CN115915073A

CN115915073A - Terminal sensing method and device

Info

Publication number: CN115915073A
Application number: CN202210248411.7A
Authority: CN
Inventors: 许胜锋; 应江威
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-09-30
Filing date: 2022-03-14
Publication date: 2023-04-04
Also published as: WO2023051788A1

Abstract

The application discloses a terminal sensing method and a device, wherein the method comprises the following steps: a first terminal device sends a first message to a second terminal device, wherein the first message is used for requesting to complete a sensing service through a first sensing mode, and the first sensing mode is a mode that the first terminal device receives a sensing signal, or a mode that the second terminal device sends the sensing signal, or a mode that the first terminal device receives the sensing signal and the second terminal device sends the sensing signal; the first terminal device receives the sensing signal sent by the second terminal device in response to the first message or the echo signal of the sent sensing signal, so that the first terminal device can acquire sensing data of the sensing service according to the sensing signal or the echo signal of the sensing signal, and further the sensing service of the first terminal device is completed.

Description

Terminal sensing method and device

The present application claims priority of chinese patent application having application number 202111161897.2 entitled "a terminal sensing method and apparatus" filed by the chinese patent office at 30/09/2021, the entire contents of which are incorporated herein by reference.

Technical Field

The present application relates to the field of communications technologies, and in particular, to a terminal sensing method and apparatus.

Background

With the rapid development of mobile communication, the widespread use of new service types, such as video chat, virtual Reality (VR), or Augmented Reality (AR), increases the bandwidth demand of users. Device-to-device (D2D) communication allows direct communication between User Equipments (UEs) without going through a base station. For example, the UEs may communicate directly with each other via the PC5 interface, such as information transmission for the data plane and the control plane.

The UE can not only communicate through the PC5 interface, but also sense through the PC5, such as intrusion detection or ambient sensing, to complete the sensing service of the UE. However, in a D2D scenario, there is no specific solution for how to complete the UE sensing service.

Disclosure of Invention

The embodiment of the application provides a terminal sensing method and device, which are used for finishing the sensing service of UE.

In a first aspect, the present application provides a terminal sensing method, including: a first terminal device sends a first message to a second terminal device, wherein the first message is used for requesting to complete a sensing service through a first sensing mode, and the first sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends a sensing signal, or a mode in which the first terminal device receives a sensing signal and the second terminal device sends the sensing signal; the first terminal device receives a first signal, wherein the first signal is the sensing signal sent by the second terminal device or an echo signal of the sensing signal sent by the second terminal device; and the first terminal equipment acquires the perception data of the perception service according to the first signal.

In the above embodiment, the first terminal device requests the second terminal device to assist the first terminal device to complete the sensing service through the first sensing mode by sending the first message to the second terminal device; therefore, the first terminal device can receive the sensing signal sent by the second terminal device in response to the first message or the echo signal of the sensing signal, and acquire the sensing data of the sensing service according to the sensing signal or the echo signal of the sensing signal, thereby completing the sensing service of the first terminal device.

In one possible design, the first message includes information of the first perception mode.

Through the design, the first terminal equipment can inform the second terminal equipment of the mode of finishing the sensing service, so that the first terminal equipment and the second terminal equipment can cooperate with each other to finish the sensing task.

In one possible design, the method may further include: the first terminal equipment determines the first perception mode according to at least one of first perception capability information and first perception authorization information; the first sensing capability information is used for indicating that the first terminal device does not support sending the sensing signal, and the first sensing authorization information is used for indicating that the first terminal device is not authorized to send the sensing signal. And/or the first terminal equipment determines the first perception mode according to at least one of second perception capability information and second perception authorization information; the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

Through the design, the first terminal equipment can determine the mode of finishing the sensing service through various information, and the flexibility is high. For example, the first terminal device may determine that the mode for completing the sensing service is the first sensing mode according to the sensing capability information of the first terminal device and/or the sensing authorization information of the first terminal device. For example, the first terminal device may determine the mode of completing the sensing service according to the sensing capability information and/or the sensing authorization information of the second terminal device. For another example, the first terminal device may determine that the mode for completing the sensing service is the first sensing mode according to the sensing capability information of the first terminal device and the second terminal device and/or the sensing authorization information of the first terminal device.

In one possible design, the method may further include: the first terminal device receives a second message from the second terminal device, wherein the second message includes at least one of the second sensing capability information and the second sensing authorization information.

Through the design, the first terminal device can acquire the sensing capability information and/or the authorization information of the second terminal device so as to determine whether the second terminal device can send and/or receive the sensing signal, and further reasonably determine the first sensing mode to request the second terminal device to assist the second terminal device to complete the sensing service.

In one possible design, the method may further include: and the first terminal equipment sends a third message, wherein the third message is used for discovering the terminal equipment supporting the first perception mode or discovering the terminal equipment supporting the perception capability.

Through the design, the first terminal device can find the terminal device capable of assisting the first terminal device to complete the sensing service in the discovery process, and establish connection with the terminal device, so that the first terminal device can request the terminal device to assist the first terminal device to complete the sensing service in the following process.

In one possible design, the method may further include: and the first terminal equipment sends the perception data to the second terminal equipment.

In one possible design, the method may further include: the first terminal device receives a first transmission instruction from the second terminal device, wherein the first transmission instruction is used for instructing the first terminal device to send the perception data to the second terminal device; the sending, by the first terminal device, the sensing data to the second terminal device may be: and the first terminal equipment sends the perception data to the second terminal equipment according to the first transmission indication.

Through the design, the second terminal equipment can send the first transmission instruction to the first terminal equipment, so that the first terminal equipment can send the acquired sensing data to the second terminal equipment after receiving the first transmission instruction, and the sensing data can be shared among different terminal equipment.

In one possible design, the receiving, by the first terminal device, the first signal may be: and the first terminal equipment receives the first signal according to the first perception mode.

In one possible design, the first message further includes first configuration information that includes one or more of the following: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

Through the design, the first terminal device can carry the first configuration information in the first message and send the first configuration information to the second terminal device, so that the second terminal device sends the sensing signal based on the first configuration information.

In one possible design, the method may further include: the first terminal equipment determines the first configuration information according to the first corresponding relation; wherein the first corresponding relationship comprises one or more of the following corresponding relationships:

And the corresponding relation between the identification information of the sensing service and the time information of the sensing service.

Or, the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal.

Through the design, corresponding relations exist between the identification information of the sensing service and the time information of the sensing service and between the identification information of the sensing signal and the signal characteristics of the sensing signal, and therefore the first terminal device can sense the first corresponding relation between the identification information of the sensing service and the first configuration information and determine the first configuration information.

In one possible design, the receiving, by the first terminal device, the first signal may be: the first terminal equipment receives the first signal according to second configuration information, wherein the second configuration information comprises one or more of the following information: the time information of the sensing service, the signal characteristics of the sensing signal and the processing mode of the sensing signal.

In one possible design, the method may further include: the first terminal equipment determines the second configuration information according to the second corresponding relation; wherein the second corresponding relationship comprises one or more of the following corresponding relationships:

Or, the identification information of the sensing service corresponds to the signal characteristics of the sensing signal.

Or, the corresponding relation between the identification information of the sensing service and the processing mode of the sensing signal.

In a second aspect, the present application provides a terminal sensing method, including: a second terminal device receives a first message from a first terminal device, wherein the first message is used for requesting to complete a sensing service through a first sensing mode, and the first sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends the sensing signal, or a mode in which the first terminal device receives the sensing signal and the second terminal device sends the sensing signal; and the second terminal equipment sends the perception signal according to the first perception mode.

In one possible design, the method may further include: and the second terminal equipment determines to send the sensing signal according to the first sensing mode according to at least one of second sensing capability information and second sensing authorization information, wherein the second sensing capability information is used for indicating that the second terminal equipment supports sending the sensing signal, and the second sensing authorization information is used for indicating that the second terminal equipment is authorized to send the sensing signal.

In one possible design, the method may further include: and the second terminal device sends a second message to the first terminal device, where the second message includes at least one of second sensing capability information and second sensing authorization information, where the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

In one possible design, the method may further include: and the second terminal equipment receives a third message from the first terminal equipment, wherein the third message is used for discovering the terminal equipment supporting the first perception mode or discovering the terminal equipment supporting the perception capability.

In one possible design, the method may further include: and the second terminal equipment receives the perception data of the perception service from the first terminal equipment.

In one possible design, the method may further include: and the second terminal equipment sends a first transmission instruction to the first terminal equipment, wherein the first transmission instruction is used for instructing the first terminal equipment to send the sensing data to the second terminal equipment.

In a possible design, the sending, by the second terminal device, the sensing signal according to the first sensing mode may be: the second terminal equipment sends the sensing signal according to the first sensing mode and the first configuration information; wherein the first configuration information comprises one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

In one possible design, the first message includes the first configuration information.

In one possible design, the method may further include: the second terminal equipment determines the first configuration information according to the first corresponding relation; wherein the first corresponding relationship comprises one or more of the following corresponding relationships:

In a third aspect, the present application provides a terminal sensing method, including: a first terminal device sends a fourth message to a second terminal device, wherein the fourth message is used for requesting to complete a sensing service through a second sensing mode, and the second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives the sensing signal, or a mode in which the first terminal device sends the sensing signal and the second terminal device receives the sensing signal; and the first terminal equipment sends the sensing signal according to the second sensing mode.

In the above embodiment, the first terminal device requests the second terminal device to assist the first terminal device to complete the sensing service through the second sensing mode by sending the fourth message to the second terminal device; therefore, the first terminal device can send the sensing signal, so that the second terminal device receives the sensing signal sent by the first terminal device or the echo signal of the sensing signal in response to the fourth message, and obtains the sensing data of the sensing service according to the sensing signal or the echo signal of the sensing signal, thereby completing the sensing service of the first terminal device.

In one possible design, the fourth message includes information of the second perception mode.

Through the design, the first terminal device can perceive the mode of finishing the perception service to the second terminal device, so that the first terminal device and the second terminal device can cooperate with each other to finish the perception service.

In one possible design, the method may further include: the first terminal equipment determines the second perception mode according to at least one of third perception capability information and third perception authorization information; the third sensing capability information is used to indicate that the first terminal device supports sending the sensing signal, and the third sensing authorization information is used to indicate that the first terminal device is authorized to send the sensing signal. And/or the first terminal device determines the second sensing mode according to at least one of fourth sensing capability information and fourth sensing authorization information; the fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal, and the fourth sensing authorization information is used to indicate that the second terminal device is authorized to receive the sensing signal.

Through the design, the first terminal equipment can determine the mode of finishing the sensing service through various information, and the flexibility is high.

In one possible design, the method may further include: the first terminal device receives a fifth message from the second terminal device, where the fifth message includes at least one of the fourth sensing capability information and the fourth sensing authorization information.

In one possible design, the method may further include: and the first terminal equipment sends a sixth message, wherein the sixth message is used for discovering the terminal equipment supporting the second perception mode or discovering the terminal equipment supporting the perception capability.

In one possible design, the method may further include: and the first terminal equipment receives the perception data of the perception service from the second terminal equipment.

In one possible design, the method may further include: and the first terminal equipment sends a second transmission instruction to the second terminal equipment, wherein the second transmission instruction is used for instructing the second terminal equipment to send the perception data to the first terminal equipment.

Through the design, the first terminal device can send the second transmission instruction to the second terminal device, so that after the second terminal device obtains the sensing data of the sensing service, the sensing data can be sent to the first terminal device, and the sensing data can be shared among different terminal devices.

In one possible design, the fourth message further includes third configuration information that includes one or more of the following: the identification information of the sensing service, the time information of the sensing service, the signal characteristics of the sensing signal, or the processing mode of the sensing signal.

Through the design, the first terminal device can carry the third configuration information in the fourth message and send the fourth message to the second terminal device, so that the second terminal device receives the sensing signal or the echo signal of the sensing signal sent by the first terminal device based on the third configuration information, and processes the sensing signal or the echo signal of the sensing signal to obtain sensing data, thereby completing sensing service.

In one possible design, the method may further include: the first terminal device determines the third configuration information according to a second corresponding relationship, where the second corresponding relationship includes one or more of the following corresponding relationships:

In a possible design, the sending, by the first terminal device, the sensing signal according to the second sensing mode may be: and the first terminal equipment sends the sensing signal according to the second sensing mode and fourth configuration information, wherein the fourth configuration information comprises at least one of time information of the sensing service and signal characteristics of the sensing signal.

In one possible design, the method may further include: the first terminal device determines the fourth configuration information according to a first corresponding relationship, where the first corresponding relationship includes one or more of the following corresponding relationships:

In a fourth aspect, the present application provides a terminal sensing method, including: a second terminal device receives a fourth message from a first terminal device, where the fourth message is used to request a sensing service to be completed through a second sensing mode, where the second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives a sensing signal, or a mode in which the first terminal device sends a sensing signal and the second terminal device receives the sensing signal;

the second terminal device receives a second signal, where the second signal is a sensing signal sent by the first terminal device or an echo signal of the sensing signal sent by the first terminal device;

and the second terminal equipment determines the perception data of the perception service according to the second information.

In one possible design, the method further includes: the second terminal equipment determines to receive the second signal according to at least one of fourth sensing capability information and fourth sensing authorization information; the fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal or the echo signal of the sensing signal, and the fourth sensing authorization information is used to indicate that the first terminal device is authorized to send the sensing signal or the echo signal of the sensing signal.

In one possible design, the method further includes: and the second terminal device sends a fifth message to the first terminal device, where the fifth message includes at least one of the fourth sensing capability information and the fourth sensing authorization information.

In one possible design, the method further includes: and the second terminal equipment receives a sixth message from the first terminal equipment, wherein the sixth message is used for discovering the terminal equipment supporting the second perception mode or discovering the terminal equipment supporting the perception capability.

In one possible design, the method further includes: and the second terminal equipment sends the perception data to the first terminal equipment.

In one possible design, the method further includes: the second terminal device receives a second transmission instruction from the first terminal device, wherein the second transmission instruction is used for instructing the second terminal device to send the perception data to the first terminal device; the sending, by the second terminal device, the sensing data to the first terminal device may be: and the second terminal equipment sends the perception data to the first terminal equipment according to the second transmission instruction.

In one possible design, the receiving, by the second terminal device, the second signal may be: the second terminal device receives the second signal according to third configuration information, wherein the third configuration information includes one or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, or a processing mode of the sensing signal.

