第二终端设备执行感知测量的感知区域信息的方法可以是：
在一种可能的实现方式中，第一终端设备获取目标感知区域信息之后，本地无需处理目标感知区域信息，直接将目标感知区域信息作为请求第二终端设备执行感知测量的感知区域信息发给第二终端设备。
在另一种可能的实现方式中，第一终端设备获取目标感知区域信息，第一终端设备根据第一终端设备和第二终端设备之间的距离，以及目标感知区域信息确定第二终端设备执行感知测量的感知区域信息。其中，第一终端设备根据第二终端设备的位置信息与第一终端设备的位置信息可以确定第一终端设备和第二终端设备之间的距离。应理解，本申请所述的第一终端设备和第二终端设备之间的距离是指二者之间的直线距离，例如100米。
示例性的，目标感知区域信息指示需要感知的环境是第一终端设备正前方5米乘以5米的范围，第二终端设备与第一终端设备之间的距离是10米，且第二终端设备位于第一终端设备的正前方，则第一终端设备确定的请求第二终端设备执行感知测量的区域大小和/或方向可以是第二终端设备正后方的10米乘以10米的区域。
示例性的，目标感知区域和目标感知方向指示需要感知的环境是第一终端设备右侧方10米乘以10米的范围，两个第二终端设备(UE2和UE2’)分别位于第一终端设备的右前方和右后方，以及目标感知区域的正前方和正后方，则第一终端设备确定UE2执行感知测量的区域大小和/或方向可以是UE2正后方的5米乘以5米的区域范围，第一终端设备确定UE2’执行感知测量的区域大小和/或方向可以是UE2’正前方的5米乘以5米的区域范围，从而保证两个第二终端设备感知测量的区域范围完全覆盖所述目标感知区域。
需要说明的是，第二终端设备可以是一个，也可以是多个，本申请对此不作具体限定。例如第二终端设备有两个，则在执行感知测量时，第一终端设备可以针对性地为每个第二终端设备确定执行感知测量的感知区域信息，其中，每个第二终端设备确定执行感知测量的感知区域信息可以相同或者不同。
可选地，感知测量请求消息还可以包括感知模式，例如：终端自主的感知模式(UE based sensing mode)：第二终端设备发送感知信号，且接收反射回波信号(该模式也可以称为UE自发自收)；或者，多终端协同的感知模式：第二终端设备发送感知信号，且第一终端设备接收反射回波信号等(该模式也可以称为UE发、其他UE收)。或者，多个第二终端设备之间执行协同感知操作，并向第一终端设备上报感知数据。
示例性的，在第二终端设备仅支持一种感知模式的情况下，感知测量请求消息中可以不携带感知模式；或者，在感知模式是预配置的情况下，感知测量请求消息中也可以不携带感知模式，本申请对此不作具体限定。
需要说明的是，以上感知模式仅是为例便于理解方案进行的示例性说明，不应构成对本申请技术方案的任何限定。
在一种可能的实现方式中，在第一终端设备向第二终端设备发送感知测量请求消息之前，第一终端设备发送发现请求消息，发现请求消息用于请求发现第二终端设备，发现请求消息包括发现目的，发现目的用于指示第二终端设备支持协同感知；对应的，第一终端设备接收来自第二终端设备的发现响应消息。
可选地，第一终端设备可以在目标感知方向上发送发现请求消息。该发现请求消息可以携带发现目的，以及对第二终端设备的感知能力的要求信息。示例性的，该发现请求消息请求发现的第二终端设备具备感知周围100米以内环境的感知能力，且支持与其他终端设备执行协同感知操作。
可选地，第一终端设备可以在所有方向上发送发现请求消息。即第一终端设备广播发现请求消息，该发现请求消息可以携带发现目的，以及对第二终端设备的感知能力的要求信息。对应的，收到该发现请求消息的所有终端可以判断是否满足条件，即判断自身是否具备感知周围100米以内范围的环境，或者是否支持与其他终端协同感知的能力。如果满足则向第一终端设备发送发现响应消息，不满足则可以不响应。也就是说，发送发现响应消息的终端即为第二终端设备。
可选地，发现请求消息还包括至少一项或者多项：第一终端设备的位置信息、第一终端设备和第二终端设备之间的距离要求信息或方向要求信息。
示例性的，第一终端设备的位置信息可以采用地理位置的绝对坐标，或者地理坐标系(如经度、纬度信息)，或者绝对坐标值来表示，本申请对此不作具体限定。
示例性的，第一终端设备和第二终端设备之间的距离要求信息指示二者之间的距离要求小于100米；或者，第一终端设备和第二终端设备之间的方向要求信息指示第二终端设备需要位于第一终端设备的左侧方向。例如，收到该发现请求消息的所有终端可以根据自己的位置以及第一终端设备的位置判断二者之间的距离或方向，是否满足发现请求消息中携带的第一终端设备和第二终端设备之间的距离要求信息或方向要求信息。如果满足则向第一终端设备响应。
可选地，发现响应消息包括第二终端设备的位置信息。
示例性的，第二终端设备的位置信息可以采用地理位置的绝对坐标，或者地理坐标系(如经度、纬度信息)，或者绝对坐标值来表示，本申请对此不作具体限定。
可选地，若发现响应消息中不携带第二终端设备的位置信息，则第一终端设备可以发起测距Ranging流程，以得到第二终端设备与第一终端设备之间的距离，用于后续第一终端设备有针对性地为第二终端设备确定执行感知测量的感知区域信息。其中，Ranging流程的具体实现方式可以参考现有技术，为了简洁，此处不再赘述。
在一种可能的实现方式中，在第一终端设备向第二终端设备发送感知测量请求消息之前，第一终端设备接收来自第二终端设备的第一广播消息，第一广播消息包括第二终端设备的感知能力和第一指示信息，第一指示信息用于指示第二终端设备支持协同感知。
示例性的，UE1和UE2分别向第一终端设备发送第一广播消息，用于指示UE1和UE2均具备感知能力，且支持与其他UE协同感知，其中UE1的感知能力为以自身位置为圆心半径为100米的区域范围，UE1位于第一终端设备的正前方，且与第一终端设备之间的距离为100米；UE2的感知能力为以自身位置为圆心半径为100米的区域范围，UE2位于第一终端设备的正后方，且与第一终端设备之间的距离为50米。例如，目标感知区域和目标感知方向是第一终端设备的正后方50米处半径为50米区域范围，则第一终端设备可以进一步确定UE2符合条件，且向UE2发送感知测量请求消息，请求执行感知操作。例如，目标感知区域和目标感知方向是以第一终端设备为中心，半径为150米的区域范围，则第一终端设备可以进一步确定UE1和UE2均符合条件，且向UE1和UE2发送感知测量请求消息，请求UE1和UE2执行感知操作，以获取目标感知区域和/或目标感知方向上的全部感知数据。
可选地，第一广播消息还包括第二终端设备的位置信息。
示例性的，第二终端设备的位置信息可以采用地理位置的绝对坐标，或者地理坐标系(如经度、纬度信息)，或者绝对坐标值来表示，本申请对此不作具体限定。
可选地，若第一广播消息中不携带第二终端设备的位置信息，则第一终端设备可以发起测距Ranging流程，以得到第二终端设备与第一终端设备之间的距离，用于后续第一终端设备有针对性地为第二终端设备确定执行感知测量的感知区域信息。
S420，第二终端设备根据感知测量请求消息执行感知测量。
在一种可能的实现方式中，感知测量请求消息携带第二终端设备执行感知测量的感知区域信息。例如，该感知区域信息可以由区域大小和/或方向来表示：第二终端设备正后方的10米乘以10米的区域，且第二终端设备仅支持终端自主的感知模式(UE based sensing mode)时，则第二终端设备向其正后方的10米乘以10米的区域发送感知信号，且接收反射回波信号，对反射回波信号进行处理后可以生成感知数据。可选地，第二终端设备可以基于感知数据生成感知结果。
其中，执行感知测量的具体实现方式可参考现有技术，为了简洁，此处不再过多赘述。
S430，第一终端设备获取感知数据或感知结果，感知数据或感知结果是基于第二终端设备执行的 感知测量确定的。
在一种可能的实现方式中，当第二终端设备执行感知操作的感知模式为终端自主的感知模式时，第一终端设备从第二终端设备接收感知数据或感知结果。
在另一种可能的实现方式中，当第二终端设备执行感知操作的感知模式为多终端协同的感知模式时，即第二终端设备发送感知信号，且第一终端设备接收反射回波信号，并对反射回波信号进行处理以生成感知数据或感知结果；或者，多个第二终端设备之间执行协同感知操作，并向第一终端设备上报感知数据或感知结果。
可选地，第一终端设备向应用层发送协同感知响应消息。对应的，应用层接收来自第一终端设备的协同感知响应消息。其中，协同感知响应消息包括与目标感知区域和/或目标感知方向关联的感知数据，或者感知结果。进一步地，应用层基于接收到的感知数据或者感知结果在本地实现所有感知数据的融合。
根据本申请提供的方案，结合第一终端设备和第二终端设备之间的距离，以及目标感知区域和/或目标感知方向，确定第二终端设备执行感知测量的感知区域信息，进而获取感知数据或感知结果，通过终端设备之间的协同感知获取特定距离和/或特定方向的感知信息，提升感知效率和系统感知性能。
图5是本申请实施例提供的第二种通信感知方法500的流程示例图。在该实现方式中，源UE(source UE)触发候选UE(例如，候选UE#1和候选UE#2)在特定感知区域大小和/或方向上执行感知测量，并从候选UE获取感知测量数据或者感知结果。如图5所示，该方法包括如下多个步骤。
S511，应用层触发源UE执行感知。
应理解，本申请对触发条件、触发事件，或者触发时机等不作具体限定。
示例性的，当接收到来自需求方的感知业务请求时，应用设备(例如AF)可以向源UE发送请求消息#1，该请求消息#1用于请求源UE对周边环境或者物体执行感知操作，以得到感知数据#。
S512，源UE执行感知操作，得到感知数据#。
示例性的，源UE可以根据AF的请求消息#1，采用自发自收的感知模式对周边环境或物体执行感知测量，即源UE向周边环境或物体发送感知信号，且收集反射到周边环境或物体上的感知信号，即接收反射回波信号。
应理解，源UE执行感知测量的感知模式(如自发自收)仅是为便于理解方案的示例，本申请对此不作具体限定。例如，源UE执行的感知操作还可以是其他感知模式，源UE发送感知信号，其他UE接收反射回波信号的感知模式；或者其他UE发送感知信号，源UE接收回波信号的感知模式等。
S513，源UE向应用层发送感知数据#。
对应的，应用层接收来自源UE的感知数据#。
S520，应用层向源UE发送协同感知请求消息#1。
对应的，源UE接收来自应用层的协同感知请求消息#1。
其中，协同感知请求消息#1包括目标感知区域信息的指示信息。示例性的，目标感知区域信息包括目标感知区域#1的大小和/或目标感知方向#1。
在一种可能的实现方式中，应用层可以以源UE作为参考坐标来指示目标感知区域信息。例如，以源UE为参考坐标时，将源UE的左侧方向且大小为5米乘以5米的区域范围作为目标感知区域信息，即目标感知方向#1为UE的左侧，目标感知区域#1的大小为5米乘以5米的区域范围。