In one possible design, the fourth message includes the third configuration information.

In one possible design, the method further includes: the second terminal device determines the third configuration information according to a second corresponding relationship, where the second corresponding relationship includes one or more of the following corresponding relationships:

In a fifth aspect, the present application provides a terminal measurement method, including: a first terminal device sends a ninth message to a second terminal device, wherein the ninth message is used for requesting that a ranging service is completed through a first ranging mode, and the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device sends a ranging signal and the second terminal device receives the ranging signal; the first terminal equipment sends the ranging signals according to the first ranging mode; the first terminal equipment receives a feedback signal of the ranging signal from the second terminal equipment; and the first terminal equipment acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.

In the above embodiment, the first terminal device requests the second terminal device to assist the first terminal device to complete the ranging service through the first ranging mode by sending the ninth message to the second terminal device; therefore, the first terminal device can send the ranging signal, the second terminal device can respond to the ninth message to receive the ranging signal and send the feedback signal of the ranging signal to the first terminal device, and therefore the first terminal device can obtain ranging data of the ranging service according to the ranging signal and the feedback signal, and the ranging service of the first terminal device is completed.

In one possible design, the ninth message may include information of the first ranging mode.

In one possible design, the method may further include: the first terminal equipment determines the first ranging mode according to at least one of first ranging capability information and first ranging authorization information; the first ranging capability information is used for indicating that the first terminal device supports sending the ranging signal, and the first ranging authorization information is used for indicating authorization of the first terminal device to send the ranging signal.

In one possible design, the method may further include: the first terminal equipment determines the first ranging mode according to at least one of second ranging capability information and second ranging authorization information; the second ranging capability information is used to indicate that the second terminal device does not support sending the ranging signal, and the second ranging authorization information is used to indicate that the second terminal device is not authorized to send the ranging signal.

In one possible design, the method may further include: the first terminal device receives a tenth message from the second terminal device, the tenth message including at least one of the second ranging capability information and the second ranging grant information.

In one possible design, the method may further include: and the first terminal equipment sends an eleventh message, wherein the eleventh message is used for discovering the terminal equipment supporting the first ranging mode or discovering the terminal equipment supporting the ranging capability.

In one possible design, the method may further include: and the first terminal equipment sends the ranging data to the second terminal equipment.

In one possible design, the method may further include: the first terminal device receives a third transmission instruction from the second terminal device, wherein the third transmission instruction is used for instructing the first terminal device to send the ranging data to the second terminal device; the sending, by the first terminal device, the ranging data to the second terminal device includes: and the first terminal equipment sends the ranging data to the second terminal equipment according to the third transmission indication.

In one possible design, the ninth message may further include fifth configuration information that includes one or more of the following: the identification information of the ranging service, the time information of the ranging service, the signal characteristics of the ranging signal, or the processing mode of the ranging signal.

In one possible design, the method may further include: the first terminal equipment determines the fifth configuration information according to a third corresponding relation; wherein the third corresponding relationship comprises one or more of the following corresponding relationships:

the corresponding relation between the identification information of the ranging service and the time information of the ranging service;

or, the corresponding relation between the identification information of the ranging service and the signal characteristics of the ranging signal;

or, the corresponding relation between the identification information of the ranging service and the processing mode of the ranging signal.

In a possible design, the first terminal device may send the ranging signal according to the first ranging mode by: the first terminal device sends the ranging signal according to the first ranging mode and sixth configuration information, where the sixth configuration information includes one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, and a processing mode of the ranging signal.

In one possible design, the method may further include: the first terminal equipment determines the sixth configuration information according to a fourth corresponding relation; wherein the fourth corresponding relationship comprises one or more of the following corresponding relationships:

In a sixth aspect, the present application provides a terminal measurement method, including: a second terminal device receives a ninth message from a first terminal device, wherein the ninth message is used for requesting that a ranging service is completed through a first ranging mode, and the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives the ranging signal, or a mode in which the first terminal device sends the ranging signal and the second terminal device receives the ranging signal; the second terminal equipment receives the ranging signals according to the first ranging mode; and the second terminal equipment sends a feedback signal of the ranging signal to the first terminal equipment.

In one possible design, the method may further include: the second terminal equipment determines to receive the ranging signal according to the first ranging mode according to at least one of second ranging capability information and second ranging authorization information; the second ranging capability information is used to indicate that the second terminal device does not support sending the ranging signal, and the second ranging authorization information is used to indicate that the second terminal device is not authorized to send the ranging signal.

In one possible design, the method may further include: the second terminal device sends a tenth message to the first terminal device, where the tenth message includes at least one of the second ranging capability information and the second ranging grant information.

In one possible design, the method may further include: and the second terminal equipment receives an eleventh message from the first terminal equipment, wherein the eleventh message is used for discovering the terminal equipment supporting the first ranging mode or discovering the terminal equipment supporting the ranging capability.

In one possible design, the method may further include: and the second terminal equipment receives the ranging data of the ranging service from the first terminal equipment.

In one possible design, the method may further include: the second terminal device sends a third transmission instruction to the first terminal device, where the third transmission instruction is used to instruct the first terminal device to send the ranging data to the second terminal device; the second terminal device receiving the ranging data of the ranging service from the first terminal device, including: and the second terminal equipment receives the ranging data according to the third transmission indication.

In one possible design, the receiving, by the second terminal device, the ranging signal according to the first ranging mode may be: the second terminal device receives the ranging signal according to the first ranging mode and the fifth configuration information, wherein the fifth configuration information includes one or more of the following information: the identification information of the ranging service, the time information of the ranging service, the signal characteristics of the ranging signal, or the processing mode of the ranging signal.

In one possible design, the ninth message includes the fifth configuration information.

In one possible design, the method may further include: the second terminal device determines the fifth configuration information according to a third corresponding relationship; wherein the third corresponding relationship comprises one or more of the following corresponding relationships:

In a seventh aspect, the present application provides a terminal measurement method, where a first terminal device sends a twelfth message to a second terminal device, where the twelfth message is used to request a ranging service to be completed through a second ranging mode, where the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal and the first terminal device receives the ranging signal; the first terminal device receiving the ranging signal from the second terminal device; and the first terminal equipment sends a feedback signal of the ranging signal to the second terminal equipment.

In the above embodiment, the first terminal device sends a twelfth message to the second terminal device to request the second terminal device to assist the first terminal device to complete the ranging service through the second ranging mode; in this way, the second terminal device may send a ranging signal in response to the twelfth message and receive the feedback signal from the first terminal device, so as to obtain ranging data of the ranging service according to the ranging signal and the feedback signal, thereby completing the ranging service of the first terminal device.

In one possible design, the twelfth message may include information of the second ranging mode.

In one possible design, the method may further include: the first terminal equipment determines the second ranging mode according to at least one of third ranging capability information and third ranging authorization information; the third ranging capability information is used to indicate that the first terminal device does not support sending the ranging signal, and the third ranging grant information is used to indicate that the first terminal device is not granted permission to send the ranging signal.

In one possible design, the method may further include: the first terminal equipment determines the second ranging mode according to at least one of fourth ranging capability information and fourth ranging authorization information; the fourth ranging capability information is used to indicate that the second terminal device supports sending the ranging signal, and the fourth ranging grant information is used to indicate that the second terminal device is not granted permission to send the ranging signal.

In one possible design, the method may further include: the first terminal device receives a thirteenth message from the second terminal device, the thirteenth message including at least one of the fourth ranging capability information and the fourth ranging grant information.

In one possible design, the method may further include: and the first terminal equipment sends a fourteenth message, wherein the fourteenth message is used for discovering the terminal equipment supporting the second ranging mode or discovering the terminal equipment supporting the ranging capability.

In one possible design, the method may further include: and the first terminal equipment receives the ranging data of the ranging service from the second terminal equipment.

In one possible design, the method may further include: and the first terminal equipment sends a fourth transmission instruction to the second terminal equipment, wherein the fourth transmission instruction is used for instructing the second terminal equipment to send the ranging data to the first terminal equipment.

In one possible design, the receiving, by the first terminal device, the ranging signal from the second terminal device may be: and the first terminal equipment receives the ranging signals from the second terminal equipment according to the second ranging mode.

In one possible design, the twelfth message may further include seventh configuration information, and the seventh configuration information includes one or more of the following information: the identification information of the ranging service, the time information of the ranging service, the signal characteristics of the ranging signal, or the processing mode of the ranging signal.

In one possible design, the method may further include: the first terminal device determines the seventh configuration information according to a fourth corresponding relationship, where the fourth corresponding relationship includes one or more of the following corresponding relationships:

In one possible design, the receiving, by the first terminal device, the ranging signal from the second terminal device may be: the first terminal device receives the ranging signal according to the second ranging mode and eighth configuration information, wherein the eighth configuration information includes one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, or a processing mode of the ranging signal.

In one possible design, the method may further include: the first terminal device determines the eighth configuration information according to a third corresponding relationship, where the third corresponding relationship includes one or more of the following corresponding relationships:

In an eighth aspect, the present application provides a terminal measurement method, including: receiving, by a second terminal device, a twelfth message from a first terminal device, where the twelfth message is used to request that a ranging service is completed through a second ranging mode, where the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal and the first terminal device receives the ranging signal; the second terminal equipment sends the ranging signals according to the second ranging mode; the second terminal equipment receives a feedback signal of the ranging signal from the first terminal equipment; and the second terminal equipment acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.

In one possible design, the method may further include: the second terminal equipment determines to send the ranging signal according to the second ranging mode according to at least one of fourth ranging capability information and fourth ranging authorization information; the fourth ranging capability information is used to indicate that the second terminal device supports sending the ranging signal, and the fourth ranging grant information is used to indicate that the second terminal device is not granted permission to send the ranging signal.

In one possible design, the method may further include: the second terminal device sends a thirteenth message to the first terminal device, the thirteenth message including at least one of the fourth ranging capability information and the fourth ranging grant information.

In one possible design, the method may further include: and the second terminal device receives a fourteenth message from the first terminal device, where the fourteenth message is used to discover a terminal device supporting the second ranging mode or discover a terminal device supporting the ranging capability.

In one possible design, the method may further include: and the second terminal equipment sends the ranging data to the first terminal equipment.

In one possible design, the method may further include: the second terminal device receives a fourth transmission instruction sent by the first terminal device, wherein the fourth transmission instruction is used for instructing the second terminal device to send the ranging data to the first terminal device; the second terminal device may send the ranging data to the first terminal device, and may send the ranging data to the first terminal device according to the fourth transmission instruction for the second terminal device.

In a possible design, the second terminal device may send the ranging signal according to the second ranging mode by: the second terminal device sends the ranging signal according to the second ranging mode and seventh configuration information, where the seventh configuration information includes one or more of the following information: the identification information of the ranging service, the time information of the ranging service, the signal characteristics of the ranging signal, or the processing mode of the ranging signal.

In one possible design, the twelfth message may include the seventh configuration information.

In one possible design, the method may further include: the second terminal device determines the seventh configuration information according to a fourth corresponding relationship, where the fourth corresponding relationship includes one or more of the following corresponding relationships:

In a ninth aspect, the present application provides a terminal measurement method, including: a first terminal device sends a seventeenth message to a second terminal device, where the seventeenth message is used to request that an angle measurement service be completed through a first angle measurement mode, where the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal and the second terminal device receives the angle measurement signal; and the first terminal equipment sends the angle measurement signal according to the first angle measurement mode.

In the above embodiment, the first terminal device sends a seventeenth message to the second terminal device to request the second terminal device to assist the first terminal device to complete the angle measurement service through the first angle measurement mode; therefore, the first terminal device can send the angle measurement signal, and the second terminal device receives the angle measurement signal sent by the first terminal device in response to the seventeenth message, so that the angle measurement data of the angle measurement service can be obtained according to the angle measurement signal, and the angle measurement service of the first terminal device is completed.

In one possible design, the seventeenth message may include information of the first goniometric pattern.

In one possible design, the method may further include: the first terminal equipment determines the first angle measurement mode according to at least one of the first angle measurement capability information and the first angle measurement authorization information; the first angle measurement capability information is used for indicating that the first terminal equipment supports sending the angle measurement signal, and the first angle measurement authorization information is used for indicating authorization of the first terminal equipment to send the angle measurement signal.

In one possible design, the method may further include: the first terminal equipment determines the first angle measurement mode according to at least one of second angle measurement capability information and second angle measurement authorization information; the second angle measurement capability information is used for indicating that the second terminal equipment does not support sending the angle measurement signal, and the second angle measurement authorization information is used for indicating that the second terminal equipment is not authorized to send the angle measurement signal.

In one possible design, the method may further include: the first terminal device receives an eighteenth message from the second terminal device, where the eighteenth message includes at least one of the second angle measurement capability information and the second angle measurement authorization information.

In one possible design, the method may further include: and the first terminal equipment sends a nineteenth message, wherein the nineteenth message is used for discovering terminal equipment supporting the first angle measurement mode or discovering terminal equipment supporting the angle measurement capability.

In one possible design, the method may further include: and the first terminal equipment receives angle measurement data of the angle measurement service from the second terminal equipment.

In one possible design, the method may further include: and the first terminal equipment sends a fifth transmission instruction to the second terminal equipment, wherein the fifth transmission instruction is used for instructing the second terminal equipment to send the angle measurement data to the first terminal equipment.

In one possible design, the seventeenth message further includes ninth configuration information that includes one or more of the following: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode of the angle measurement signal.

In one possible design, the method may further include: the first terminal equipment determines the ninth configuration information according to a fifth corresponding relation; wherein the fifth corresponding relationship comprises one or more of the following corresponding relationships:

the corresponding relation between the identification information of the angle measurement service and the time information of the angle measurement service;

or, the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal;

or, the corresponding relation between the identification information of the angle measurement service and the processing mode of the angle measurement signal.

In a possible design, the sending, by the first terminal device, the angle measurement signal according to the first angle measurement mode may be: the first terminal device sends the angle measurement signal according to the first angle measurement mode and tenth configuration information, wherein the tenth configuration information comprises one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.

In one possible design, the method may further include: the first terminal device determines the tenth configuration information according to a sixth corresponding relationship; wherein the sixth correspondence includes one or more of the following correspondences:

or, the identification information of the angle measurement service corresponds to the signal characteristics of the angle measurement signal.

In a tenth aspect, the present application provides a terminal measurement method, including: a second terminal device receives a seventeenth message from a first terminal device, where the seventeenth message is used to request that an angle measurement service be completed through a first angle measurement mode, where the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal and the second terminal device receives the angle measurement signal; the second terminal equipment receives the angle measurement signal according to the first angle measurement mode; and the second terminal equipment acquires angle measurement data of the angle measurement service according to the angle measurement signal.

In one possible design, the method may further include: the second terminal equipment determines to receive the angle measurement signal according to the first angle measurement mode according to at least one of second angle measurement capability information and second angle measurement authorization information; the second angle measurement capability information is used for indicating that the second terminal equipment does not support sending the angle measurement signal, and the second angle measurement authorization information is used for indicating that the second terminal equipment is not authorized to send the angle measurement signal.

In one possible design, the method may further include: and the second terminal equipment sends an eighteenth message to the first terminal equipment, wherein the eighteenth message comprises at least one of the second angle measurement capability information and the second angle measurement authorization information.

In one possible design, the method may further include: and the second terminal device receives a nineteenth message from the first terminal device, wherein the nineteenth message is used for discovering the terminal device supporting the first angle measurement mode or discovering the terminal device supporting the angle measurement capability.

In one possible design, the method may further include: and the second terminal equipment sends the angle measurement data to the first terminal equipment.

In one possible design, the method may further include: and the second terminal equipment receives a fifth transmission instruction from the first terminal equipment, wherein the fifth transmission instruction is used for instructing the second terminal equipment to send the angle measurement data to the first terminal equipment. The sending, by the second terminal device, the angle measurement data to the first terminal device may be: and the second terminal equipment sends the angle measurement data to the first terminal equipment according to the fifth transmission instruction.

In a possible design, the receiving, by the second terminal device, the angle measurement signal according to the first angle measurement mode may be: and the second terminal equipment receives the angle measuring signal according to the first angle measuring mode and the ninth configuration information. The ninth configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode of the angle measurement signal.

In one possible design, the seventeenth message may include ninth configuration information.

In one possible design, the method may further include: the second terminal device determines the ninth configuration information according to a fifth corresponding relationship; wherein the fifth corresponding relationship comprises one or more of the following corresponding relationships:

In an eleventh aspect, the present application provides a terminal measurement method, including: a first terminal device sends a twentieth message to a second terminal device, where the twentieth message is used to request that an angle measurement service be completed through a second angle measurement mode, where the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal and the first terminal device receives the angle measurement signal; the first terminal equipment receives the angle measuring signal from the second terminal equipment; and the first terminal equipment acquires angle measurement data of the angle measurement service according to the angle measurement signal.

In the above embodiment, the first terminal device sends a twentieth message to the second terminal device to request the second terminal device to assist the first terminal device to complete the angle measurement service through the second angle measurement mode; therefore, the second terminal device can send the angle measurement signal in response to the twentieth message, so that the first terminal device can receive the angle measurement signal of the second terminal device, obtain the angle measurement data of the angle measurement service according to the angle measurement signal, and further complete the angle measurement service of the first terminal device.

In one possible design, the twentieth message may include information of the second goniometric pattern.

In one possible design, the method may further include: the first terminal equipment determines the second angle measurement mode according to at least one of third angle measurement capability information and third angle measurement authorization information; the third angle measurement capability information is used for indicating that the first terminal equipment does not support sending the angle measurement signal, and the third angle measurement authorization information is used for indicating that the first terminal equipment is not authorized to send the angle measurement signal.

In one possible design, the method may further include: the first terminal equipment determines the second angle measurement mode according to at least one of fourth angle measurement capability information and fourth angle measurement authorization information; the fourth angle measurement capability information is used for indicating that the second terminal device supports sending the angle measurement signal, and the fourth angle measurement authorization information is used for indicating that the second terminal device is not authorized to send the angle measurement signal.

In one possible design, the method may further include: the first terminal device receives a twenty-first message from the second terminal device, where the twenty-first message includes at least one of the fourth angle measurement capability information and the fourth angle measurement authorization information.

In one possible design, the method may further include: and the first terminal equipment sends a twenty-second message, wherein the twenty-second message is used for discovering the terminal equipment supporting the second angle measurement mode or discovering the terminal equipment supporting the angle measurement capability.

In one possible design, the method may further include: and the first terminal equipment sends the angle measurement data to the second terminal equipment.

In one possible design, the method may further include: the first terminal device receives a sixth transmission instruction from the second terminal device, wherein the sixth transmission instruction is used for instructing the first terminal device to send the angle measurement data to the second terminal device; the sending, by the first terminal device, the angle measurement data to the second terminal device may be: and the first terminal equipment sends the angle measurement data to the second terminal equipment according to the sixth transmission instruction.

In a possible design, the first terminal device receiving the angle measurement signal from the second terminal device may be: and the first terminal equipment receives the angle measuring signal from the second terminal equipment according to the second angle measuring mode.

In one possible design, the twentieth message further includes eleventh configuration information that includes one or more of the following: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.

In one possible design, the method may further include: the first terminal device determines the eleventh configuration information according to a sixth corresponding relationship, where the sixth corresponding relationship includes one or more of the following corresponding relationships:

or, the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal.

In one possible design, the first terminal device receiving the angle measurement signal from the second terminal device may be: the first terminal device receives the angle measurement signal according to the second angle measurement mode and twelfth configuration information, wherein the twelfth configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode of the angle measurement signal.

In one possible design, the method may further include: the first terminal device determines the twelfth configuration information according to a fifth corresponding relationship, where the fifth corresponding relationship includes one or more of the following corresponding relationships:

In a twelfth aspect, the present application provides a terminal measurement method, including: a second terminal device receives a twentieth message from a first terminal device, where the twentieth message is used to request that an angle measurement service be completed through a second angle measurement mode, where the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal and the first terminal device receives the angle measurement signal; and the second terminal equipment sends the angle measurement signal according to the second angle measurement mode.

In one possible design, the method may further include: the second terminal equipment determines to send the angle measurement signal according to the second angle measurement mode according to at least one of fourth angle measurement capability information and fourth angle measurement authorization information; the fourth angle measurement capability information is used for indicating that the second terminal device supports sending the angle measurement signal, and the fourth angle measurement authorization information is used for indicating that the second terminal device is not authorized to send the angle measurement signal.

In one possible design, the method may further include: and the second terminal equipment sends a twenty-first message to the first terminal equipment, wherein the twenty-first message comprises at least one of the fourth angle measurement capability information and the fourth angle measurement authorization information.

In one possible design, the method may further include: and the second terminal equipment receives a twenty-second message from the first terminal equipment, wherein the twenty-second message is used for discovering the terminal equipment supporting the second angle measurement mode or discovering the terminal equipment supporting the angle measurement capability.

In one possible design, the method may further include: and the second terminal equipment receives the angle measurement data of the angle measurement service from the first terminal equipment.

In one possible design, the method may further include: the second terminal device sends a sixth transmission instruction to the first terminal device, wherein the sixth transmission instruction is used for instructing the first terminal device to send the angle measurement data to the second terminal device; the second terminal device receives angle measurement data of the angle measurement service from the first terminal device, and the angle measurement data may be: and the second terminal equipment receives the angle measurement data according to the sixth transmission instruction.

In a possible design, the sending, by the second terminal device, the angle measurement signal according to the second angle measurement mode may be: and the second terminal equipment sends the angle measuring signal according to the second angle measuring mode and eleventh configuration information. The eleventh configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.

In one possible design, the twentieth message may include eleventh configuration information.

In one possible design, the method may further include: the second terminal device determines the eleventh configuration information according to a sixth corresponding relationship, where the sixth corresponding relationship includes one or more of the following corresponding relationships:

In a thirteenth aspect, the present application further provides a communication apparatus, which may be a first terminal device or a second terminal device. When the communication apparatus is a first terminal device, the communication apparatus has a function of implementing the first terminal device in the above-described first aspect and its various possible design examples, or the third aspect and its various possible design examples, or the fifth aspect and its various possible design examples, or the seventh aspect and its various possible design examples, or the ninth aspect and its various possible design examples, or the eleventh aspect and its various possible design examples. When the communication apparatus is a second terminal device, the communication apparatus has a function of implementing the second terminal device in the second aspect and its respective possible design examples, or the fourth aspect and its respective possible design examples, or the sixth aspect and its respective possible design examples, or the eighth aspect and its respective possible design examples, or the tenth aspect and its respective possible design examples, or the twelfth aspect and its respective possible design examples. The functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the communication device may include a transceiver module and a processing module in its structure. The processing module is configured to enable the communication apparatus to perform the respective functions of the first terminal device or the second terminal device in the above aspects and possible design examples thereof. And the transceiver module is used for supporting communication between the communication device and other equipment. Optionally, the communication device may further include a storage module, coupled to the processing module, for storing program instructions and data necessary for the communication device.

As one example, the processing module may be a processor. The transceiver module may be an interface circuit. The storage module may be a memory.

In one possible design, the architecture of the communication device includes an interface circuit and one or more processors. Optionally, the communication device further comprises a memory. The interface circuit is used for transceiving data and for performing communication interaction with other devices in the communication system. The one or more processors are configured to enable the communication apparatus to perform the respective functions of the first terminal device or the second terminal device in the above aspects and various possible design examples thereof. The memory is coupled to the one or more processors and stores program instructions and data necessary for the communication device.

In a fourteenth aspect, an embodiment of the present application provides a communication system, which may include the above-mentioned first terminal device, and/or second terminal device, and so on.

In a fifteenth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores program instructions, and when the program instructions are executed on a computer, the computer executes the first aspect to the twelfth aspect of the embodiment of the present application and any possible design thereof. By way of example, computer readable storage media may be any available media that can be accessed by a computer. Taking this as an example but not limiting: the computer-readable medium may include a non-transitory computer-readable medium, a random-access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

In a sixteenth aspect, embodiments of the present application provide a computer program product comprising computer program code or instructions which, when run on a computer, cause the computer to carry out the method of the first to twelfth aspects described above and any possible design thereof.

In a seventeenth aspect, the present application further provides a chip, coupled to a memory, for reading and executing program instructions stored in the memory to implement the method of the first to twelfth aspects and any possible designs thereof.

For each of the second aspect, the fourth aspect to the seventeenth aspect, and possible technical effects of each aspect, please refer to the above description of the possible technical effects for each possible solution in the first aspect or the third aspect, and no repeated description is given here.

Drawings

Fig. 1 is a schematic diagram of a 5G network architecture in the embodiment of the present application;

fig. 2 is a schematic diagram of a U2U communication scenario in an embodiment of the present application;

FIG. 3a is a flowchart illustrating a model A discovery process in an embodiment of the present application;

FIG. 3B is a flowchart illustrating a model B discovery process according to an embodiment of the present invention;

FIG. 3c is a schematic flowchart of the process of establishing PC5 connection in the embodiment of the present application;

fig. 4 is a schematic diagram of a logical structure of a UE in the embodiment of the present application;

fig. 5 is a schematic flowchart of a terminal sensing method according to an embodiment of the present application;

fig. 6a is a schematic diagram of a sensing service provided in an embodiment of the present application;

Fig. 6b is a schematic diagram of a sensing service provided in an embodiment of the present application;

fig. 7 is a schematic flowchart of a terminal sensing method according to an embodiment of the present application;

fig. 8 is a schematic flowchart of a process for obtaining a second corresponding relationship according to the embodiment of the present application;

fig. 9 is a schematic flowchart of another terminal sensing method according to an embodiment of the present application;

fig. 10a is a schematic diagram of a sensing service provided by an embodiment of the present application;

fig. 10b is a schematic diagram of a sensing service provided in an embodiment of the present application;

fig. 11 is a schematic flowchart of another terminal sensing method according to the embodiment of the present application;

fig. 12 is a schematic flowchart of a terminal measurement method according to an embodiment of the present application;

fig. 13 is a schematic diagram of a ranging service according to an embodiment of the present application;

fig. 14 is a schematic flowchart of a terminal measurement method according to an embodiment of the present application;

fig. 15 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

fig. 16 is a further schematic diagram of a ranging service provided in an embodiment of the present application;

fig. 17 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

fig. 18 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

Fig. 19 is a schematic diagram of an angle measurement service provided in the embodiment of the present application;

fig. 20 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

fig. 21 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

fig. 22 is a schematic diagram of another angle measurement service provided in the embodiment of the present application;

fig. 23 is a schematic flowchart of another terminal measurement method according to an embodiment of the present application;

fig. 24 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 25 is a schematic structural diagram of a terminal device according to an embodiment of the present application;

fig. 26 is a schematic structural diagram of another communication device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments.

The terms "system" and "network" in the embodiments of the present application may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present application. "at least one", is to be understood as meaning one or more, for example one, two or more. For example, the inclusion of at least one means that one, two or more are included, and does not limit which is included. For example, including at least one of A, B, and C, then what is included may be A, B, C, A and B, A and C, B and C, or A and B and C. Similarly, the understanding of the description of "at least one" and the like is similar. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, "at least one of A, B, and C" includes A, B, C, AB, AC, BC, or ABC. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and following related objects are in an "or" relationship, unless otherwise specified.

Unless specifically stated otherwise, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing between a plurality of objects, and do not limit the sequence, timing, priority, or importance of the plurality of objects, and the descriptions of "first", "second", etc., do not limit the objects to be necessarily different.

FIG. 1 is a schematic diagram of a fifth generation (5G) network architecture based on a service architecture. The 5G network architecture shown in fig. 1 may include three parts, a terminal part, a Data Network (DN), and a carrier network part. The functions of some of the network elements will be briefly described below.

Wherein the operator network may include, but is not limited to, one or more of the following network elements: a Network Slice Selection Function (NSSF) network element, AN authentication server function (AUSF) network element, a network open function (NEF) network element, a network storage function (NRF) network element, AN access and mobility management function (AMF) network element, a Policy Control Function (PCF) network element, a unified data management network element (UDM), a Session Management Function (SMF) network element, AN Access Network (AN) or Radio Access Network (RAN), and a user plane function (user function, UPF) network element, etc. In the operator network described above, the parts other than the radio access network part may be referred to as core network parts. In a possible implementation method, the operator network further includes an Application Function (AF) network element.

A terminal device (terminal device), which may be referred to as a terminal for short, is a device with a wireless transceiving function, and can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on the water surface (such as a ship and the like); and may also be deployed in the air (e.g., airplanes, balloons, satellites, etc.). The terminal device may be a mobile phone (mobile phone), a tablet computer (pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal, an Augmented Reality (AR) terminal, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a wireless terminal in home (smart home), a user equipment (user equipment, UE), a terminal device adapted to the Internet of Things (IoT) (e.g., a terminal device of a smart factory, a terminal device of a smart manufacturing industry, etc.), and the like.