在另一种可能的实现方式中，应用层也可以以地理位置的绝对坐标来指示目标感知区域信息。例如，通过地理坐标系(如经度、纬度信息)，或者绝对坐标值进一步指示目标感知区域信息。
应理解，以上目标感知区域信息的指示方式仅是示例性说明，关于目标感知区域信息的指示方式，本申请对此不作具体限定。
可选地，协同感知请求消息#1还包括以下一项或者多项：时延信息、感知数据(即，下文感知数据#1和感知数据#2)的上报周期。其中，时延信息可以用于指示源UE响应步骤S520的协同感知请求的最晚时刻，即步骤S590的协同感知响应消息#1的最晚上报时刻。感知数据的上报周期用于指示源UE返回感知响应消息#1的周期。
示例性的，由于源UE被周围物体遮挡，导致步骤S512中得到的感知数据#在某些方向上存在缺失、错误，或准确度不够，或者分析得到的感知结果#的精度不满足应用层的需求时，应用层可以向源 UE发送协同感知请求消息#1。
S530，可选地，源UE确定目标感知方向#1。
示例性的，源UE基于应用层的协同感知请求消息#1中的目标感知区域信息的指示信息确定目标感知方向#1，进而确定需要在源UE的哪个方向上发现其他UE。例如，当目标感知区域信息中所指示的目标感知方向#1指示需要感知源UE左侧的环境信息，那么，源UE需要发现位于源UE左侧的其他UE，以辅助源UE获取对应的感知信息。可以理解为，源UE确定目标感知方向#1可以提高发现其他UE的效率。
如果步骤S530不执行时，即源UE无需确定目标感知方向#1，那么源UE可以在周边所有方向上发现其他UE。
S540，源UE向其他UE(如候选UE#1和候选UE#2)发送发现请求消息#1。
对应的，其他UE(如候选UE#1和候选UE#2)接收来自源UE的发现请求消息#1。
其中，发现请求消息#1包括发现目的和候选UE的感知能力的要求信息。具体地，该发现目的用于指示本次UE发现是用于执行协同感知。也就是说，发现请求消息#1用于请求发现具有感知能力的，可以执行协同感知的候选UE。其中，符合要求的候选UE可以有一个，也可以有多个。若有多个候选UE符合要求，则源UE可以从中确定一个或多个作为协同感知的候选UE，本申请对候选UE的数量不作具体限定。
示例性的，发现请求消息#1可以是Discovery Request message。
可选地，发现请求消息#1还可以包括以下一项或者多项：源UE的位置、源UE和候选UE之间的距离要求信息，或角度/方向的要求信息。例如，源UE与候选UE之间的距离要求小于100米，或者，候选UE要求位于源UE的左侧方向。其中，发现请求消息#1中的源UE的位置可以用地理位置的绝对坐标来表示。
在一种示例中，当步骤S530执行时，源UE可以在目标感知方向#1上发送发现请求消息#1。发现请求消息#1中携带发现目的和候选UE的感知能力的要求信息。发现请求消息#1还可以包括以下一项或者多项：源UE的位置、源UE和候选UE之间的距离或角度/方向的要求信息。该实现方式可以比较快速准确地获取符合要求的候选UE。其中，源UE可以根据内部实现来调整发送发现请求消息#1的方向。
在另一种示例中，当步骤S530不执行时，源UE可以在所有方向上发送发现请求消息#1。可以理解为：源UE在所有方向上广播发现请求消息#1，该发现请求消息#1中携带发现目的和候选UE的感知能力的要求信息。发现请求消息#1还可以包括以下一项或者多项：源UE的位置、源UE和候选UE之间的距离要求信息，或者，源UE和候选UE之间的角度/方向的要求信息。对应的，收到该发现请求消息#1的所有UE可以判断是否满足条件，如果满足，则向源UE发出响应。例如，收到发现请求消息#1的所有UE判断是否满足条件的方法可以是：收到发现请求消息#1的UE根据自己的位置以及源UE的位置判断二者之间的距离/方向是否满足发现请求消息#1中携带的源UE和候选UE之间的距离或角度/方向的要求信息。
S550，候选UE#1和候选UE#2向源UE发送发现响应消息#1。
对应的，源UE接收来自候选UE#1和候选UE#2的发送发现响应消息#1。
示例性的，基于上述步骤S540，候选UE#1和候选UE#2确定符合要求后，向源UE发送发现响应消息#1。即，候选UE#1和候选UE#2具有感知能力，可以执行协同感知。
需要注意的是，本申请实施例中，候选UE所在的位置可能位于目标感知区域内或者目标感知区域外，例如，收到发现请求消息#1的UE位于5米乘以5米的目标感知区域范围内，该UE能够通过自身的感知能力，提供该UE所在位置周边的5米乘以5米区域的感知信息给源UE。或者，收到发现请求消息#1的UE位于5米乘以5米的目标感知区域范围外，但该UE的感知能力较强，可以向源UE提供该UE位置之外的5米乘以5米区域的感知信息。
可选地，发现响应消息#1包括候选UE#1和候选UE#2的位置信息，例如，候选UE#1和候选UE#2的地理坐标系(如经度、纬度信息)，或者绝对坐标值等。示例性的，源UE可以基于接收到的候选UE#1和候选UE#2的位置信息，及时确定源UE与候选UE#1之间的距离#1，以及确定源UE与候选UE#2之间的距离#2，进一步确定候选UE#1和候选UE#2执行感知操作的具体感知区域大小和/或方向。
示例性的，发现响应消息#1可以是Discovery Response message。
为了描述方便，本申请实施例将返回Discovery Response message的UE称为候选UE。如果该过程中，满足条件的候选UE有多个，那么返回Discovery Response message的UE存在多个。例如，候选UE#1和候选UE#2。另外，对于不满足条件(例如，不具有感知能力，或者不具备执行协同感知的能力，或者处于目标感知区域外)的其他UE，可以不用返回Discovery Response message。
S560，源UE与候选UE#1、候选UE#2分别建立PC5连接。
其中，建立PC5连接流程的具体实现方式可以参考现有技术，为了简洁，此处不再赘述。
S570，可选地，源UE发起测距(Ranging)流程，用于确定源UE与候选UE#1、候选UE#2之间的距离#1、距离#2。
需要说明的是，如果在上述步骤S540-S550的Discovery过程中，源UE无法进一步确定自身和候选UE#1、候选UE#2之间的距离#1、距离#2。那么，源UE可以发起Ranging流程，该流程用于测量源UE与候选UE#1、候选UE#2之间的距离#1、距离#2。Ranging流程的具体实现方式可以参考现有技术，为了简洁，此处不再赘述。
也就是说，若上述步骤S540的发现响应消息#1中携带候选UE#1和候选UE#2的位置信息，则步骤S570可以不执行。
S581，源UE根据目标感知区域信息确定候选UE#1执行感知测量的感知区域信息#1。
在一种可能的实现方式中，源UE根据距离#1和目标感知区域信息确定候选UE#1执行感知测量的感知区域信息#1。示例性的，假设源UE处于坐标系的原点位置，应用层请求感知源UE的正前方向(即目标感知方向#1)且大小为4米乘以4米的区域范围(即目标感知区域)，即由坐标为(-2,2)、(2,2)、(-2,6)和(2,6)组成的区域，候选UE#1是位于源UE的正前方向，且距离#1为6m，可以理解为候选UE#1处于坐标为(0,6)的位置，则感知区域信息#1可以为源UE的正前方向且大小为4米乘以2米的区域范围，对应由坐标为(-2,4)、(2,4)、(-2,6)和(2,6)组成的区域。
在另一种可能的实现方式中，源UE将目标感知区域信息作为候选UE#1执行感知测量的感知区域信息#1。示例性的，假设源UE处于坐标系的原点位置，应用层请求感知源UE的正前方向(即目标感知方向#1)且大小为4米乘以4米的区域范围(即目标感知区域)，即由坐标为(-2,2)、(2,2)、(-2,6)和(2,6)组成的区域，源UE直接将目标感知区域信息发给候选UE#1。
示例性的，感知区域信息#1还可以用感知区域大小#1和/或方向#1来表示。
S582，源UE向候选UE#1发送感知测量请求消息#1。
对应的，候选UE#1接收来自源UE的感知测量请求消息#1。
其中，感知测量请求消息#1用于请求候选UE#1执行感知测量，感知测量请求消息#1包括：感知模式(例如，自发自收)，以及感知区域信息#1。
可选地，感知测量请求消息#1还包括以下一项或者多项：感知测量周期、时延信息#1、或者感知数据(即感知数据#1)的上报周期。其中，感知测量周期可以用于指示候选UE#1执行感知测量的周期大小，时延信息#1可以用于指示候选UE#1响应感知测量请求消息#1的最迟时间。感知数据的上报周期用于指示候选UE#1返回感知测量响应消息#1的周期大小。
需要注意的是，作为一种实现方式，候选UE#1可以执行多次感知测量，并将多次感知测量的数据一起发送至源UE。作为另一种实现方式，候选UE#1可以每次执行完感知测量之后，将感知测量的数据发给源UE。
其中，源UE可以基于协同感知请求消息#1中携带的时延信息以及感知数据的上报周期来确定感知测量请求消息#1中携带的感知测量周期、时延信息#1、或者感知数据(即感知数据#1)的上报周期。
S583，候选UE#1执行感知测量，得到感知数据#1。
可选地，候选UE#1基于感知数据#1进一步确定感知结果#1。其中，根据感知数据获取感知结果的具体实现方式可参考现有技术，为了简洁，此处不再赘述。
示例性的，候选UE#1采用自发自收的感知模式，在特定的感知区域大小#1和/或方向#1进行感知测量。
S584，候选UE#1向源UE发送感知测量响应消息#1。
对应的，源UE接收来自候选UE#1的感知测量响应消息#1。
其中，感知测量响应消息#1包括感知数据#1，或者感知结果#1。
S585，源UE根据目标感知区域信息确定候选UE#2执行感知测量的感知区域信息#2。
在一种可能的实现方式中，源UE根据距离#2和目标感知区域信息确定候选UE#2执行感知测量的感知区域信息#2。示例性的，假设源UE处于坐标系的原点位置，应用层请求感知源UE的正前方向(即目标感知方向#1)且大小为4米乘以4米的区域范围(即目标感知区域)，即由坐标为(-2,2)、(2,2)、(-2,6)和(2,6)组成的区域，候选UE#2是位于源UE的正前方向，且距离#1为2m，可以理解为候选UE#2处于坐标为(0,2)的位置，则感知区域信息#2可以为源UE的正前方向且大小为4米乘以2米的区域范围，对应由坐标为(-2,2)、(2,2)、(-2,4)和(2,4)组成的区域。
在另一种可能的实现方式中，源UE将目标感知区域信息作为候选UE#2执行感知测量的感知区域信息#2。示例性的，假设源UE处于坐标系的原点位置，应用层请求感知源UE的正前方向(即目标感知方向#1)且大小为4米乘以4米的区域范围(即目标感知区域)，即由坐标为(-2,2)、(2,2)、(-2,6)和(2,6)组成的区域，源UE直接将目标感知区域信息发给候选UE#2。
示例性的，感知区域信息#2还可以用感知区域大小#2和/或方向#2来表示。
需要指出的是，当存在多个候选UE，源UE请求不同的候选UE执行感知测量的区域大小可以相同或者不同，例如，上述步骤S581和S585中确定的感知区域大小可以均大于或等于步骤S520指定的目标感知区域的大小，也可以是步骤S581中的感知区域与步骤S585中的感知区域的大小之和大于或等于步骤S520指定的目标感知区域的大小，本申请对此不作具体限定。也就是说，基于候选UE#1和候选UE#2的感知测量，源UE可以获取目标感知区域和目标感知方向对应的感知数据或者感知结果。
S586，源UE向候选UE#2发送感知测量请求消息#2。
对应的，候选UE#2接收来自源UE的感知测量请求消息#2。
其中，感知测量请求消息#2用于请求候选UE#2执行感知测量，感知测量请求消息#2包括：感知模式(例如，自发自收)，以及感知区域信息#2。
可选地，感知测量请求消息#2还包括以下一项或者多项：感知测量周期、时延信息#2、或者感知数据(即感知数据#2)的上报周期。其中，感知测量周期可以用于指示候选UE#2执行感知测量的周期大小，时延信息#2可以用于指示候选UE#2响应感知测量请求消息#2的最迟时间。感知数据的上报周期用于指示候选UE#2返回感知测量响应消息#2的周期大小。需要注意的是，作为一种实现方式，候选UE#2可以执行多次感知测量，并将多次感知测量的数据一起发送至源UE。作为另一种实现方式，候选UE#2可以每次执行完感知测量之后，将感知测量的数据发给源UE。
其中，源UE可以基于协同感知请求消息#2中携带的时延信息以及感知数据的上报周期来确定感知测量请求消息#2中携带的感知测量周期、时延信息#2、或者感知数据(即感知数据#1)的上报周期。
需要指出的是，当存在多个候选UE，感知测量请求消息#1和感知测量请求消息#2中携带的参数可以相同或者不同，本申请不做限定。
S587，候选UE#2执行感知测量，得到感知数据#2。
可选地，候选UE#2基于感知数据#2进一步确定感知结果#2。
示例性的，候选UE#2采用自发自收的感知模式，在特定的感知区域大小#2和/或方向#2进行感知测量。
S588，候选UE#2向源UE发送感知测量响应消息#2。
对应的，源UE接收来自候选UE#2的感知测量响应消息#2。
其中，感知测量响应消息#2包括感知数据#2，或者感知结果#2。
S590，源UE向应用层发送协同感知响应消息#1。
对应的，应用层接收来自源UE的协同感知响应消息#1。
其中，协同感知响应消息#1包括步骤S584中的感知数据#1或者感知结果#1，以及步骤S588中的感知数据#2或者感知结果#2。
进一步地，应用层基于接收到的感知数据#1或者感知结果#1，感知数据#2或者感知结果#2，以及上述步骤S513中获取的感知数据#，在本地实现所有感知数据的融合。
根据本申请技术方案，源UE控制候选UE(例如，候选UE#1和候选UE#2)在对应的感知区域上执行感知测量，并从候选UE获取感知测量数据，或者感知结果，便于实现应用层对源UE周围环境 或物体的感知。
图6是本申请实施例提供的第三种通信感知方法600的流程示例图。在该实现方式中，源UE触发候选UE(例如，候选UE#1和候选UE#2)在特定感知区域大小和/或方向上执行感知测量。与上述方法500的区别在于感知模式的不同，其他步骤类似。如图6所示，该方法包括如下多个步骤。
S611，应用层触发源UE执行感知。
S612，源UE执行感知操作，得到感知数据#。
S613，源UE向应用层发送感知数据#。
对应的，应用层接收来自源UE的感知数据#。
S620，应用层向源UE发送协同感知请求消息#a。
对应的，源UE接收来自应用层的协同感知请求消息#a。
其中，协同感知请求消息#a包括目标感知区域信息的指示信息。示例性的，目标感知区域信息包括目标感知区域#a和/或目标感知方向#a。
应理解，协同感知请求消息#a与上述方法500中的步骤S520中的协同感知请求消息#1的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S630，可选地，源UE确定目标感知方向#a。
S640，源UE向其他UE(如候选UE#1和候选UE#2)发送发现请求消息#a。
对应的，其他UE(如候选UE#1和候选UE#2)接收来自源UE的发现请求消息#a。
其中，发现请求消息#a与上述方法500中的步骤S540中的发现请求消息#1的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
在一种示例中，源UE可以在目标感知方向#a上发送发现请求消息#a。该实现方式可以比较快速准确地获取符合要求的候选UE。
在另一种示例中，源UE可以在所有方向上发送发现请求消息#a。例如，发现请求消息#a是广播消息。
S650，候选UE#1和候选UE#2向源UE发送发现响应消息#a。
对应的，源UE接收来自候选UE#1和候选UE#2的发送发现响应消息#a。
可选地，发现响应消息#a包括候选UE#1和候选UE#2的位置信息。
S660，源UE与候选UE#1、候选UE#2分别建立PC5连接。
S670，可选地，源UE发起测距(Ranging)流程，用于确定源UE与候选UE#1、候选UE#2之间的距离#a、距离#b。
其中，步骤S611-S670的具体实现方式可参考上述方法500中的步骤S511-S570。为了简洁，此处不再过多赘述。
S681，源UE根据目标感知区域信息确定候选UE#1执行感知测量的感知区域信息#a。
其中，确定候选UE#1执行感知测量的感知区域信息#a的具体实现方式可参考上述方法500中步骤S581，这里不再赘述。
S682，源UE向候选UE#1发送感知测量请求消息#a。
对应的，候选UE#1接收来自源UE的感知测量请求消息#a。
其中，感知测量请求消息#a用于请求候选UE#1执行感知测量，感知测量请求消息#a包括：感知模式(例如，候选UE#1发送感知信号，源UE接收反射回波信号)，以及感知区域信息#a。
可选地，感知测量请求消息#a还包括感知测量周期。其中，感知测量周期可以用于指示候选UE#1发送感知信号的周期大小。
S683，候选UE#1执行感知测量。
示例性的，候选UE#1根据感知区域信息#a发送感知信号#a。
S684，对应的，源UE接收来自候选UE#1的感知信号#a，即源UE接收反射回波信号#a，并得到感知数据#a。
可选地，源UE基于感知数据#a进一步确定感知结果#a。其中，根据感知数据获取感知结果的具体实现方式可参考现有技术，为了简洁，此处不再赘述。
S685，源UE根据目标感知区域信息确定候选UE#2执行感知测量的感知区域信息#b。
其中，确定候选UE#2执行感知测量的感知区域信息#b的具体实现方式可参考上述方法500中步骤S585，这里不再赘述。
S686，源UE向候选UE#2发送感知测量请求消息#b。
对应的，候选UE#2接收来自源UE的感知测量请求消息#b。
其中，感知测量请求消息#b用于请求候选UE#2执行感知测量，感知测量请求消息#a包括：感知模式(例如，候选UE#2发送感知信号，源UE接收反射回波信号)，以及感知区域信息#b。
可选地，感知测量请求消息#a还包括感知测量周期。其中，感知测量周期可以用于指示候选UE#2发送感知信号的周期大小。
S687，候选UE#2执行感知测量。
示例性的，候选UE#2根据感知区域信息#b发送感知信号#b。
S688，对应的，源UE接收来自候选UE#2的感知信号#b，即源UE接收反射回波信号#b，并得到感知数据#b。
可选地，源UE基于感知数据#b进一步确定感知结果#b。
需要指出的是，上述步骤S681和S685中确定的感知区域大小可以均大于或等于步骤S620指定的目标感知区域的大小，也可以是步骤S681中的感知区域与步骤S685中的感知区域大小之和大于或等于步骤S620指定的目标感知区域的大小，本申请对此不作具体限定。也就是说，基于候选UE#1和候选UE#2的感知测量，源UE可以获取目标感知区域和目标感知方向对应的感知数据或者感知结果。
S690，源UE向应用层发送协同感知响应消息#a。
对应的，应用层接收来自源UE的协同感知响应消息#a。
其中，协同感知响应消息#a包括步骤S684中的感知数据#a或者感知结果#a，以及步骤S688中的感知数据#b或者感知结果#b。
进一步地，应用层基于接收到的感知数据#a或者感知结果#a，感知数据#b或者感知结果#b，以及上述步骤S613中获取的感知数据#，在本地实现所有感知数据的融合。
根据本申请技术方案，源UE控制候选UE(例如，候选UE#1和候选UE#2)在对应的感知区域上执行感知测量，并从候选UE获取感知测量数据，或者感知结果，便于实现应用层对源UE周围环境或物体的感知。
图7是本申请实施例提供的第四种通信感知方法700的流程示例图。在该实现方式中，具有感知能力的UE(例如，候选UE#1和候选UE#2)发送广播消息，用于通知源UE自身具备感知能力且可以协助源UE进行感知测量。其中，方法500和600中的源UE根据自身的感知需求，主动地去发现周围其他UE作为候选UE协同辅助感知周围环境，相比而言，方法700则是其他UE先将自己的感知能力广播给源UE，由源UE进一步根据距离确定候选UE执行感知操作的感知区域大小和/或方向。如图7所示，该方法包括如下多个步骤。
S710，其他UE(例如，候选UE#1和候选UE#2)向源UE发送广播消息(即，第一广播消息)。
对应的，源UE接收来自候选UE#1和候选UE#2的广播消息。
其中，该广播消息用于指示候选UE#1和候选UE#2具备感知能力且可以协助源UE执行感知测量。例如，候选UE#1和候选UE#2支持自发自收的感知模式，候选UE发送感知信号，且接收反射回波信号。
示例性的，该广播消息可以携带候选UE#1和候选UE#2的感知能力，以及指示信息#A。该指示信息#A用于指示候选UE#1和候选UE#2可以协助源UE执行感知测量。
可选地，该广播消息中还可以携带候选UE#1和候选UE#2的位置信息。例如，候选UE#1和候选UE#2的地理坐标系(如经度、纬度信息)，或者绝对坐标值等。
S711，应用层触发源UE执行感知。
S712，源UE执行感知操作，得到感知数据#。
S713，源UE向应用层发送感知数据#。
对应的，应用层接收来自源UE的感知数据#。
S720，应用层向源UE发送协同感知请求消息#A。
对应的，源UE接收来自应用层的协同感知请求消息#A。