The terminal may establish a connection with the carrier network through an interface (e.g., N1) provided by the carrier network, and use services such as data and/or voice provided by the carrier network. The terminal may also access the DN through the operator network, use operator services deployed on the DN, and/or services provided by third parties. The third party may be a service party other than the operator network and the terminal device, and may provide services such as data and/or voice for the terminal device. The specific expression form of the third party may be determined according to an actual application scenario, and is not limited herein.

The RAN is a sub-network of the operator network and is an implementation system between the service node and the terminal device in the operator network. The terminal device is to access the operator network, first through the RAN, and then may be connected to a service node of the operator network through the RAN. A RAN device is a device that provides a terminal device with a wireless communication function, and is also called an access network device. RAN equipment includes, but is not limited to: next generation base station (G node B, gbb), evolved node B (eNB), radio Network Controller (RNC), node B (NB), base Station Controller (BSC), base Transceiver Station (BTS), home base station (e.g., home evolved node B, or home node B, HNB), base Band Unit (BBU), transmission point (TRP), transmission Point (TP), mobile switching center, etc. in 5G, the following embodiments of the present invention are described in detail.

The AMF network element mainly performs functions of mobility management, access authentication/authorization and the like. In addition, it is also responsible for transferring user policy between the UE and PCF.

The SMF network element mainly performs functions such as session management, execution of control strategies issued by the PCF, selection of the UPF, and allocation of an Internet Protocol (IP) address of the UE.

UPF network element as interface to data network to complete user plane data transmission, session/flow level based accounting, bandwidth limitation and other functions.

And the UDM network element is mainly responsible for functions of managing subscription data, user access authorization and the like.

And the NSSF network element is mainly responsible for managing the information related to the network slice.

The NEF network element is mainly used for supporting the opening of the capability and the event.

The AF network element mainly transfers requirements of an application side on a network side, such as Quality of Service (QoS) requirements or user status event subscriptions. The AF may be a third party functional entity or an application service deployed by an operator, such as an IP Multimedia Subsystem (IMS) voice call service.

The PCF network element is mainly responsible for performing policy control functions such as charging, qoS bandwidth guarantee, mobility management, UE policy decision, etc. for the session and service data stream levels. In the framework, PCFs connected to the AMF and SMF correspond to AM PCF (PCF for Access and Mobility Control) and SM PCF (PCF for Session Management), respectively, and may not be the same PCF entity in an actual deployment scenario.

The NRF network element can be used for providing a network element discovery function and providing network element information corresponding to the network element type based on the request of other network elements. NRF also provides network element management services such as network element registration, update, de-registration, and subscription and push of network element status.

AUSF network element: it is primarily responsible for authenticating a user to determine whether the user or device is allowed to access the network.

The DN is a network located outside an operator network, and the operator network can access a plurality of DNs, and can deploy various services, and provide services such as data and/or voice for a terminal device. For example, the DN is a private network of an intelligent factory, a sensor installed in a workshop of the intelligent factory can be a terminal device, a control server of the sensor is deployed in the DN, and the control server can provide service for the sensor. The sensor can communicate with the control server, obtain the instruction of the control server, transmit the sensor data gathered to the control server, etc. according to the instruction. For another example, the DN is an internal office network of a company, the mobile phone or computer of the employee of the company may be a terminal device, and the mobile phone or computer of the employee may access information, data resources, and the like on the internal office network of the company.

In fig. 1, nssf, nausf, nnef, nrf, namf, npcf, nsmf, nudm, naf, N1, N2, N3, N4, and N6 are interface serial numbers. The meaning of these interface serial numbers can be found in the third generation partnership project (3 gpp) standard protocol, and is not limited herein.

Next, technical features related to the embodiments of the present application will be described.

D2D communication allows direct communication between UEs without going through a base station. The D2D communication includes one-to-many communication (one to one communication) and one-to-one communication (one to one communication). The one-to-many communication corresponds to multicast communication and broadcast communication, and the one-to-one communication corresponds to unicast communication. In one-to-one communication, the sending end UE and the receiving end UE can communicate through the PC5 interface after being discovered through the discovery process in a close range, and are used for information transmission of the data plane and the control plane.

Fig. 2 shows a schematic diagram of a D2D communication scenario. As shown in fig. 2, the scenario includes UE1 and UE 2, with UE1 and UE 2 communicating via a PC5 interface. Wherein, UE1 may be a sending end initiating a discovery procedure, and UE 2 is a receiving end; or, UE 2 is the sending end that initiates the flow, and UE1 is the receiving end; the embodiments of the present application do not limit this. Taking UE1 to initiate a discovery procedure as an example, UE1 initiates the discovery procedure through mode a (model a) or mode B (model B). FIGS. 3a and 3B show flow diagrams for model A and model B, respectively.

In model A, UE1 broadcasts a discovery message, such as a notification message (notification message); UE 2, UE3, UE 4 and UE 5 listen and receive the notification message, as shown in steps A1-A4 in fig. 3 a. Wherein the notification message may include one or more of the following information: a message type, a destination layer 2 identifier (destination layer 2 identity), a source layer 2 identifier (source layer 2 identity), a user information identifier (user information identity, which is used to identify a UE sending a notification message, for example, may be an application layer identifier), or a discovery parameter (for example, a proximity service application server identifier, or a proximity service restriction code), and the like. If UE 2, UE3, UE 4 or UE 5 is interested in the discovery parameters in the notification message, i.e. has the same proximity service application server identity or the same proximity service restriction code, directly initiates the establishment of a PC5 connection with UE1, otherwise, the notification message is discarded.

In model B, UE 1 broadcasts a discovery message, such as an invite message (solicitation message); UE 2, UE 3, UE 4 and UE 5 listen and receive the invite message, as shown in steps B1-B4 in fig. 3B. Wherein the broadcast message may include one or more of the following information: a message type, a destination layer 2 identity, a source layer 2 identity, a user information identity (for identifying the UE sending the invite message, which may be an application layer identity, for example), or a discovery parameter (such as a proximity service application server identity, or a proximity service query code, for example). If UE 2, UE 3, UE 4 or UE 5 is interested in the discovery parameters in the invite message, i.e. has the same proximity service application server identity or the same proximity service query code, a response message is sent to UE 1, otherwise the notification message is discarded. In fig. 3b, UE 2 and UE 3 send response messages to UE 1 as an example. Wherein the response message may include one or more of the following information: message type, destination layer 2 identity, source layer 2 identity, user information identity (for identifying the UE sending the response message, which may be an application layer identity, for example), or discovery parameters (such as a proximity service application server identity, or a proximity service response code, for example).

Taking UE 2 AS an example, a discovery layer (discovery layer) of UE 2 indicates to an access layer (AS layer) that a response message is a discovery message, and a source layer 2 identifier and a destination layer 2 identifier used for sending the response message; the AS layer of the UE 2 sends a response message; the AS layer of UE1 receives the response message and sends the response message to the discovery layer of UE 1.

Fig. 3c shows a schematic flow chart of the process of establishing the PC5 connection between the UE1 and the UE 2.

C1: UE1 sends a direct communication request message to UE 2; the UE 2 receives the direct communication request message.

The direct communication request message includes the application layer identity of the UE 2. The UE1 transmits the direct communication request message using the source layer 2 identity and the destination layer 2 identity. The direct communication request message may be a broadcast message or a unicast message. The source layer 2 identity is the layer 2 address allocated by the UE1 itself, and the destination layer 2 identity is the broadcasted layer 2 address or the layer 2 address of the UE 2 acquired through the discovery procedure. In addition, before step C1, the UE 2 may determine a layer 2 address (configured on the UE 2 side) for receiving the direct communication request message or a layer 2 address used in the discovery procedure.

C2: and a safety channel is established between the UE1 and the UE 2. The process of establishing the secure channel may refer to the prior art, and is not described herein again.

C3: UE 2 sends direct communication acceptance message to UE 1; the UE 1 receives the direct communication accept message.

After receiving the direct communication request message, the UE 2 may obtain the application layer identifier of the UE 2 according to the direct communication request message. Further, UE 2 transmits a direct communication accept message to UE 1 in response to the direct communication request message. The source layer 2 identifier in the direct communication accept message is the layer 2 address allocated by the UE 2 itself, and the destination layer 2 identifier is the layer 2 address of the UE 1 in step C1.

Optionally, steps C1 and C3 further include PC5 quality of service flow (QoS flow) information, which is used for negotiating the PC5 QoS flow information between the two UEs.

C4: after the PC5 connection between the UE 1 and the UE 2 is completed, the UE 1 and the UE 2 transmit data to each other.

It should be noted that UE 1 and UE 2 also respectively allocate a PC5 connection identity (PC 5 link identity) to identify the PC5 connection, where the PC5 connection identity is allocated separately for each UE and is only used interactively between UE internal layers. After establishing the PC5 connection, the proximity-based services (ProSe) layer of the UE 1 sends the PC5 connection identifier and the source layer 2 identifier and the destination layer 2 identifier used by the PC5 link to the AS layer, and the AS layer stores the correspondence between the PC5 connection identifier and the source layer 2 identifier and the destination layer 2 identifier. After establishing the QoS flow, the ProSe layer of the UE 1 sends a QoS flow identifier (QoS flow ID, QFI) and a corresponding PC5 QoS parameter to the AS layer; the AS layer generates AS layer configuration (such AS logical channel configuration or radio bearer configuration) according to the PC5 QoS parameters.

Fig. 4 shows a schematic diagram of one logical structure division of a UE. AS shown in fig. 4, the UE may include a discovery layer, a ProSe layer, an AS layer, and an Application (APP) layer. Wherein the discovery layer is used for discovering other UEs or network devices; the ProSe layer is used to implement ProSe related functions; the AS layer is used for providing services related to access, such AS generating AS configuration, realizing communication between the AS layer and other equipment and the like; the application layer is used to implement application-related functions. The layers can interact with each other to realize the communication function of the UE. Optionally, the discovery layer and the ProSe layer may be one layer, that is, the ProSe layer may implement the function of the discovery layer for discovering other UEs or network devices.

For example, when the UE sends a data packet, the ProSe layer of the UE determines a PC5 connection identifier and a PC5 QoS flow corresponding to the data packet; and, carrying PC5 link ID and PC5 flow ID (PFI) information with the data packet to the AS layer; and the AS layer of the UE determines the source layer 2 identifier and the destination layer 2 identifier according to the PC5 connection identifier, determines the AS layer configuration according to the PFI information, and sends the data packet by using the source layer 2 identifier, the destination layer 2 identifier and the AS layer configuration.

For another example, when the UE receives a data packet, the AS layer of the UE receives all data packets sent by the UE, determines whether the destination layer 2 identifier is the layer 2 identifier allocated by the UE, and if so, determines that the UE is the receiving end of the data packet, and submits the data packet to an upper layer (e.g., an application layer) for further processing; if not, the data packet is discarded.

After the PC5 connection is established between the UE 1 and the UE 2, the UE 1 and the UE 2 can be directly communicated through the PC5 connection without passing through a base station. The UE 1 and the UE 2 can not only directly communicate through the PC5 connection, but also sense through the PC5 connection.

Next, a terminal sensing method and apparatus provided by an embodiment of the present application are described with reference to the accompanying drawings, which are used for completing a sensing service of a UE in a D2D scenario. The method may be applied in the D2D scenario shown in fig. 2. For ease of understanding, the following description will be given by taking the application of the embodiment of the present application to the scenario shown in fig. 2 as an example. The first terminal device may be UE 1 in fig. 2, or a component (e.g., a chip system) of UE 1. The second terminal device may be UE 2 in fig. 2, or a component (e.g., a system on chip) of UE 2. The following description will be made by taking an example in which the first terminal apparatus is UE 1 and the second terminal apparatus is UE 2.

The access network element, the access and mobility management function network element, and the policy control function network element related to the embodiment of the present application may be a RAN, an AMF network element, and a PCF network element in fig. 1, respectively, or may be a network element having functions of the RAN, the AMF network element, and the PCF network element in a future communication such as a sixth generation (6 generation,6 g) network, which is not limited in the embodiment of the present application. For convenience of description, in the embodiments of the present application, an access network element, an access and mobility management function network element, and a policy control function network element are respectively the RAN, the AMF network element, and the PCF network element, which are taken as examples for description. And, the terminal device related to the embodiment of the present application may be the terminal device in fig. 1.

For convenience of description, the APP layer of UE1 is referred to AS APP layer 1, the ProSe layer of UE1 is referred to AS ProSe layer 1, the AS layer of UE1 is referred to AS layer 1, the sensing capability information of UE1 is referred to AS sensing capability information 1, and the sensing authorization information of UE1 is referred to AS sensing authorization information 1; and, the AS layer of UE2 is referred to AS AS layer 2, the ProSe layer of UE2 is referred to AS ProSe layer 2, the sensing capability information of UE2 is referred to AS sensing capability information 2, and the sensing authorization information of UE2 is referred to AS sensing authorization information 2.

The first embodiment is as follows:

fig. 5 shows a flowchart of a terminal sensing method provided in an embodiment of the present application. In this embodiment, UE1 does not send a sensing signal, and requests UE2 to send a sensing signal to assist in completing the sensing service. As shown in fig. 5, the method may include:

s501: UE1 sends a first message to UE 2; accordingly, UE2 receives the first message.

Illustratively, UE1 has a traffic aware need, and UE1 may send a first message to UE 2. For example, a PC5 connection is established between UE1 and UE2, UE1 has a service awareness requirement, and may send a first message to UE2 through the PC5 connection with UE 2. For another example, UE1 may initiate a discovery procedure when there is a service awareness requirement, complete establishment of PC5 connection with UE2, and send the first message to UE2 through the PC5 connection with UE 2. It should be understood that the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE1 and the UE 2.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, UE 1 may broadcast a third message, which may be a notification message in model a or an invite message in model B. In this embodiment, the third message may be used to discover a UE supporting the first sensing mode, or to discover a UE supporting sensing capability, or to discover a UE supporting transmission of a sensing signal. For example, UE 1 carries a sensing indication in a notification message of model a (or an invite message of model B), where the sensing indication is used to discover a UE supporting the first sensing mode, or to discover a UE supporting sensing capability, or to discover a UE supporting sending a sensing signal. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not repeated herein. In addition, a terminal device supporting sensing capability may be understood as a terminal device that supports transmitting sensing signals and supports receiving sensing signals.