其中，协同感知请求消息#A与上述方法500中的步骤S520中的协同感知请求消息#1的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
其中，步骤S711-S720的具体实现方式可参考上述方法500中的步骤S511-S520。为了简洁，此处不再过多赘述。
S730，源UE根据广播消息确定满足条件的候选UE。
其中，这里的条件可以理解为具备感知能力，且支持协同感知测量。
示例性的，源UE根据步骤S710中的广播消息判断出周边有其他UE(例如，候选UE#1和候选UE#2)具备感知能力，且候选UE#1和候选UE#2具备执行协同感知的能力。
进一步地，如果广播消息中携带了候选UE#1和候选UE#2的位置信息，那么源UE还可以根据候选UE#1和候选UE#2的位置信息，确定源UE与候选UE#1之间的距离#A，以及确定源UE与候选UE#2之间的距离#B，进而确定对应需要执行感知操作的具体感知区域大小和/或方向。
S740，源UE与候选UE#1、候选UE#2分别建立PC5连接。
S750，可选地，源UE发起测距(Ranging)流程，用于确定源UE与候选UE#1、候选UE#2之间的距离#A、距离#B。
S761，源UE根据目标感知区域信息确定候选UE#1执行感知测量的感知区域信息#A。
其中，确定候选UE#1执行感知测量的感知区域信息#A的具体实现方式可参考上述方法500中步骤S581，这里不再赘述。
S762，源UE向候选UE#1发送感知测量请求消息#A。
对应的，候选UE#1接收来自源UE的感知测量请求消息#A。
其中，感知测量请求消息#A与上述方法500中步骤S582的感知测量请求消息#1的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S763，候选UE#1执行感知测量，并得到感知数据#A
示例性的，候选UE#1采用自发自收的感知模式，在特定的感知区域大小#A和/或方向#A进行感知测量。
S764，候选UE#1向源UE发送感知测量响应消息#A。
对应的，源UE接收来自候选UE#1的感知测量响应消息#A。
S765，源UE根据目标感知区域信息确定候选UE#2执行感知测量的感知区域信息#B。
其中，确定候选UE#2执行感知测量的感知区域信息#B的具体实现方式可参考上述方法500中步骤S585，这里不再赘述。
S766，源UE向候选UE#2发送感知测量请求消息#B。
对应的，候选UE#2接收来自源UE的感知测量请求消息#B。
其中，感知测量请求消息#B与上述方法500中步骤S586的感知测量请求消息#2的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S767，候选UE#2执行感知测量，得到感知数据#B。
示例性的，候选UE#2采用自发自收的感知模式，在特定的感知区域大小#B和/或方向#B进行感知测量。
S768，候选UE#2向源UE发送感知测量响应消息#B。
对应的，源UE接收来自候选UE#2的感知测量响应消息#B。
S770，源UE向应用层发送协同感知响应消息#A。
对应的，应用层接收来自源UE的协同感知响应消息#A。
其中，步骤S740-S770的具体实现方式可参考上述方法500中的步骤S560-S590。为了简洁，此处不再赘述。
根据本申请技术方案，源UE控制候选UE(例如，候选UE#1和候选UE#2)在对应的感知区域上执行感知测量，并从候选UE获取感知测量数据，或者感知结果，便于实现应用层对源UE周围环境或物体的感知。
图8是本申请实施例提供的第五种通信感知方法800的流程示例图。在该实现方式中，具有感知能力的UE(例如，候选UE#1和候选UE#2)发送广播消息，用于通知源UE自身具备感知能力且可 以协助源UE进行感知测量。与上述方法700的区别在于感知模式的不同，其他步骤类似。如图8所示，该方法包括如下多个步骤。
S810，其他UE(例如，候选UE#1和候选UE#2)向源UE发送广播消息(即，第一广播消息)。
对应的，源UE接收来自候选UE#1和候选UE#2的广播消息。
其中，该广播消息用于指示候选UE#1和候选UE#2具备感知能力且可以协助源UE执行感知测量。例如，候选UE#1和候选UE#2支持自发他收的感知模式，即候选UE#1和候选UE#2发送感知信号，源UE接收反射回波信号。
示例性的，该广播消息可以携带候选UE#1和候选UE#2的感知能力，以及指示信息#A。该指示信息#A用于指示候选UE#1和候选UE#2可以协助源UE执行感知测量。
可选地，该广播消息中还可以携带候选UE#1和候选UE#2的位置信息。例如，候选UE#1和候选UE#2的地理坐标系(如经度、纬度信息)，或者绝对坐标值等。
S811，应用层触发源UE执行感知。
S812，源UE执行感知操作，得到感知数据#。
S813，源UE向应用层发送感知数据#。
对应的，应用层接收来自源UE的感知数据#。
S820，应用层向源UE发送协同感知请求消息#α。
对应的，源UE接收来自应用层的协同感知请求消息#α。
应理解，这里协同感知请求消息#α与上述方法500中的步骤S520中的协同感知请求消息#1的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
其中，步骤S811-S820的具体实现方式可参考上述方法600中的步骤S611-S620。为了简洁，此处不再过多赘述。
S830，源UE根据广播消息确定满足条件的候选UE。
其中，这里的条件可以理解为具备感知能力，且支持协同感知测量。
示例性的，源UE根据步骤S810中的广播消息判断出周边有其他UE(例如，候选UE#1和候选UE#2)具备感知能力，且候选UE#1和候选UE#2具备执行协同感知的能力。
进一步地，如果广播消息中携带了候选UE#1和候选UE#2的位置信息，那么源UE还可以根据候选UE#1和候选UE#2的位置信息，确定源UE与候选UE#1之间的距离#1，以及确定源UE与候选UE#2之间的距离#2，进而确定对应需要执行感知操作的具体感知区域大小和/或方向。
S840，源UE与候选UE#1、候选UE#2分别建立PC5连接。
S850，可选地，源UE发起测距(Ranging)流程，用于确定源UE与候选UE#1、候选UE#2之间的距离#α、距离#β。
其中，上述步骤S840-S850的具体实现方式可参考上述方法600中的步骤S660-S670。为了简洁，此处不再赘述。
S861，源UE目标感知区域信息确定候选UE#1执行感知测量的感知区域信息#α。
其中，确定候选UE#1执行感知测量的感知区域信息#α的具体实现方式可参考上述方法600中步骤S681，这里不再赘述。
S862，源UE向候选UE#1发送感知测量请求消息#α。
对应的，候选UE#1接收来自源UE的感知测量请求消息#α。
其中，感知测量请求消息#α与上述方法600中步骤S682的感知测量请求消息#a的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S863，候选UE#1执行感知测量。
示例性的，候选UE#1根据感知区域信息#α发送感知信号#α。
S864，对应的，源UE接收来自候选UE#1的感知信号#α，即源UE接收反射回波信号#α，并得到感知数据#α。
S865，源UE根据目标感知区域信息确定候选UE#2执行感知测量的感知区域信息#β。
其中，确定候选UE#2执行感知测量的感知区域信息#β的具体实现方式可参考上述方法600中步骤S685，这里不再赘述。
S866，源UE向候选UE#2发送感知测量请求消息#β。
对应的，候选UE#2接收来自源UE的感知测量请求消息#β。
其中，感知测量请求消息#β与上述方法600中步骤S686的感知测量请求消息#b的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S867，候选UE#2执行感知测量。
示例性的，候选UE#2根据感知区域信息##β上发送感知信号#β。
S868，对应的，源UE接收来自候选UE#2的感知信号#β，即源UE接收反射回波信号#β，并得到感知数据#β。
S870，源UE向应用层发送协同感知响应消息#α。
对应的，应用层接收来自源UE的协同感知响应消息#α。
其中，步骤S861-S870的具体实现方式可参考上述方法600中的步骤S681-S690。为了简洁，此处不再赘述。
根据本申请技术方案，源UE控制候选UE(例如，候选UE#1和候选UE#2)在对应的感知区域上执行感知测量，并从候选UE获取感知测量数据，或者感知结果，便于实现应用层对源UE周围环境或物体的感知。
应理解，上述方法500-800均是源UE动态地触发候选UE进行感知测量，该方法900则是候选UE提前获取感知数据，并将感知数据对外开放给源UE，即源UE无需触发候选UE执行感知测量，可以直接向候选UE请求获取感知数据。
图9是本申请实施例提供的第六种通信感知方法900的流程示例图。在该实现方式中，候选UE可以对外广播其允许开放本地感知数据，以及与该感知数据关联的感知方向，源UE根据与候选UE之间的距离筛选最终的候选UE，并基于应用层的感知请求中指示的目标感知方向，从候选UE获取该目标感知方向上的感知数据。如图9所示，该方法包括如下多个步骤。
S901，候选UE#1执行感知测量，并得到感知数据#11。
S902，候选UE#2执行感知测量，得到感知数据#22。
可选地，候选UE#1基于感知数据#11进一步确定感知结果#11，候选UE#2基于感知数据#22进一步确定感知结果#22。
示例性的，候选UE#1支持其前方50米范围的感知测量，并获取该区域的感知数据，候选UE#2支持其后方100米范围的感知测量，并获取该区域的感知数据。
其中，候选UE#1和候选UE#2执行感知测量的感知模式可以是自发自收，也可以是自发他收，又或者是他发自收，本申请对此不作具体限定。例如，候选UE#1采用自发自收的感知模式进行感知测量，包括发送感知信号#11，以及接收反射回波信号#11。又例如，候选UE#2采用他发自收的感知模式进行感知测量，包括其他UE发送感知信号#22，候选UE#2接收反射回波信号#22等。
S910，其他UE(例如，候选UE#1和候选UE#2)向源UE发送广播消息#(即，第二广播消息)。
对应的，源UE接收来自候选UE#1和候选UE#2的广播消息#。
其中，该广播消息#携带指示信息#11，该指示信息#11用于指示候选UE#1和候选UE#2支持对外开放本地感知数据。
可选地，该广播消息#还可以携带支持对外开放的感知数据对应的感知区域信息，例如感知区域的大小和/或方向。
示例性的，候选UE#1允许向源UE开放该候选UE#1前方50米范围的感知数据，候选UE#2允许向源UE开放该候选UE#2后方100米范围的感知数据等。