The first message may be, for example, a sensing request message or PC5 signaling (signaling), and the specific implementation form of the first message is not limited thereto. The first message may be used to request completion (or implementation, execution, etc.) of the sensing service via the first sensing mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the sensing service through the first sensing mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the sensing service, etc. Wherein, the first sensing mode may be a mode in which UE 1 receives a sensing signal; or a mode in which UE 2 transmits a sensing signal; or a mode in which UE 1 receives a sensing signal and UE 2 transmits the sensing signal.

Illustratively, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode. For example, UE 1 may have a need for sensing a service, determine that a sensing mode for completing the sensing service is a first sensing mode, and send a first message to UE 2 according to the first sensing mode. Wherein, the UE 1 may determine the sensing mode for completing the sensing service according to any one of the following three manners.

The first method is as follows: the UE 1 may determine the sensing mode for completing the sensing service according to at least one of the sensing capability information (denoted as sensing capability information 1) of the UE 1 and the sensing authorization information (denoted as sensing authorization information 1) of the UE 1.

Wherein, the sensing capability information 1 is used for indicating that the UE 1 supports or does not support receiving the sensing signal; or for indicating that UE 1 supports or does not support sending of sensing signals; or for indicating that UE 1 supports reception of sensing signals but not transmission of sensing signals; or for indicating that UE 1 supports transmitting perceptual signals but not receiving perceptual signals; or for indicating that UE 1 supports receiving a sensing signal and supports transmitting a sensing signal; or to indicate to the UE 1 that it supports or does not support aware operation. The sensing operation may be understood as an operation of transmitting a sensing signal.

The perception authorization information 1 is used for indicating authorized or unauthorized UE 1 to receive perception signals; or for instructing authorized or unauthorized UEs 1 to transmit a sensing signal; or for indicating authorized UE 1 to receive the sensing signal but unauthorized UE 1 to transmit the sensing signal; or for instructing authorized UE 1 to send a sensing signal but unauthorized UE 1 to receive a sensing signal; or for instructing authorized UE 1 to send a sensing signal and authorized UE 1 to receive the sensing signal; or for indicating that the UE 1 is not authorized or authorized to perform (or perform) the sensing operation, etc.

For example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1. For example, the sensing capability information 1 is used to indicate that the UE 1 supports receiving the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1. For example, the sensing capability information 1 is used to indicate that the UE 1 supports receiving sensing signals but does not support sending sensing signals, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1. For example, the sensing capability information 1 is used to indicate that the UE 1 does not support sensing operation, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1.

For another example, the sensing authorization information 1 is used to instruct the unauthorized UE 1 to transmit a sensing signal, and the UE 1 may determine, according to the sensing authorization information 1, that the sensing mode for completing the sensing service is the first sensing mode. For another example, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to receive the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1. For another example, the sensing authorization information 1 is used to indicate that the authorized UE 1 receives the sensing signal but the unauthorized UE 1 transmits the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1. For another example, the sensing authorization information 1 is used to indicate that the UE 1 is not authorized to perform sensing operation, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending of sensing signals, the sensing authorization information 1 is used to indicate that the unauthorized UE 1 sends sensing signals (or indicate that the authorized UE 1 receives sensing signals, or indicate that the authorized UE 1 receives sensing signals but the unauthorized UE 1 sends sensing signals, or indicate that the unauthorized UE 1 performs sensing operation), and the UE 1 may determine that the sensing mode for completing sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports receiving a sensing signal, the sensing authorization information 1 is used to indicate that the unauthorized UE 1 transmits a sensing signal (or indicate that the authorized UE 1 receives a sensing signal, or indicate that the authorized UE 1 receives a sensing signal but the unauthorized UE 1 transmits a sensing signal, or indicate that the unauthorized UE 1 performs a sensing operation), and the UE 1 may determine that a sensing mode for completing a sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports receiving a sensing signal but does not support sending a sensing signal, the sensing authorization information 1 is used to indicate that the UE 1 is not authorized to send a sensing signal (or indicate that the UE 1 is authorized to receive a sensing signal, or indicate that the UE 1 is authorized to receive a sensing signal but the UE 1 is not authorized to send a sensing signal, or indicate that the UE 1 is not authorized to perform sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support the sensing operation, the sensing authorization information 1 is used to indicate that the unauthorized UE 1 sends the sensing signal (or indicate that the authorized UE 1 receives the sensing signal, or indicate that the authorized UE 1 receives the sensing signal but the unauthorized UE 1 sends the sensing signal, or indicate that the unauthorized UE 1 performs the sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports sending and receiving sensing signals, the sensing authorization information 1 is used to indicate that the unauthorized UE 1 sends sensing signals (or indicate that the authorized UE 1 receives sensing signals, or indicate that the authorized UE 1 receives sensing signals but the unauthorized UE 1 sends sensing signals, or indicate that the unauthorized UE 1 performs sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

It should be noted that the sensing service can be performed by a sensing signal or an echo signal of the sensing signal. In the embodiment of the present application, the support for receiving a sensing signal may be understood as support for receiving a sensing signal, or support for receiving an echo signal of a sensing signal, or support for receiving a sensing signal and support for receiving an echo signal of a sensing signal.

The second method comprises the following steps: the UE 1 may determine the sensing mode for completing the sensing service according to at least one of the sensing capability information (denoted as sensing capability information 2) of the UE 2 and the sensing authorization information (denoted as sensing authorization information 2) of the UE 2.

Wherein, the sensing capability information 2 is used for indicating that the UE 2 supports or does not support receiving the sensing signal; or for indicating that UE 2 supports or does not support sending of sensing signals; or for indicating that UE 2 supports receiving the sensing signal but does not support sending the sensing signal; or for indicating that UE 2 supports transmitting perceptual signals but not receiving perceptual signals; or for indicating that UE 2 supports receiving a sensing signal and supports transmitting a sensing signal; or to indicate to the UE 2 that it supports or does not support aware operation.

The perception authorization information 2 is used for indicating that the UE 2 is authorized or unauthorized to receive perception signals; or for instructing a UE 2, authorized or unauthorized, to transmit a sensing signal; or for instructing an authorized UE 2 to receive the sensing signal but an unauthorized UE 2 to transmit the sensing signal; or for instructing authorized UE 2 to send a sensing signal but unauthorized UE 1 to receive a sensing signal; or for instructing authorized UE 2 to send a sensing signal and authorized UE 2 to receive the sensing signal; or for indicating that the UE 1 is not authorized or authorized to perform (or perform) the sensing operation, etc.

For example, the sensing capability information 2 is used to indicate that the UE 2 supports sending of sensing signals, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the first sensing mode. For example, the sensing capability information 2 is used to indicate that the UE 2 does not support receiving the sensing signal, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the first sensing mode. For example, the sensing capability information 2 is used to indicate that the UE 2 supports transmitting sensing signals but does not support receiving sensing signals, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 2. For example, the sensing capability information 2 is used to indicate that the UE 2 supports sensing operation, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 2.

For another example, the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal, and the UE 1 may determine, according to the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode. For another example, the sensing authorization information 2 is used to indicate that the unauthorized UE 2 receives the sensing signal, and the UE 1 may determine, according to the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode. For another example, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to transmit the sensing signal but the UE 2 is not authorized to receive the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 2. For another example, the sensing authorization information 2 is used to instruct the authorized UE 2 to perform the sensing operation, and the UE 1 may determine, according to the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports sending of sensing signals, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to send sensing signals (or indicate that the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to send sensing signals but the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing sensing service is the first sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 does not support receiving sensing signals, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to send sensing signals (or indicate that the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to send sensing signals but the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode in which sensing services are completed is the first sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports sending a sensing signal but does not support receiving a sensing signal, the sensing authorization information 2 is used to indicate the authorized UE 2 to send a sensing signal (or indicate the unauthorized UE 2 to receive a sensing signal, or indicate the authorized UE 2 to send a sensing signal but the unauthorized UE 2 to receive a sensing signal, or indicate the authorized UE 2 to perform a sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports the sensing operation, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to send the sensing signal (or indicate that the UE 2 is not authorized to receive the sensing signal, or indicate that the UE 2 is authorized to send the sensing signal but the UE 2 is not authorized to receive the sensing signal, or indicate that the UE 2 is authorized to perform the sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports sending and receiving of sensing signals, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to send sensing signals (or indicate that the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to send sensing signals but the UE 2 is not authorized to receive sensing signals, or indicate that the UE 2 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing sensing service is the first sensing mode.

In one possible implementation, the UE 1 may receive a second message from the UE 2, where the second message includes the sensing capability information 2, or includes the sensing authorization information 2, or includes the sensing capability information 2 and the sensing authorization information 2. For example, UE 2 may send a second message to UE 1 in the discovery procedure; the corresponding UE 1 receives the second message; in this case, the second message may be a response message in model B. For another example, the UE 2 may send the second message to the UE 1 during the PC5 connection with the UE 1 or after the PC5 connection is established; the corresponding UE 1 receives the second message; in this case, the second message may be a direct communication accept message. It should be understood that the specific implementation manner of the second message in the embodiment of the present application is not limited thereto.

The third method comprises the following steps: the UE 1 may determine the sensing mode for completing the sensing service according to at least one of the sensing capability information 1 and the sensing authorization information 1, and at least one of the sensing capability information 2 and the sensing authorization information 2.

For example, the sensing capability information 1 is used to indicate that the UE 1 does not support the transmission of the sensing signal (or indicate that the UE 1 supports the reception of the sensing signal, or indicate that the UE 1 supports the reception of the sensing signal but does not support the transmission of the sensing signal, or indicate that the UE 1 does not support the sensing operation); the sensing capability information 2 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 2 supports transmitting sensing signals but does not support receiving sensing signals, or indicate that the UE 2 supports sensing operations). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1 and the sensing capability information 2.

For example, the sensing capability information 1 is used to indicate that the UE 1 does not support the transmission of the sensing signal (or indicate that the UE 1 supports the reception of the sensing signal, or indicate that the UE 1 supports the reception of the sensing signal but does not support the transmission of the sensing signal, or indicate that the UE 1 does not support the sensing operation); the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal (or instruct the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to transmit a sensing signal but the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to perform a sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1 and the sensing authorization information 2.

For example, the sensing authorization information 1 is used to instruct an unauthorized UE 1 to transmit a sensing signal (or instruct an authorized UE 1 to receive a sensing signal, or instruct an authorized UE 1 to receive a sensing signal but an unauthorized UE 1 to transmit a sensing signal, or instruct an unauthorized UE 1 to perform a sensing operation); the sensing capability information 2 is used to indicate that the UE 2 supports transmitting sensing signals (or indicate that the UE 2 does not support receiving sensing signals, or indicate that the UE 2 supports transmitting sensing signals but does not support receiving sensing signals, or indicate that the UE 2 supports sensing operations). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1 and the sensing capability information 2.

For example, the sensing authorization information 1 is used to instruct the unauthorized UE 1 to transmit a sensing signal (or instruct the authorized UE 1 to receive the sensing signal, or instruct the authorized UE 1 to receive the sensing signal but the unauthorized UE 1 to transmit the sensing signal, or instruct the unauthorized UE 1 to perform a sensing operation); the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal (or instruct the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to transmit a sensing signal but the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to perform a sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1 and the sensing authorization information 2.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending the sensing signal (or indicate that the UE 1 supports receiving the sensing signal, or indicate that the UE 1 supports receiving the sensing signal but does not support sending the sensing signal, or indicate that the UE 1 does not support sensing operation); the sensing authorization information 1 is used for instructing an unauthorized UE 1 to send a sensing signal (or instructing an authorized UE 1 to receive a sensing signal, or instructing an authorized UE 1 to receive a sensing signal but an unauthorized UE 1 to send a sensing signal, or instructing an unauthorized UE 1 to perform a sensing operation); the sensing capability information 2 is used to indicate that the UE 2 supports transmitting sensing signals (or indicate that the UE 2 does not support receiving sensing signals, or indicate that the UE 2 supports transmitting sensing signals but does not support receiving sensing signals, or indicate that the UE 2 supports sensing operations). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing authorization information 1, and the sensing capability information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending the sensing signal (or indicate that the UE 1 supports receiving the sensing signal, or indicate that the UE 1 supports receiving the sensing signal but does not support sending the sensing signal, or indicate that the UE 1 does not support sensing operation); the sensing authorization information 1 is used for instructing an unauthorized UE 1 to send a sensing signal (or instructing an authorized UE 1 to receive a sensing signal, or instructing an authorized UE 1 to receive a sensing signal but an unauthorized UE 1 to send a sensing signal, or instructing an unauthorized UE 1 to perform a sensing operation); the sensing authorization information 2 is used to instruct authorized UEs 2 to transmit sensing signals (or instruct unauthorized UEs 2 to receive sensing signals, or instruct authorized UEs 2 to transmit sensing signals but unauthorized UEs 2 to receive sensing signals, or instruct authorized UEs 2 to perform sensing operation). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing authorization information 1, and the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending sensing signals (or indicate that the UE 1 supports receiving sensing signals, or indicate that the UE 1 supports receiving sensing signals but does not support sending sensing signals, or indicate that the UE 1 does not support sensing operations); the sensing capability information 2 is used for indicating that the UE 2 supports sending of sensing signals (or indicating that the UE 2 does not support receiving of sensing signals, or indicating that the UE 2 supports sending of sensing signals but does not support receiving of sensing signals, or indicating that the UE 2 supports sensing operation); the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal (or instruct the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to transmit a sensing signal but the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to perform a sensing operation). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing the sensing service is the first sensing mode.