可选地，该广播消息#还可以携带该候选UE#1和候选UE#2的位置信息。例如，候选UE#1和候选UE#2的地理坐标系(如经度、纬度信息)，或者绝对坐标值等。
S911，应用层触发源UE执行感知。
S912，源UE执行感知操作，得到感知数据#。
S913，源UE向应用层发送感知数据#。
对应的，应用层接收来自源UE的感知数据#。
S920，应用层向源UE发送协同感知请求消息#11。
对应的，源UE接收来自应用层的协同感知请求消息#11。
其中，协同感知请求消息#11与上述方法700中的步骤S720中的协同感知请求消息#A的含义以及携带的具体内容类似，为了简洁，此处不再赘述。
S930，源UE根据候选UE发送的广播消息#确定满足条件的候选UE。
示例性的，源UE可以根据广播消息#中携带的指示信息#11以及根据支持对外开放的感知数据对应的感知区域信息来确定候选UE。
S940，源UE与候选UE#1、候选UE#2分别建立PC5连接。
S950，可选地，源UE发起测距(Ranging)流程，用于确定源UE与候选UE#1、候选UE#2之间的距离#11、距离#22。
其中，步骤S911-S950的具体实现方式可参考上述方法700中的步骤S711-S750。为了简洁，此处不再赘述。
S961，源UE根据目标感知区域信息确定向候选UE#1请求感知数据对应的感知区域信息#11，例如感知区域大小#11和/或方向#11。
其中，向候选UE#1请求感知数据对应的感知区域信息#11的确定方式可参考上述方法500中步骤S581，这里不再赘述。
S962，源UE向候选UE#1发送感知数据请求消息#11。
对应的，候选UE#1接收来自源UE的感知数据请求消息#11。
其中，感知数据请求消息#11中携带步骤S961确定的向候选UE#1请求感知数据对应的感知区域信息#11。
S963，候选UE#1向源UE发送感知数据响应消息#11。
对应的，源UE接收来自候选UE#1的感知数据响应消息#11。
其中，感知数据响应消息#11包括感知数据#111，或者感知结果#111。
其中，感知数据#111，或者感知结果#111是候选UE#1根据感知区域信息#11以及支持对外开放本地感知数据确定的。可以理解为，候选UE#1支持对外开放的感知数据对应的感知区域信息包含感知区域信息#11，候选UE#1根据感知区域信息#11从支持对外开放的感知数据#11中确定感知数据#111，或者感知结果#111。换句话说，感知数据#111或感知结果#111可以与上述步骤S901中的感知数据#11或感知结果#11相同，也可以不同，这主要取决于源UE发送的感知区域信息#11所指示的感知区域大小#11和/或方向#11。
S964，源UE根据目标感知区域信息确定向候选UE#2请求感知数据数据对应的感知区域信息#22，例如区域大小#22和/或方向#22。
其中，向候选UE#2请求感知数据对应的感知区域信息#22的确定方式可参考上述方法500中步骤S585，这里不再赘述。
S965，源UE向候选UE#2发送感知数据请求消息#22。
对应的，候选UE#1接收来自源UE的感知数据请求消息#22。
其中，感知数据请求消息#22中携带步骤S964确定的向候选UE#2请求感知数据对应的感知区域信息#22。
S966，候选UE#2向源UE发送感知数据响应消息#22。
对应的，源UE接收来自候选UE#2的感知数据响应消息#22。
其中，感知数据响应消息#22包括感知数据#222，或者感知结果#222。
其中，感知数据#222，或者感知结果#222是候选UE#2根据感知区域信息#22以及支持对外开放本地感知数据确定的。可以理解为，候选UE#2支持对外开放的感知数据对应的感知区域信息包含感知区域信息#22，候选UE#2根据感知区域信息#22从支持对外开放的感知数据中确定感知数据#222，或者感知结果#222。换句话说，感知数据#222或感知结果#222可以与上述步骤S902中的感知数据#22或感知结果#22相同，也可以不同，这主要取决于源UE发送的感知区域信息#22所指示的感知区域大小#22和/或方向#22。
S970，源UE向应用层发送协同感知响应消息#11。
对应的，应用层接收来自源UE的协同感知响应消息#11。
其中，具体实现方式可参考上述方法700中的步骤S770。为了简洁，此处不再赘述。
根据本申请技术方案，候选UE可以对外广播其允许开放本地感知数据，以及与该感知数据关联的感知方向，源UE根据与候选UE之间的距离筛选最终的候选UE，并基于应用层的感知请求中指示的目标感知方向，从候选UE获取该目标感知方向上的感知数据，便于实现应用层对源UE周围环境或物体的感知。
上文结合图1至图9，详细描述了本申请的通信感知方法侧实施例，下面将结合图10和图11，详细描述本申请的装置侧实施例。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的部分可以参见前面方法实施例。
图10是本申请实施例提供的通信感知装置1000的示意性框图。如图10所示，该装置1000可以包括收发单元1010、处理单元1020和获取单元1030。收发单元1010可以与外部进行通信，获取单元1030也可以与外部进行通信。不特别强调的情况下，收发单元1010和获取单元1030可以具备同样的功能。处理单元1020用于进行数据处理。收发单元1010还可以称为通信接口或收发单元。
在一种可能的设计中，该装置1000可实现对应于上文方法实施例中的第一终端设备(例如，源UE)执行的步骤或者流程，其中，处理单元1020用于执行上文方法实施例中第一终端设备的处理相关的操作，收发单元1010用于执行上文方法实施例中第一终端设备的收发相关的操作。获取单元1030用于执行上文方法实施例中第一终端设备的处理相关的操作。
在另一种可能的设计中，该装置1000可实现对应于上文方法实施例中的第二终端设备(例如，候选UE#1或候选UE#2)执行的步骤或者流程，其中，收发单元1010用于执行上文方法实施例中第二终端设备的收发相关的操作，处理单元1020用于执行上文方法实施例中第二终端设备的处理相关的操作。
应理解，这里的装置1000以功能单元的形式体现。这里的术语“单元”可以指应用特有集成电路(application specific integrated circuit，ASIC)、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。在一个可选例子中，本领域技术人员可以理解，装置1000可以具体为上述实施例中的发送端，可以用于执行上述方法实施例中与发送端对应的各个流程和/或步骤，或者，装置1000可以具体为上述实施例中的接收端，可以用于执行上述方法实施例中与接收端对应的各个流程和/或步骤，为避免重复，在此不再赘述。
上述各个方案的装置1000具有实现上述方法中发送端所执行的相应步骤的功能，或者，上述各个方案的装置1000具有实现上述方法中接收端所执行的相应步骤的功能。功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。硬件或软件包括一个或多个与上述功能相对应的模块；例如收发单元可以由收发机替代(例如，收发单元中的发送单元可以由发送机替代，收发单元中的接收单元可以由接收机替代)，其它单元，如处理单元等可以由处理器替代，分别执行各个方法实施例中的收发操作以及相关的处理操作。
此外，上述收发单元还可以是收发电路(例如可以包括接收电路和发送电路)，处理单元可以是处理电路。在本申请的实施例，图10中的装置可以是前述实施例中的接收端或发送端，也可以是芯片或者芯片系统，例如：片上系统(system on chip，SoC)。其中，收发单元可以是输入输出电路、通信接口。处理单元为该芯片上集成的处理器或者微处理器或者集成电路。在此不做限定。
图11示出了本申请实施例提供的通信感知装置2000。如图11所示，该装置2000包括处理器2010和收发器2020。其中，处理器2010和收发器2020通过内部连接通路互相通信，该处理器2010用于执行指令，以控制该收发器2020发送信号和/或接收信号。
可选地，该装置2000还可以包括存储器2030，该存储器2030与处理器2010、收发器2020通过内部连接通路互相通信。该存储器2030用于存储指令，该处理器2010可以执行该存储器2030中存储的指令。
在一种可能的实现方式中，装置2000用于实现上述方法实施例中的第一终端设备(例如，源UE)对应的各个流程和步骤。
在另一种可能的实现方式中，装置2000用于实现上述方法实施例中的第二终端设备(例如，候选UE#1或候选UE#2)对应的各个流程和步骤。
应理解，装置2000可以具体为上述实施例中的发送端或接收端，也可以是芯片或者芯片系统。对应的，该收发器2020可以是该芯片的收发电路，在此不做限定。具体地，该装置2000可以用于执行上述方法实施例中与发送端或接收端对应的各个步骤和/或流程。
可选地，该存储器2030可以包括只读存储器和随机存取存储器，并向处理器提供指令和数据。存储器的一部分还可以包括非易失性随机存取存储器。例如，存储器还可以存储设备类型的信息。该处理器2010可以用于执行存储器中存储的指令，并且当该处理器2010执行存储器中存储的指令时，该处理器2010用于执行上述与发送端或接收端对应的方法实施例的各个步骤和/或流程。
在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
应注意，本申请实施例中的处理器可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。本申请实施例中的处理器可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
可以理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
根据本申请实施例提供的方法，本申请还提供一种计算机程序产品，该计算机程序产品包括：计算机程序代码，当该计算机程序代码在计算机上运行时，使得该计算机执行上述所示实施例中的方法。
根据本申请实施例提供的方法，本申请还提供一种计算机可读介质，该计算机可读介质存储有程序代码，当该程序代码在计算机上运行时，使得该计算机执行上述所示实施例中的方法。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器、随机存取存储器、磁碟或者光盘等各种可以存储程序代码的介质。
以上，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (54)