For another example, the sensing authorization information 1 is used to instruct the unauthorized UE 1 to transmit a sensing signal (or instruct the authorized UE 1 to receive the sensing signal, or instruct the authorized UE 1 to receive the sensing signal but the unauthorized UE 1 to transmit the sensing signal, or instruct the unauthorized UE 1 to perform a sensing operation); the sensing capability information 2 is used for indicating that the UE 2 supports sending of sensing signals (or indicating that the UE 2 does not support receiving of sensing signals, or indicating that the UE 2 supports sending of sensing signals but does not support receiving of sensing signals, or indicating that the UE 2 supports sensing operation); the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal (or instruct the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to transmit a sensing signal but the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to perform a sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing authorization information 1, the sensing capability information 2 and the sensing authorization information 2.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support sending of sensing signals (or indicate that the UE 1 supports receiving of sensing signals, or indicate that the UE 1 supports receiving of sensing signals but does not support sending of sensing signals, or indicate that the UE 1 does not support sensing operations); the sensing authorization information 1 is used for instructing an unauthorized UE 1 to send a sensing signal (or instructing an authorized UE 1 to receive a sensing signal, or instructing an authorized UE 1 to receive a sensing signal but an unauthorized UE 1 to send a sensing signal, or instructing an unauthorized UE 1 to perform a sensing operation); the sensing capability information 2 is used for indicating that the UE 2 supports sending of sensing signals (or indicating that the UE 2 does not support receiving of sensing signals, or indicating that the UE 2 supports sending of sensing signals but does not support receiving of sensing signals, or indicating that the UE 2 supports sensing operation); the sensing authorization information 2 is used to instruct the authorized UE 2 to transmit a sensing signal (or instruct the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to transmit a sensing signal but the unauthorized UE 2 to receive a sensing signal, or instruct the authorized UE 2 to perform a sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to the sensing capability information 1, the sensing authorization information 1, the sensing capability information 2, and the sensing authorization information 2.

The UE1 may determine that the sensing mode for completing the sensing service is the first sensing mode by any one of the three manners, and send the first message to the UE2 according to the first sensing mode.

As an example, the first message may further include information of a first sensing mode, for example, the first sensing mode information may be sensing mode indication information or sensing mode identification information, so as to inform the UE2 that a mode for implementing a sensing service is the first sensing mode, and further, the UE1 and the UE2 can cooperate with each other to complete a sensing task according to the first sensing mode.

As another example, the first message may include service-aware identification information for identifying a type of service-aware. The types of sensing services include intrusion detection, environmental sensing, and the like. The intrusion detection is used for detecting whether an object intrudes between the UE1 and the UE 2. The context awareness is used to perceive objects or environments around the UE1, or objects or environments around the UE 2. Further, the types of perceptual services described herein may also be object distribution, maps, driving, violation detection, object trajectory tracking, emergency detection, object localization, object contour size, object velocity, weather prediction, and the like. For ease of understanding, the embodiments of the present application are described with respect to intrusion detection and environmental sensing as examples.

Fig. 6a and 6b show a schematic diagram of intrusion detection and environmental perception, respectively, in this embodiment. In the intrusion detection, UE 2 sends a sensing signal to UE 1, and an object moves between UE 1 and UE 2; after receiving the sensing signal, the UE 1 may determine whether an object intrudes according to a state change of the sensing signal, as shown in fig. 6 a. In context awareness, UE 2 sends an awareness signal; the UE 1 receives the echo signal of the sensing signal, and senses the surrounding object or environment according to the echo signal of the sensing signal, as shown in fig. 6 b.

As another example, the first message may include first configuration information for the UE 2 to transmit the sensing signal. Wherein the first configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal. The identification information of the sensing service is used for identifying the type of the sensing service, such as intrusion detection, proximity detection, or environmental sensing. The time information of the sensing service may include one or more of a transmission period of the sensing signal, or a transmission duration of the sensing signal. The signal characteristic of the sensing signal may be used to indicate one or more of whether the sensing signal is a licensed spectrum signal, whether the sensing signal is a high frequency signal, and frequency information of the sensing signal. The first configuration information may be configuration information locally stored by the UE 1 (e.g., predefined, or preconfigured, etc.), for example, the UE 1 obtains the first configuration information from the locally stored configuration information according to the identification information of the sensing service; or the information is obtained by interacting with a PCF network element or an application server; or determined from the first correspondence.

The first corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the first corresponding relationship in this embodiment is not limited thereto. The first correspondence may include one or more of the following correspondences:

the corresponding relation between the identification information of the sensing service and the time information of the sensing service;

or, the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal corresponding to the sensing service.

The UE 1 may determine the first configuration information according to the first corresponding relationship. Specifically, the UE 1 may determine the first configuration information according to the identification information of the sensing service and the first corresponding relationship. For example, the UE 1 may determine the time information of the sensing service according to the identification information of the sensing service and the corresponding relationship between the identification information of the sensing service and the time information of the sensing service. For another example, the UE 1 may determine the signal characteristics of the sensing signal according to the identification information of the sensing service and the corresponding relationship between the identification information of the sensing service and the signal characteristics of the sensing signal. Table 1 shows an example of correspondence between identification information of a sensing service and time information of the sensing service, taking the time information of the sensing service as an example. As shown in table 1, when the sensing service is sensing service 1, the time information of the sensing service is time information 1; when the sensing service is sensing service 2, the time information of the sensing service is time information 2; when the sensing service is sensing service 3, the time information of the sensing service is time information 3. It should be understood that table 1 is only an example, and the correspondence between the identification information of the sensing service and the time information of the sensing service is not limited thereto.

TABLE 1

Service aware identification information	Service aware time information
		Aware service 1	Time information 1
Aware services 2	Time information 2
		Aware services 3	Time information 3

S502: UE 2 sends a sensing signal; UE 1 receives the first signal.

Illustratively, UE 2 may send the sensing signal after receiving the first message. Or after receiving the first message, the UE 2 first sends a response message of the first message, and then sends the sensing signal. For example, after receiving the first message, the UE 2 may determine whether to transmit a sensing signal or whether to approve (accept) the first sensing mode. In this embodiment, the UE 2 determines to transmit the sensing signal (or agrees to adopt the first sensing mode).

As an example, if the first message includes information of a first sensing mode, the UE 2 may determine the first sensing mode according to the information of the first sensing mode, determine to transmit a sensing signal according to the first sensing mode, and transmit the sensing signal, so that the UE 1 and the UE 2 can cooperate with each other to complete a sensing service according to the first sensing mode. The information of the first sensing mode may be sensing mode indication information, sensing mode identification information, or the like, and the embodiment of the present application is not limited thereto.

As another example, the UE2 may determine whether to transmit the sensing signal according to the sensing capability information 2, or according to the sensing authorization information 2, or according to the sensing capability information 2 and the sensing authorization information 2.

For example, the sensing capability information 2 is used to indicate that the UE2 supports transmitting sensing signals (or indicate that the UE2 does not support receiving sensing signals, or indicate that the UE2 supports transmitting sensing signals but does not support receiving sensing signals, or indicate that the UE2 supports transmitting sensing signals and supports receiving sensing signals, or indicate that the UE2 supports sensing operations); the UE2 may determine to transmit the sensing signal according to the sensing capability information 2.

For another example, the sensing authorization information 2 is used to instruct the authorized UE2 to transmit a sensing signal (or instruct the unauthorized UE2 to receive a sensing signal, or instruct the authorized UE2 to transmit a sensing signal but the unauthorized UE2 to receive a sensing signal, or instruct the authorized UE2 to transmit a sensing signal and receive a sensing signal, or instruct the authorized UE2 to perform a sensing operation); in this case, the UE2 may determine to transmit the sensing signal according to the sensing grant information 2.

For another example, the sensing capability information 2 is used to indicate that the UE2 supports sending of sensing signals (or indicate that the UE2 does not support receiving of sensing signals, or indicate that the UE2 supports sending of sensing signals but does not support receiving of sensing signals, or indicate that the UE2 supports sending of sensing signals and supports receiving of sensing signals, or indicate that the UE2 supports sensing operations); the perception authorization information 2 is used for indicating authorized UE2 to send a perception signal (or indicating unauthorized UE2 to receive the perception signal, or indicating authorized UE2 to send the perception signal but unauthorized UE2 to receive the perception signal, or indicating authorized UE2 to send the perception signal and receive the perception signal, or indicating authorized UE2 to perform perception operation); in this case, the UE2 may determine to transmit a sensing signal according to the sensing capability information 2 and the sensing grant information 2.

As an example, UE 2 may transmit the sensing signal according to the first configuration information. For example, the first configuration information includes a transmission period of the sensing signal, and the UE 2 may transmit the sensing signal according to the transmission period of the sensing signal. For example, the first configuration information includes a transmission duration of the sensing signal, and the UE 2 may transmit the sensing signal according to the transmission duration of the sensing signal. The first configuration information includes signal characteristics of the sensing signal, such as frequency information of the sensing signal, and the UE 2 transmits the sensing signal according to the frequency information. For another example, the first configuration information includes a transmission period of the sensing signal and a signal characteristic of the sensing signal (e.g., the sensing signal is a high frequency signal), and the UE 2 may transmit the high frequency sensing signal according to the transmission period. For another example, the first configuration information includes a transmission duration of the sensing signal and a signal characteristic of the sensing signal (e.g., the sensing signal is a low-frequency licensed spectrum signal), and the UE 2 may transmit the low-frequency licensed spectrum signal according to the transmission duration.

The UE 2 may acquire the first configuration information. For example, if the first message includes the first configuration information, after receiving the first message, the UE 2 may obtain the first configuration information according to the first message. For another example, the first configuration information is configuration information locally stored by the UE 2 (e.g., predefined, or preconfigured, etc.), and the UE 2 may obtain the first configuration information from the locally stored configuration information according to the service-aware identification information. For another example, the UE 2 may acquire the first configuration information through interaction with a PCF network element or an application server. For another example, the UE 2 may determine the first configuration information according to the first corresponding relationship. The first corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the first corresponding relationship in this embodiment is not limited thereto. In addition, the UE 2 determines a specific implementation process of the first configuration information according to the first corresponding relationship, please refer to the specific implementation process of the UE 1 determining the first configuration information according to the first corresponding relationship in step S501, which is not described herein again.

As another example, the UE 2 may also transmit the sensing signal according to the first sensing mode and the first configuration information. For example, the UE 2 may determine to transmit the sensing signal according to the first sensing mode and transmit the sensing signal according to the first configuration information. For a specific implementation process of sending the sensing signal according to the first configuration information, reference is made to the above description, which is not described herein again.

In one possible implementation, before UE 2 sends the sensing signal, UE 1 and UE 2 may also negotiate AS layer configuration parameters. UE 2 may send the sensing signal according to the AS layer configuration parameters. The AS layer configuration parameters are used for transmission and reception of the sensing signal. The AS layer configuration parameter may include at least one of a logical channel carrying the sensing signal, a layer 2 identification, or signal characteristics of the sensing signal.

In a possible implementation manner, before UE 2 sends the sensing signal, UE 2 may obtain a sensing resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the sensing signal, and send the sensing signal based on the sensing resource. For example, UE 2 may send a request message to RAN, where the request message is used to request to acquire a resource carrying a sensing signal corresponding to a sensing service; after receiving the request message, the RAN may determine the sensing resource of the sensing service, for example, obtain the sensing resource of the sensing service according to the sensing authorization information (e.g., signal characteristics of the sensing signal) of the UE 2, and send the sensing resource to the UE 2. Optionally, the request message sent by UE 2 may include the signal characteristics of the sensing signal.

In another possible implementation, before UE 2 sends the sensing signal, UE 2 may negotiate AS layer configuration parameters with UE 1 and obtain sensing resources carrying the sensing signal. And then, the UE 2 sends a sensing signal according to the AS layer configuration parameters and the sensing resources.

It should be understood that the UE 2 may send the sensing signal according to one or more of the first sensing mode, the first configuration information, the AS layer configuration parameter, or the sensing resource, and the specific implementation process may refer to the above contents, which is not illustrated herein.

In step S502, the UE 2 sends a sensing signal in response to the first message; accordingly, UE 1 receives the first signal. The first signal may be a sensing signal sent by UE 2, or an echo signal of the sensing signal sent by UE 2, or the sensing signal sent by UE 2 and the echo signal of the sensing signal sent by UE 2. For example, when the sensing service is intrusion detection, the first signal is a sensing signal transmitted by the UE 2. For example, when the sensing service is environment sensing, the first signal is an echo signal of a sensing signal sent by the UE 2, and the echo signal is a signal formed by the sensing signal being reflected by an object. For another example, when the sensing service is intrusion detection and environmental sensing, the first signal is a sensing signal sent by the UE 2 and an echo signal of the sensing signal sent by the UE 2.

As an example, UE 1 may receive a first signal according to a first sensing mode. For example, the UE 1 may attempt to receive a first signal according to the first sensing mode after transmitting the first message and receive the first signal.

As an example, UE 1 may receive the first signal according to the second configuration information. The second configuration information may include one or more of the following: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or a preset condition, etc. For example, the second configuration information includes a transmission period of the sensing signal, and the UE 1 may receive the first signal according to the transmission period of the sensing signal. For example, the second configuration information includes a transmission duration of the sensing signal, and the UE 1 may receive the first signal according to the transmission duration of the sensing signal. For another example, the second configuration information includes signal characteristics of a sensing signal, and the UE 1 may receive the first signal according to the characteristic information of the sensing signal. For another example, the second configuration information includes a processing manner of the sensing signal, and the UE 1 may receive the first signal according to the processing manner of the sensing signal.

The sensing services are different, and the processing modes of the sensing signals (and/or the echo signals of the sensing signals) when the sensing data of the sensing services are obtained can be the same or different. The UE 1 processes the sensing signal to obtain sensing data. For example, the UE 1 may process the sensing signal according to a processing manner of the sensing signal to obtain sensing data. For example, the sensing service is intrusion detection, and the sensing signal (and/or an echo signal of the sensing signal) corresponding to the intrusion detection may be processed by generating a signal variation curve according to the received sensing signal. In this case, the perceptual data is the signal variation curve. For another example, the sensing service is environment sensing, and the processing manner of the echo signal of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to the received echo signal of the sensing signal. In this case, the perception data is the perception image.

Optionally, the UE 1 may analyze the sensing data to obtain a processing result of the sensing data. The processing result of the sensing data may be the type of the object or the number of the objects in the sensed image, or whether the object invades, and the like.

The number of the preset conditions may be one or more, and the embodiment of the present application is not limited thereto. For example, the preset condition may be a threshold value of receiving the first signal, such as a signal state or strength. For another example, the preset condition may be the number of objects or a specific object. The preset condition may be used to analyze at least one of the perception data and a processing result of the perception data. Taking the processing result of the sensing data as an example, if the processing result of the sensing data meets the preset condition, it indicates that an object invades, or identifies that the object in the image is a specific object based on the sensing image, or the number of the objects exceeds a certain threshold, and the embodiment of the present application is not limited thereto.