  1. 一种通信感知方法，其特征在于，包括：
    第一终端设备向第二终端设备发送感知测量请求消息，所述感知测量请求消息用于请求所述第二终端设备执行感知测量，所述感知测量请求消息包括所述第二终端设备执行感知测量的感知区域信息；
    所述第一终端设备获取感知数据或感知结果，所述感知数据或所述感知结果是基于所述第二终端设备执行的感知测量确定的。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备获取目标感知区域信息；
    所述第一终端设备根据所述目标感知区域信息确定所述第二终端设备执行感知测量的感知区域信息。
  3. 根据权利要求2所述的方法，其特征在于，所述第一终端设备根据所述目标感知区域信息确定所述第二终端设备执行感知测量的感知区域信息，包括：
    所述第一终端设备根据所述第一终端设备和所述第二终端设备之间的距离，以及所述目标感知区域信息确定所述第二终端设备执行感知测量的感知区域信息。
  4. 根据权利要求2或3所述的方法，其特征在于，所述第一终端设备获取所述目标感知区域信息，包括：
    所述第一终端设备接收来自应用设备的协同感知请求消息，所述协同感知请求消息包括所述目标感知区域信息的指示信息；
    所述第一终端设备根据所述目标感知区域信息的指示信息确定所述目标感知区域信息。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，在所述第一终端设备向所述第二终端设备发送感知测量请求消息之前，所述方法还包括：
    所述第一终端设备发送发现请求消息，所述发现请求消息用于请求发现所述第二终端设备，所述发现请求消息包括发现目的，所述发现目的用于指示所述第二终端设备支持协同感知；
    所述第一终端设备接收来自所述第二终端设备的发现响应消息。
  6. 根据权利要求5所述的方法，其特征在于，所述发现请求消息还包括至少一项或者多项：
    所述第一终端设备的位置信息、所述第一终端设备和所述第二终端设备之间的距离要求信息或方向要求信息。
  7. 根据权利要求5或6所述的方法，其特征在于，所述发现响应消息包括所述第二终端设备的位置信息。
  8. 根据权利要求1至4中任一项所述的方法，其特征在于，在所述第一终端设备向所述第二终端设备发送感知测量请求消息之前，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第一广播消息，所述第一广播消息包括所述第二终端设备的感知能力和第一指示信息，所述第一指示信息用于指示所述第二终端设备支持协同感知。
  9. 根据权利要求8所述的方法，其特征在于，所述第一广播消息还包括所述第二终端设备的位置信息。
  10. 根据权利要求7或9所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据所述第二终端设备的位置信息，确定所述第一终端设备和所述第二终端设备之间的距离。
  11. 一种通信感知方法，其特征在于，包括：
    第二终端设备接收来自第一终端设备的感知测量请求消息，所述感知测量请求消息用于请求所述第二终端设备执行感知测量，所述感知测量请求消息包括所述第二终端设备执行感知测量的感知区域信息；
    所述第二终端设备根据所述感知测量请求消息执行感知测量。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    所述第二终端设备向所述第一终端设备发送感知数据或感知结果，所述感知数据或所述感知结果是基于所述第二终端设备执行的感知测量确定的。
  13. 根据权利要求11或12所述的方法，其特征在于，在所述第二终端设备接收来自第一终端设备的感知测量请求消息之前，所述方法还包括：
    所述第二终端设备接收来自所述第一终端设备的发现请求消息，所述发现请求消息用于请求发现所述第二终端设备，所述发现请求消息包括发现目的，所述发现目的用于指示所述第二终端设备支持协同感知操作；
    所述第二终端设备向所述第一终端设备发送发现响应消息。
  14. 根据权利要求13所述的方法，其特征在于，所述发现请求消息还包括至少一项或者多项：
    所述第一终端设备的位置信息、所述第一终端设备和所述第二终端设备之间的距离要求信息或方向要求信息。
  15. 根据权利要求13或14所述的方法，其特征在于，所述发现响应消息包括所述第二终端设备的位置信息。
  16. 根据权利要求11或12所述的方法，其特征在于，在所述第二终端设备接收来自第一终端设备的感知测量请求消息之前，所述方法还包括：
    所述第二终端设备向所述第一终端设备发送第一广播消息，所述第一广播消息包括所述第二终端设备的感知能力和第一指示信息，所述第一指示信息用于指示所述第二终端设备支持协同感知。
  17. 根据权利要求16所述的方法，其特征在于，所述第一广播消息还包括所述第二终端设备的位置信息。
  18. 一种通信感知方法，其特征在于，包括：
    第一终端设备向第二终端设备发送请求消息，所述请求消息用于请求获取感知数据，所述请求消息包括待请求的所述感知数据对应的感知区域信息；
    所述第一终端设备接收来自所述第二终端设备的所述感知数据。
  19. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备获取目标感知区域信息；
    所述第一终端设备根据所述目标感知区域信息，确定向所述第二终端设备发送的所述感知区域信息。
  20. 根据权利要求19所述的方法，其特征在于，所述第一终端设备根据所述目标感知区域信息确定向所述第二终端设备发送的所述感知区域信息，包括：
    所述第一终端设备根据所述第一终端设备和所述第二终端设备之间的距离，以及所述目标感知区域信息，确定向所述第二终端设备发送的所述感知区域信息。
  21. 根据权利要求18至20中任一项所述的方法，其特征在于，所述感知数据对应的感知区域信息包括感知区域大小和/或方向。
  22. 根据权利要求19至21中任一项所述的方法，其特征在于，所述第一终端设备获取目标感知区域信息，包括：
    所述第一终端设备接收来自应用设备的协同感知请求消息，所述协同感知请求消息包括所述目标感知区域信息的指示信息；
    所述第一终端设备根据所述目标感知区域信息的指示信息，确定所述目标感知区域信息。
  23. 根据权利要求18至22中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第二广播消息，所述第二广播消息包括第二指示信息，所述第二指示信息用于指示所述第二终端设备支持对外开放本地感知数据。
  24. 根据权利要求23所述的方法，其特征在于，所述第二广播消息还包括所述第二终端设备的位置信息，和/或，与所述支持对外开放的感知数据对应的感知区域信息。
  25. 根据权利要求18至24中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据所述第二终端设备的位置信息，确定所述第一终端设备和所述第二终端设备之间的距离。
  26. 一种通信感知方法，其特征在于，包括：
    第二终端设备接收来自第一终端设备的请求消息，所述请求消息用于请求获取感知数据，所述请求消息包括待请求的所述感知数据对应的感知区域信息；
    所述第二终端设备向所述第一终端设备发送所述感知数据。
  27. 根据权利要求26所述的方法，其特征在于，所述方法还包括：
    所述第二终端设备执行感知测量，并获取所述感知数据以及与所述感知数据对应的感知区域信息；
    所述第二终端设备向所述第一终端设备发送第二广播消息，所述第二广播消息包括第二指示信息，以及与所述感知数据对应的感知区域信息，所述第二指示信息用于指示所述第二终端设备支持向所述第一终端设备发送所述感知数据。
  28. 根据权利要求27所述的方法，其特征在于，所述第二广播消息还包括所述第二终端设备的位置信息，和/或，与所述支持对外开放的感知数据对应的感知区域信息。
  29. 一种通信感知装置，其特征在于，包括：
    收发单元，用于向第二终端设备发送感知测量请求消息，所述感知测量请求消息用于请求所述第二终端设备执行感知测量，所述感知测量请求消息所述第二终端设备执行感知测量的感知区域信息；
    获取单元，还用于获取感知数据或感知结果，所述感知数据或所述感知结果是基于所述第二终端设备执行的感知测量确定的。