Optionally, the UE1 determines whether the processing result of the sensing data (and/or the sensing data) satisfies a preset condition, and if the processing result of the sensing data satisfies the preset condition, notifies the application layer of the UE1 or notifies the UE2.

UE1 may obtain the second configuration information and receive the first signal according to the second configuration information. For example, the second configuration information is locally stored (e.g., predefined, or preconfigured, etc.) configuration information of the UE1, and the UE1 may obtain the second configuration information from the locally stored configuration information according to the identification information of the sensing service. For another example, the UE1 may acquire the second configuration information by interacting with the PCF network element or the application server. For another example, the UE1 may determine the second configuration information according to the second corresponding relationship.

The second corresponding relationship may be predefined, or may be obtained through a PCF network element or an application server, and the specific obtaining manner of the second corresponding relationship in this embodiment is not limited thereto. Wherein, the second corresponding relationship may include one or more of the following corresponding relationships:

or, the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal;

or, the corresponding relation between the identification information of the sensing service and the processing mode of the sensing signal, etc.;

or sensing the corresponding relation between the identification information of the service and the preset condition.

The UE 1 determines a specific implementation process of the second configuration information according to the second corresponding relationship, please refer to the specific implementation process of the UE 1 determining the first configuration information according to the first corresponding relationship, which is not described herein again.

As another example, the UE 1 may receive the first signal according to the first sensing mode and the second configuration information. For example, UE 1 may attempt to receive the first signal of UE 2 according to the first sensing mode and the second configuration information, and receive the first signal.

It is noted that if UE 2 does not accept to adopt the first sensing mode, UE 2 may determine other sensing modes and send information of the other sensing modes to UE 1. For the UE 2 to determine the specific implementation of the other sensing modes, please refer to the specific implementation of the UE 2 to determine the first sensing mode, which is not described herein again.

S503: and the UE 1 acquires the sensing data of the sensing service according to the first signal.

After receiving the first signal, the UE 1 may obtain sensing data of the sensing service according to the first signal. The sensing data may be a signal variation curve, a sensing image, and the like, and the specific implementation manner of the sensing data in the embodiment of the present application is not limited thereto.

As an example, the UE 1 may process the first signal according to a processing manner of the sensing signal, so as to obtain sensing data of the sensing service. For example, the sensing service is intrusion detection, and a processing manner of a sensing signal corresponding to the intrusion detection may be to generate a signal change curve according to the received sensing signal. Further, the UE 1 may determine whether an object intrudes according to the signal variation curve, and if the signal variation curve includes a Received Signal Strength Indicator (RSSI), the UE 1 may determine whether the object intrudes according to the RSSI, and if the RSSI suddenly decreases or meets a preset condition, it indicates that the object intrudes, otherwise, it indicates that the object does not intrude. For another example, the sensing service is environment sensing, and the processing manner of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to an echo signal of the sensing signal. Further, the UE 1 may determine an object or environment in the perceived image from the perceived image.

As another example, UE 1 may send the sensing data (or the processing result of the sensing data) to UE 2; accordingly, the UE 2 receives the perception data (or the processing result of the perception data). For example, the second configuration information includes a preset condition, and the processing result of the sensing data meets the preset condition, and the UE 1 sends the sensing data or the processing result of the sensing data to the UE 2 according to the preset condition. For another example, UE 2 may send a first transmission indication to UE 1, and UE 1 receives the first transmission indication accordingly. The first transmission instruction is used for instructing the UE 1 to send the sensing data or the processing result of the sensing data to the UE 2. Further, the UE 1 sends the sensing data or the processing result of the sensing data to the UE 2 according to the first transmission instruction.

The terminal sensing method shown in fig. 5 is described below from the interaction of the various logical layers of the UE (as shown in fig. 4).

Fig. 7 shows a flowchart of a terminal sensing method provided in an embodiment of the present application. Here, steps S701, S705, and S709 are optional steps, and may or may not be executed, and are indicated by dotted lines in fig. 7. As shown in fig. 7, the method may include:

s701: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

For example, the UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present invention. For example, UE 1 may broadcast a third message, which may be a notification message in model a or an invite message in model B. In this embodiment, the third message may be used to discover a UE supporting the first sensing mode, or to discover a UE supporting sensing capability, or to discover a UE supporting transmission of a sensing signal. For example, UE 1 carries a sensing indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the first sensing mode, or to send UEs supporting sensing capability, or to discover UEs supporting sending sensing signal. Wherein, the first sensing mode may be a mode in which UE 1 receives a sensing signal; or a mode in which UE 2 transmits a sensing signal; or a mode in which UE 1 receives a sensing signal and UE 2 transmits a sensing signal, and the like.

In this embodiment, UE 1 supports receiving the sensing signal, but does not support sending the sensing signal; or, the UE 1 only authorizes to receive the sensing signal and does not authorize to transmit the sensing signal; alternatively, the UE 1 is not authorized to perform (or perform) the sensing operation. The UE 1 can discover the UE 2 supporting sending the sensing signal by broadcasting the third message, so that the UE 1 can request the UE 2 to assist in completing the sensing service.

As an example, UE 2 may send a second message to UE 1; accordingly, UE 1 receives the second message. Wherein, the second message includes the sensing capability information of the UE 2 (i.e. sensing capability information 2), or includes the sensing authorization information of the UE 2 (i.e. sensing authorization information 2), or includes the sensing capability information 2 and the sensing authorization information 2. For example, UE 2 may send a second message to UE 1 in the discovery procedure, in which case the second message may be a response message in model B; or, the UE 2 may also send the second message to the UE 1 during the process of establishing the PC5 connection with the UE 1 or after the PC5 connection is established, for example, the second message may be a direct communication accept message; the embodiments of the present application are not limited thereto. For the introduction of the sensing capability information 2 and the sensing authorization information 2, reference is made to the relevant contents of step S501, and details are not repeated here.

In addition, the establishment of PC5 connection between UE 1 and UE 2 can be completed according to the procedure shown in fig. 3 c. The specific implementation process of S701 may refer to the specific implementation processes of fig. 3a, fig. 3b, and fig. 3c, which are not described herein again.

S702: the APP layer 1 sends a sensing requirement to the ProSe layer 1; accordingly, the ProSe layer 1 receives this perceptual need. Or, the APP layer 1 sends a sensing request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the sensing request. FIG. 7 illustrates perceptual requirements.

For example, APP layer 1 has a perceptual traffic demand, generates a perceptual demand (or perceptual request), and sends the perceptual demand (or perceptual request) to ProSe layer 1. Wherein, the sensing requirement (or sensing request) can comprise identification information of sensing service. The identification information of the sensing service is used for identifying the type of the sensing service.

It should be noted that APP layer 1 may send a sensing requirement (or sensing request) to ProSe layer 1 after UE 1 completes the discovery procedure and the PC5 connection establishment procedure; or after the APP layer 1 has a service requirement, triggering the UE 1 to initiate a discovery procedure and a PC5 connection establishment procedure, which is not limited in the embodiment of the present application.

S703: the ProSe layer 1 determines that the mode of completing the sensing service is the first sensing mode.

And after receiving the sensing requirement, the ProSe layer 1 determines a sensing mode for finishing the sensing service. In this embodiment, the ProSe layer 1 determines that the sensing mode for completing the sensing service is the first sensing mode. For example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to at least one of the sensing capability information 1 and the sensing authorization information 1. For another example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to at least one of the sensing capability information 2 and the sensing authorization information 2. For another example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the first sensing mode according to at least one of the sensing capability information 1 and the sensing authorization information 1 and at least one of the sensing capability information 2 and the sensing authorization information 2. The ProSe layer 1 determines that the sensing mode for completing the sensing service is a specific implementation manner of the first sensing mode, please refer to the specific implementation manner in step S501 that the UE 1 determines that the sensing mode for completing the sensing service is the first sensing mode, which is not described herein again.

It should be noted that, the UE 1 may discover the UE 2 supporting the first sensing mode through the discovery procedure; or, after establishing the PC5 connection with the UE 2, the UE 1 may also determine that the UE 2 supports the first sensing mode according to the second message (that is, including at least one of the sensing capability information 2 and the sensing authorization information 2) from the UE 2; the embodiments of the present application are not limited thereto.

S704: the ProSe layer 1 sends a first message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the first message.

The first message may be, for example, a sensing request message or PC5 signaling (signaling), but the specific implementation form of the first message is not limited thereto. The first message may be for requesting completion (or implementation, execution, etc.) of the sensing service via the first sensing mode; or, the first sensing mode is used for requesting the UE 2 to assist the UE 1 to complete (or implement, execute, etc.) the sensing service; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the sensing service, etc.

As an example, the first message may include information of the first sensing mode, such as sensing mode indication information or sensing mode identification information, so as to inform the ProSe layer 2 that the mode for implementing the sensing service is the first sensing mode, so that the UE 1 and the UE 2 may complete the sensing service in cooperation with each other through the first sensing mode.

As another example, the first message may include service-aware identification information for identifying a type of service-aware. The types of the perception service comprise intrusion detection, environment perception and the like.

As another example, the first message may include first configuration information for the UE 2 to transmit the sensing signal. Wherein the first configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal. The identification information of the sensing service is used for identifying the type of the sensing service, such as intrusion detection, proximity detection, or environmental sensing. The time information of the sensing service may include a transmission period of the sensing signal, etc. The signal characteristic of the sensing signal may be used to indicate one or more of whether the sensing signal is a licensed spectrum signal, whether the sensing signal is a high frequency signal, and frequency information of the sensing signal.

The ProSe layer 1 may obtain the first configuration information, carry the first configuration information in a first message, and send the first message to the ProSe layer 2. For example, proSe layer 1 may determine the type of sensing traffic according to the sensing requirements from APP layer 1; and based on the type of the sensing service, acquiring the first configuration information from the locally stored configuration information. For another example, the ProSe layer 1 may obtain the first configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the first configuration information according to the first correspondence. For a specific implementation process of acquiring the first configuration information by the ProSe layer 1, please refer to the specific implementation process of acquiring the first configuration information by the UE 1 in step S501, which is not described herein again.

It should be understood that one or more of the information of the first sensing mode, the identification information of the sensing service, or the first configuration information may be included in the first message, which is not listed here.

S705: the ProSe layer 2 determines that UE2 transmits a sensing signal.

Alternatively, the UE2 sends the sensing signal, which may be understood as the UE2 agrees to adopt the first sensing mode.

Alternatively, the ProSe layer of UE2 (i.e., proSe layer 2) may determine to transmit the sensing signal. For example, after the ProSe layer 2 receives the first message, it may determine whether to transmit the sensing signal in response to the first message. In this embodiment, the ProSe layer 2 determines to transmit a sensing signal. Wherein, step S705 is an optional step.

As an example, if the first message includes information of a first sensing mode, the ProSe layer 2 may determine to transmit a sensing signal according to the information of the first sensing mode. The information of the first sensing mode may be sensing mode indication information or sensing mode identification information, and the like, which is not limited in this embodiment of the present application.

As another example, the ProSe layer 2 may determine whether to transmit the sensing signal according to at least one of the sensing capability information 2 and the sensing authorization information 2. In this embodiment, the ProSe layer 2 may determine to transmit the sensing signal according to at least one of the sensing capability information 2 and the sensing authorization information 2. The ProSe layer 2 may determine a specific implementation manner of sending the sensing signal according to at least one of the sensing capability information 2 and the sensing authorization information 2, please refer to the specific implementation manner of sending the sensing signal determined by the UE2 according to at least one of the sensing capability information 2 and the sensing authorization information 2 in step S502, which is not described herein again.

S706: the ProSe layer 2 sends a seventh message to the ProSe layer 1; accordingly, the ProSe layer 1 receives the seventh message.

Optionally, the ProSe layer 2 may send a seventh message to the ProSe layer 1, where the seventh message may be, for example, a sensing response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. The seventh message may be used to indicate whether UE2 assists UE1 in completing the sensing service or to indicate whether UE2 accepts to adopt the first sensing mode. In the embodiment of the present application, UE2 assists UE1 to complete a sensing service (UE 2 receives a sensing service in a first sensing mode) as an example.

Optionally, the seventh message may include a first transmission indication, which is not shown in fig. 7. The first transmission indication is used for instructing the UE1 to send the sensing data of the sensing service or the processing result of the sensing data to the UE 2.

Optionally, if the UE2 does not accept to adopt the first sensing mode, the seventh message may further include other sensing modes determined by the UE 2. Please refer to the specific implementation manner of step S705, in which the UE2 determines the specific implementation manner of sending the sensing signal, which is not described herein again.

S707: the ProSe layer 2 sends first configuration information to the AS layer 2; accordingly, the AS layer 2 receives the first configuration information.

For example, after determining to assist the UE 1 to complete the sensing service, the ProSe layer 2 may obtain first configuration information, where the first configuration information is used to send a sensing signal, and send the first configuration information to the AS layer 2.

For example, the ProSe layer 2 may determine the first configuration information according to the identification information of the sensing service. For another example, the first message includes the first configuration information, and after receiving the first message, the ProSe layer 2 may obtain the first configuration information according to the first message. For another example, the ProSe layer 2 may obtain the first configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain the first corresponding relationship by interacting with the PCF network element or the application server, and determine the first configuration information according to the first corresponding relationship. For a specific implementation process of the ProSe layer 2 to obtain the first configuration information, please refer to the related content of the step S502 in which the UE 2 obtains the first configuration information, which is not described herein again.

S708: the ProSe layer 1 sends second configuration information to the AS layer 1; accordingly, AS layer 1 receives the second configuration information.

For example, after the ProSe layer 1 sends the first message or receives the seventh message, the ProSe layer 1 may obtain the second configuration information and send the second configuration information to the AS layer 2. The second configuration information is used for receiving the first signal, or for acquiring the sensing data of the sensing service, or for receiving the first signal and acquiring the sensing data of the sensing service. Wherein the second configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or a preset condition, etc.

For example, the ProSe layer 1 may determine the second configuration information according to identification information of the sensing service. For another example, the ProSe layer 1 may obtain the second configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may further obtain the second corresponding relationship by interacting with the PCF network element or the application server, and determine the second configuration information according to the second corresponding relationship. Wherein the second corresponding relationship may include one or more of the following corresponding relationships:

For a specific implementation process of the ProSe layer 1 for obtaining the second configuration information, please refer to the content related to the UE 1 for obtaining the second configuration information in step S502, which is not described herein again.