  30. 根据权利要求29所述的装置，其特征在于，所述装置还包括处理单元，
    所述获取单元，还用于获取目标感知区域信息；
    所述处理单元，用于根据所述目标感知区域信息确定所述第二终端设备执行感知测量的感知区域信息。
  31. 根据权利要求30所述的装置，其特征在于，
    所述处理单元，用于根据所述第一终端设备和第二终端设备之间的距离，以及所述目标感知区域信息确定所述第二终端设备执行感知测量的感知区域信息。
  32. 根据权利要求30或31所述的装置，其特征在于，
    所述收发单元，还用于接收来自应用设备的协同感知请求消息，所述协同感知请求消息包括所述目标感知区域信息的指示信息；
    所述处理单元，还用于根据所述目标感知区域信息的指示信息确定所述目标感知区域信息。
  33. 根据权利要求29至32中任一项所述的装置，其特征在于，
    所述收发单元，还用于发送发现请求消息，所述发现请求消息用于请求发现所述第二终端设备，所述发现请求消息包括发现目的，所述发现目的用于指示所述第二终端设备支持协同感知；
    所述收发单元，还用于接收来自所述第二终端设备的发现响应消息。
  34. 根据权利要求33所述的装置，其特征在于，所述发现请求消息还包括至少一项或者多项：
    所述第一终端设备的位置信息、所述第一终端设备和所述第二终端设备之间的距离要求信息或方向要求信息。
  35. 根据权利要求29至32中任一项所述的装置，其特征在于，
    所述收发单元，还用于接收来自所述第二终端设备的第一广播消息，所述第一广播消息包括所述第二终端设备的感知能力和第一指示信息，所述第一指示信息用于指示所述第二终端设备支持协同感知。
  36. 一种通信感知装置，其特征在于，包括：
    收发单元，用于接收来自第一终端设备的感知测量请求消息，所述感知测量请求消息用于请求所述第二终端设备执行感知测量，所述感知测量请求消息包括所述第二终端设备执行感知测量的感知区域信息，所述第二终端设备执行感知测量的感知区域信息是所述第一终端设备根据目标感知区域信息确定的；
    处理单元，用于根据所述感知测量请求消息执行感知测量。
  37. 根据权利要求36所述的装置，其特征在于，
    所述收发单元，还用于接收来自所述第一终端设备的发现请求消息，所述发现请求消息用于请求发现所述第二终端设备，所述发现请求消息包括发现目的，所述发现目的用于指示所述第二终端设备支持协同感知操作；
    所述收发单元，还用于向所述第一终端设备发送发现响应消息。
  38. 根据权利要求37所述的装置，其特征在于，所述发现请求消息还包括至少一项或者多项：
    所述第一终端设备的位置信息、所述第一终端设备和所述第二终端设备之间的距离要求信息或方向要求信息。
  39. 根据权利要求36所述的装置，其特征在于，
    所述收发单元，还用于向所述第一终端设备发送第一广播消息，所述第一广播消息包括所述第二终端设备的感知能力和第一指示信息，所述第一指示信息用于指示所述第二终端设备支持协同感知。
  40. 一种通信感知装置，其特征在于，包括：
    收发单元，用于向第二终端设备发送请求消息，所述请求消息用于请求获取感知数据，所述请求消息包括待请求的所述感知数据对应的感知区域信息；
    所述收发单元，还用于接收来自所述第二终端设备的所述感知数据。
  41. 根据权利要求40所述的装置，其特征在于，所述装置还包括获取单元和处理单元，
    所述获取单元，用于获取目标感知区域信息；
    所述处理单元，用于根据所述目标感知区域信息，确定向所述第二终端设备发送的所述感知区域信息。
  42. 根据权利要求41所述的装置，其特征在于，
    所述处理单元，还用于根据所述第一终端设备和所述第二终端设备之间的距离，以及所述目标感知区域信息，确定向所述第二终端设备发送的所述感知区域信息。
  43. 根据权利要求40至42中任一项所述的装置，其特征在于，所述感知数据对应的感知区域信息包括感知区域大小和/或方向。
  44. 根据权利要求41至43中任一项所述的装置，其特征在于，
    所述收发单元，还用于接收来自应用设备的协同感知请求消息，所述协同感知请求消息包括所述目标感知区域信息的指示信息；
    所述处理单元，还用于根据所述目标感知区域信息的指示信息，确定所述目标感知区域信息。
  45. 根据权利要求40至44中任一项所述的装置，其特征在于，
    所述收发单元，还用于接收来自所述第二终端设备的第二广播消息，所述第二广播消息包括第二指示信息，所述第二指示信息用于指示所述第二终端设备支持对外开放本地感知数据。
  46. 根据权利要求45所述的装置，其特征在于，所述第二广播消息还包括所述第二终端设备的位置信息，和/或，与所述支持对外开放的感知数据对应的感知区域信息。
  47. 根据权利要求40至46中任一项所述的装置，其特征在于，
    所述处理单元，还用于根据所述第二终端设备的位置信息，确定所述第一终端设备和所述第二终端设备之间的距离。
  48. 一种通信感知装置，其特征在于，包括：
    收发单元，用于接收来自第一终端设备的请求消息，所述请求消息用于请求获取感知数据，所述请求消息包括待请求的所述感知数据对应的感知区域信息；
    所述收发单元，还用于向所述第一终端设备发送所述感知数据。
  49. 根据权利要求48所述的装置，其特征在于，所述装置还包括处理单元，
    所述处理单元，用于执行感知测量，并获取所述感知数据以及与所述感知数据对应的感知区域信息；
    所述收发单元，还用于向所述第一终端设备发送第二广播消息，所述第二广播消息包括第二指示信息，以及与所述感知数据对应的感知区域信息，所述第二指示信息用于指示所述第二终端设备支持向所述第一终端设备发送所述感知数据。
  50. 根据权利要求49所述的装置，其特征在于，所述第二广播消息还包括所述第二终端设备的位置信息，和/或，与所述支持对外开放的感知数据对应的感知区域信息。
  51. 一种通信感知装置，其特征在于，包括：处理器，所述处理器与存储器耦合；所述处理器，用于执行所述存储器中存储的计算机程序，以使得所述装置执行如权利要求1至10中任一项所述的方法，或者以使得所述装置执行如权利要求11至17中任一项所述的方法，或者以使得所述装置执行如权利要求18至25中任一项所述的方法，或者以使得所述装置执行如权利要求26至28中任一项所述的方法。
  52. 一种芯片，其特征在于，包括：
    处理器，用于从存储器中调用并运行计算机程序，使得安装有所述芯片的通信装置执行如权利要求1至10中任一项所述的方法，或使得安装有所述芯片的通信装置执行如权利要求11至17中任一项所述的方法，或使得安装有所述芯片的通信装置执行如权利要求18至25中任一项所述的方法，或使得安装有所述芯片的通信装置执行如权利要求26至28中任一项所述的方法。
  53. 一种计算机可读存储介质，其特征在于，包括：所述计算机可读存储介质上存储有计算机程序，当所述计算机程序运行时，使得所述计算机执行如权利要求1至17中任一项所述的方法，或使得所述计算机执行如权利要求18至28中任一项所述的方法。
  54. 一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机实现如权利要求1至17中任一项所述的方法，或者实现如权利要求18至28中任一项所述的方法。
PCT/CN2023/109487 2022-07-28 2023-07-27 通信感知方法和装置 Ceased WO2024022421A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP23845628.9A EP4564861A1 (en) 2022-07-28 2023-07-27 Communication sensing method, and apparatus
US19/037,400 US20250175828A1 (en) 2022-07-28 2025-01-27 Communication sensing method and apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210897819.7A CN117528444A (zh) 2022-07-28 2022-07-28 通信感知方法和装置
CN202210897819.7 2022-07-28

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/037,400 Continuation US20250175828A1 (en) 2022-07-28 2025-01-27 Communication sensing method and apparatus

Publications (1)

Publication Number Publication Date
WO2024022421A1 true WO2024022421A1 (zh) 2024-02-01

Family

ID=89705433

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/109487 Ceased WO2024022421A1 (zh) 2022-07-28 2023-07-27 通信感知方法和装置

Country Status (5)

Country Link
US (1) US20250175828A1 (zh)
EP (1) EP4564861A1 (zh)
CN (1) CN117528444A (zh)
TW (1) TW202406374A (zh)
WO (1) WO2024022421A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025227402A1 (zh) * 2024-04-30 2025-11-06 北京小米移动软件有限公司 通信方法及装置、通信设备、通信系统、存储介质
WO2025232725A1 (zh) * 2024-05-10 2025-11-13 华为技术有限公司 通信方法、装置及系统
WO2025255698A1 (en) * 2024-06-11 2025-12-18 Qualcomm Incorporated Near field beam sweeping
WO2026044475A1 (zh) * 2024-08-27 2026-03-05 Oppo广东移动通信有限公司 通信方法和设备
WO2026117647A1 (en) * 2024-11-27 2026-06-04 Interdigital Patent Holdings, Inc. Methods to trigger collaborative sensing in cellular networks

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12627975B2 (en) * 2023-02-01 2026-05-12 Qualcomm Incorporated Bi-static sensing charging subscription
WO2025198443A1 (ko) * 2024-03-19 2025-09-25 엘지전자 주식회사 장치 간 통신 및 센싱 방법 및 장치
WO2025231903A1 (zh) * 2024-05-10 2025-11-13 北京小米移动软件有限公司 信息发送方法及装置
CN121533063A (zh) * 2024-06-12 2026-02-13 新华三技术有限公司 感知方法、装置、感知设备、感知服务器及存储介质
CN121334660A (zh) * 2024-07-12 2026-01-13 华为技术有限公司 通信方法及通信装置
CN121442291A (zh) * 2024-07-29 2026-01-30 维沃软件技术有限公司 感知触发方法及通信设备
CN121462976A (zh) * 2024-07-31 2026-02-03 华为技术有限公司 一种通信方法及相关装置
WO2026130829A1 (en) * 2024-12-19 2026-06-25 Nokia Technologies Oy Discovery and selection mechanisms for ue-based sensing

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110971650A (zh) * 2019-03-25 2020-04-07 重庆长安汽车股份有限公司 基于v2x系统的协同感知系统、方法及车辆
US20210223376A1 (en) * 2018-09-20 2021-07-22 Huawei Technologies Co., Ltd. Techniques for Cooperative Passive Positioning
CN113630225A (zh) * 2021-06-28 2021-11-09 中国信息通信研究院 一种边链路感知信号发送方法和设备
WO2022031856A1 (en) * 2020-08-07 2022-02-10 Qualcomm Incorporated Air-interface-based environment sensing assisted by device-equipped target object
CN114666829A (zh) * 2022-03-25 2022-06-24 成都极米科技股份有限公司 多设备间进行无线感知测量的方法、装置、设备及介质

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11463980B2 (en) * 2019-02-22 2022-10-04 Huawei Technologies Co., Ltd. Methods and apparatuses using sensing system in cooperation with wireless communication system
CN116458100B (zh) * 2020-09-30 2025-03-11 高通股份有限公司 感测持续时间的动态控制

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210223376A1 (en) * 2018-09-20 2021-07-22 Huawei Technologies Co., Ltd. Techniques for Cooperative Passive Positioning
CN110971650A (zh) * 2019-03-25 2020-04-07 重庆长安汽车股份有限公司 基于v2x系统的协同感知系统、方法及车辆
WO2022031856A1 (en) * 2020-08-07 2022-02-10 Qualcomm Incorporated Air-interface-based environment sensing assisted by device-equipped target object
CN113630225A (zh) * 2021-06-28 2021-11-09 中国信息通信研究院 一种边链路感知信号发送方法和设备
CN114666829A (zh) * 2022-03-25 2022-06-24 成都极米科技股份有限公司 多设备间进行无线感知测量的方法、装置、设备及介质

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
ITRI: "Considering radio measurements and congestion control for zone based resource management in V2X service", 3GPP TSG RAN WG1 MEETING #87 R1-1612198, 13 November 2016 (2016-11-13), XP051176150 *
See also references of EP4564861A4

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025227402A1 (zh) * 2024-04-30 2025-11-06 北京小米移动软件有限公司 通信方法及装置、通信设备、通信系统、存储介质
WO2025232725A1 (zh) * 2024-05-10 2025-11-13 华为技术有限公司 通信方法、装置及系统
WO2025255698A1 (en) * 2024-06-11 2025-12-18 Qualcomm Incorporated Near field beam sweeping
WO2026044475A1 (zh) * 2024-08-27 2026-03-05 Oppo广东移动通信有限公司 通信方法和设备
WO2026117647A1 (en) * 2024-11-27 2026-06-04 Interdigital Patent Holdings, Inc. Methods to trigger collaborative sensing in cellular networks

Also Published As

Publication number Publication date
US20250175828A1 (en) 2025-05-29
TW202406374A (zh) 2024-02-01
CN117528444A (zh) 2024-02-06
EP4564861A4 (en) 2025-06-04
EP4564861A1 (en) 2025-06-04

Similar Documents

Publication Publication Date Title
TW202406374A (zh) 通信感知方法和裝置
EP4145864B1 (en) Prs configuration processing method and apparatus, and communication device and storage medium
EP4564862A1 (en) Communication sensing method and apparatus
EP4581391A1 (en) Sensing architecture and procedure in 3gpp-based cellular networks
CN116075743A (zh) 由配备有设备的目标对象辅助的基于空中接口的环境感测
EP4369818B1 (en) Method, apparatus, and device for location acquisition, medium, chip, product, and program
EP4164281A1 (en) Position determination method and apparatus, and communication device, and storage medium
CN114616837A (zh) 用于分区标识符传输的开销减少
WO2024207862A1 (zh) 感知方法、感知装置以及计算机可读存储介质
CN114341661A (zh) Ue之间的定位方法及装置、通信设备及存储介质
CN115942230B (zh) 位置确定的方法和装置
CN120153745A (zh) 信息传输方法及装置、通信设备及存储介质
WO2025066913A1 (zh) 通信方法、装置及系统
US20230327740A1 (en) Information transmission method and apparatus, communication device, and storage medium
CN115023987A (zh) 信息传输方法、装置、通信设备及存储介质
WO2025044806A1 (zh) 通信方法及装置
CN120826968A (zh) 信息传输方法及装置、通信设备及存储介质
CN117063444A (zh) 用于基于侧链路的定位的时间反转预编码
CN121174197B (zh) 感知方法和装置
CN119729583A (zh) 感知测量方法及装置
CN120239082A (zh) 通信方法和通信装置
WO2026025918A1 (zh) 一种通信感知业务处理方法、感知设备及感知网元
WO2025185481A1 (zh) 联合感知的方法和通信装置
WO2026001847A1 (zh) 通信方法及装置
WO2026092090A1 (zh) 一种通信方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23845628

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023845628

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2023845628

Country of ref document: EP

Effective date: 20250228

WWP Wipo information: published in national office

Ref document number: 2023845628

Country of ref document: EP