S709: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

Optionally, AS layer 1 and AS layer 2 may negotiate AS layer configuration parameters. The AS layer configuration parameters are used for transmission and reception of the sensing signal. The AS layer configuration parameters may include at least one of logical channels carrying the sensing signals, layer 2 identification, or signal characteristics of the sensing signals.

S710: AS layer 2 sends a sensing signal; AS layer 1 receives the first signal.

For example, AS layer 2 may transmit the perception signal according to a first perception mode. Alternatively, the AS layer 2 may transmit the sensing signal according to the first configuration information. Alternatively, AS layer 2 may send the sensing signal according to AS layer configuration parameters. Alternatively, the AS layer 2 may transmit the sensing signal according to the first sensing mode and the first configuration information. Alternatively, the AS layer 2 may send the sensing signal according to the first sensing mode and the AS layer configuration parameters. Alternatively, AS layer 2 may send the sensing signal according to the first configuration information and the AS layer configuration parameters. Or, the AS layer 2 may also send the sensing signal according to the first sensing mode, the first configuration information, and the AS layer configuration parameter. For a specific implementation process of sending the sensing signal by the AS layer 2, please refer to the related content of sending the sensing signal by the UE 2 in step S502, which is not described herein again.

In a possible implementation manner, before the AS layer 2 sends the sensing signal, the AS layer 2 may obtain a sensing resource (such AS a time domain resource, a frequency domain resource, and the like) carrying the sensing signal, and send the sensing signal based on the sensing resource. For a specific implementation manner of the AS layer 2 obtaining the sensing resource, please refer to the relevant content of the step S502 in which the UE 2 obtains the sensing resource, which is not described herein again.

AS layer 1 receives the first signal. For example, AS layer 1 may receive a first signal according to a first perception mode. For example, AS layer 1 may receive the first signal according to the second configuration information. Alternatively, AS layer 1 may receive the first signal according to AS layer configuration parameters. Alternatively, AS layer 1 may receive the first signal according to the first sensing mode and the second configuration information. Alternatively, AS layer 1 may receive the first signal according to the first sensing mode and AS layer configuration parameters. Alternatively, the AS layer 1 may receive the first signal according to the second configuration information and the AS layer configuration parameter. Alternatively, the AS layer 1 may also receive the first signal according to the first sensing mode, the second configuration information and the AS layer configuration parameter. For a specific implementation process of the AS layer 1 receiving the first signal, please refer to the related content of the step S502 in which the UE 1 receives the first signal, which is not described herein again.

The first signal may be a sensing signal sent by AS 2, or an echo signal of the sensing signal sent by AS 2, or the sensing signal sent by AS 2 and the echo signal of the sensing signal sent by AS 2. For example, when the sensing service is intrusion detection, the first signal is a sensing signal transmitted by AS 2. For example, when the sensing service is environmental sensing, the first signal is an echo signal of a sensing signal sent by the AS 2, and the echo signal is a signal formed by the sensing signal being reflected by an object. For another example, when the sensing service is intrusion detection and environmental sensing, the first signal is a sensing signal sent by the AS 2 and an echo signal of the sensing signal sent by the AS 2.

S711: and the AS layer 1 acquires sensing data of the sensing service according to the first signal.

Exemplarily, after receiving the first signal, the AS layer 1 may process the first signal according to a processing mode of the sensing signal to obtain sensing data of the sensing service. For example, the sensing service is intrusion detection, and a processing manner of a sensing signal corresponding to the intrusion detection may be to generate a signal change curve according to the received sensing signal. For another example, the sensing service is environment sensing, and the processing manner of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to an echo signal of the sensing signal. The sensing data may be a signal change curve, a sensing image, or the like, and the present application is not limited thereto.

Further, the AS layer 1 may determine whether to further process the sensing data according to the sensing data and a preset condition, for example, send the sensing data to another logic layer (e.g., APP layer 1) for processing, or send the sensing data to the UE 2, and the like.

Optionally, after the AS layer 1 obtains the sensing data of the sensing service, the UE 1 may send the sensing data (or a processing result of the sensing data) to the UE 2, which is not shown in fig. 7. For example, if the ProSe layer 2 transmits the first transmission indication to the ProSe layer 1, the UE 1 may transmit the sensing data or the processing result of the sensing data to the UE 2 according to the first transmission indication. For another example, if the second configuration information includes a preset condition and the processing result of the sensing data satisfies the preset condition, the UE 1 may send the sensing data or the processing result of the sensing data to the UE 2 according to the preset condition.

So far, the UE 1 successfully obtains the sensing data of the sensing service, and completes the sensing service of the UE 1.

In the foregoing description, UE 1 may obtain the first corresponding relationship and/or the second corresponding relationship by interacting with a PCF network element or an application server, and UE 2 may obtain the first corresponding relationship and/or the second corresponding relationship by interacting with the PCF network element or the application server. Next, a specific implementation process of the UE 1 for obtaining the second mapping relationship is described by taking the PCF network element and the second mapping relationship as an example.

Fig. 8 shows a flowchart of UE 1 acquiring the second configuration information. Step S801 and step S804 are optional steps, and are indicated by broken lines in fig. 8. As shown in fig. 8, the method includes:

s801: UE 1 sends sensing ability information 1 to PCF network element; accordingly, the PCF network element receives the awareness capabilities information 1.

For example, the UE may report its own sensing capability information to the PCF network element through the AMF network element. For example, the UE may report its own sensing capability information to the PCF network element in the registration procedure. Wherein, the sensing capability information 1 is used for indicating that the UE 1 supports or does not support receiving the sensing signal; or for indicating that UE 1 supports or does not support sending of sensing signals; or for indicating that UE 1 supports receiving the sensing signal but does not support sending the sensing signal; or for indicating that UE 1 supports transmitting sensing signals but not receiving sensing signals; or for indicating that UE 1 supports receiving a sensing signal and supports transmitting a sensing signal; or to indicate that the UE 1 supports or does not support aware operation. Optionally, the sensing capability information 1 may further include identification information of the sensing service.

Optionally, the sensing capability of the UE may be in a sensing service granularity. For example, for intrusion detection, the UE supports receiving a sensing signal and supports transmitting a sensing signal; but for context awareness, the UE does not support receiving the awareness signals but supports sending the awareness signals.

S802: and the PCF network element determines the perception authorization information (marked as perception authorization information 3) of the UE 1 according to at least one of the perception capability information 1 and the subscription information of the UE 1.

Wherein, the perception authorization information 3 includes the second corresponding relation. The PCF network element may determine the sensing authorization information 3 according to the sensing capability information 1, or determine the sensing authorization information 3 according to the subscription information of the UE 1, or determine the sensing authorization information 3 according to the sensing capability information 1 and the subscription information of the UE 1. It should be understood that if the PCF network element determines the sensing authorization information 3 according to the subscription information of the UE 1, it is an optional step that the UE 1 reports its own sensing capability information to the PCF network element. Optionally, the PCF network element may obtain subscription information of UE 1 from the UDM network element or the UDR network element.

The sensing authorization information 3 may be used to indicate whether the UE 1 is authorized to perform sensing services. The present embodiment is described by taking an example that the UE 1 is authorized to perform the sensing service. Further, if the UE 1 is authorized to perform the sensing service, the sensing authorization information 3 may further include a second corresponding relationship. The second correspondence may include one or more of the following relationships: the corresponding relation between the identification information of the authorized sensing service and the time information of the sensing service; the corresponding relation between the identification information of the authorized sensing service and the signal characteristics of the sensing signal corresponding to the sensing service; the corresponding relation between the identification information of the authorized sensing service and the processing mode of the sensing signal corresponding to the sensing service; or the identification information of the authorized sensing service and the corresponding preset condition of the sensing service, and the like.

Optionally, the sensing authorization information 3 may further include the sensing authorization information 1.

It should be noted that the sensing authorization information 3 and the sensing authorization information 1 may be the same information or different information, which is not limited in this embodiment of the application.

S803: PCF network element sends perception authorization information 3 to UE 1; accordingly, the UE 1 receives the sensing authorization information 3.

For example, the PCF network element may send the perceptual authorization information 3 of the UE 1 to the UE 1 through the AMF network element.

So far, the UE 1 acquires the second corresponding relationship by interacting with the PCF network element. It should be understood that, the specific implementation manner of the UE 1 obtaining the second corresponding relationship through interaction with the application server, the specific implementation manner of the UE 1 obtaining the first corresponding relationship through interaction with the PCF network element or the application server, and the specific implementation manner of the UE 2 obtaining the first corresponding relationship and the second corresponding relationship through interaction with the PCF network element or the application server may refer to the relevant contents of fig. 8, and are not described herein again.

S804: PCF network element sends perception authorization information 3 to RAN; accordingly, the RAN receives the sensing authorization information 3.

Optionally, the PCF network element may also send the sensing authorization information 3 of the UE 1 to the RAN through the AMF network element; the sensing authorization information 3 is stored by the RAN for subsequent use in authorizing transmission resources allocated for transmission or reception of sensing signals between the UE 1 and other devices.

The above embodiment describes that UE 1 with sensing service requirement does not send sensing signal, and completes the sensing service of UE 1 by requesting UE 2 to send sensing signal. Next, a specific implementation manner that UE 1 with a sensing service requirement sends a sensing signal and UE 2 is requested to obtain sensing data to complete the sensing service of UE 1 is described with reference to the second embodiment.

The second embodiment:

fig. 9 shows another flowchart of the terminal sensing method provided in the embodiment of the present application. In this embodiment, UE 1 sends a sensing signal, and requests UE 2 to obtain sensing data according to the sensing signal (and/or an echo signal of the sensing signal) sent by UE 1 to assist in completing a sensing service. As shown in fig. 9, the method may include:

s901: UE 1 sends a fourth message to UE 2; accordingly, UE 2 receives the fourth message.

For example, UE 1 may have a traffic aware need and UE 1 may send a fourth message to UE 2. For example, a PC5 connection is established between UE 1 and UE 2, UE 1 has a service awareness requirement, and a fourth message may be sent to UE 2 through the PC5 connection with UE 2. For another example, UE 1 may initiate a discovery procedure when there is a service awareness requirement, complete the establishment of PC5 connection with UE 2, and send the fourth message to UE 2 through the PC5 connection with UE 2. It should be understood that the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE 1 and the UE 2.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, UE 1 may broadcast a sixth message, which may be a notification message in model a or an invite message in model B. In this embodiment, the sixth message may be used to discover a UE supporting the second sensing mode, or to discover a UE supporting sensing capability, or to discover a UE supporting receiving a sensing signal. For example, UE 1 carries a sensing indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the second sensing mode, or to discover UEs supporting sensing capability, or to discover UEs supporting receiving sensing signals. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not described herein again. In addition, a terminal device supporting sensing capability may be understood as a terminal device that supports transmitting sensing signals and supports receiving sensing signals.

The fourth message may be, for example, a sensing request message or a PC5 signaling (signaling), and a specific implementation form of the fourth message is not limited thereto. The fourth message may be used to request completion (or implementation, execution, etc.) of the sensing service via the second sensing mode; or, the second sensing mode is used for requesting the UE 2 to assist the UE 2 to complete (or implement, execute, etc.) the sensing service through the second sensing mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the sensing service, etc.

Wherein, the second sensing mode may be a mode in which UE 1 transmits a sensing signal; or a mode in which UE 2 receives a sensing signal; or a mode in which UE 1 transmits a sensing signal and UE 2 receives the sensing signal.

For example, UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode. For example, UE 1 may have a need for sensing a service, determine that a sensing mode for completing the sensing service is a second sensing mode, and send a fourth message to UE 2 according to the second sensing mode. Wherein, the UE 1 may determine the sensing mode for completing the sensing service according to any one of the following three manners.

The method I comprises the following steps: the UE 1 may determine the sensing mode for completing the sensing service according to at least one of the sensing capability information (denoted as sensing capability information 1) of the UE 1 and the sensing authorization information (denoted as sensing authorization information 1) of the UE 1.

Wherein, the sensing capability information 1 is used for indicating that the UE 1 supports or does not support receiving the sensing signal; or for indicating whether UE 1 supports or does not support sending sensing signals; or for indicating that UE 1 supports receiving the sensing signal but does not support sending the sensing signal; or for indicating that UE 1 supports transmitting perceptual signals but not receiving perceptual signals; or for indicating that UE 1 supports receiving a sensing signal and supports transmitting a sensing signal; or to indicate that the UE 1 supports or does not support aware operation. The sensing operation may be understood as an operation of transmitting a sensing signal.

The perception authorization information 1 is used for indicating that the UE 1 is authorized or unauthorized to receive perception signals; or for instructing authorized or unauthorized UEs 1 to transmit a sensing signal; or for indicating authorized UE 1 to receive the sensing signal but unauthorized UE 1 to transmit the sensing signal; or for instructing authorized UE 1 to send a sensing signal but unauthorized UE 1 to receive a sensing signal; or for instructing authorized UE 1 to send a sensing signal and authorized UE 1 to receive the sensing signal; or for indicating that the UE 1 is not authorized or authorized to perform (or perform) the sensing operation, etc.

For example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 1. For example, the sensing capability information 1 is used to indicate that the UE 1 does not support receiving the sensing signal, and the UE 1 may determine, according to the sensing capability information 1, that the sensing mode for completing the sensing service is the second sensing mode. For example, the sensing capability information 1 is used to indicate that the UE 1 supports sending of sensing signals but does not support receiving of sensing signals, and the UE 1 may determine, according to the sensing capability information 1, that the sensing mode for completing the sensing service is the second sensing mode. For example, the sensing capability information 1 is used to indicate that the UE 1 supports the sensing operation, and the UE 1 may determine, according to the sensing capability information 1, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing authorization information 1 is used to instruct the authorized UE 1 to transmit a sensing signal, and the UE 1 may determine, according to the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode. For another example, the sensing authorization information 1 is used to indicate that the unauthorized UE 1 receives the sensing signal, and the UE 1 may determine, according to the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode. For another example, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to transmit the sensing signal but the UE 1 is not authorized to receive the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 1. For another example, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to perform sensing operation, and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports sending a sensing signal, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to send a sensing signal (or indicate that the UE 1 is not authorized to receive a sensing signal, or indicate that the UE 1 is not authorized to receive a sensing signal but the UE 1 is authorized to send a sensing signal, or indicate that the UE 1 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 1 and the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support receiving the sensing signal, the sensing authorization information 1 is used to indicate that the authorized UE 1 sends the sensing signal (or indicate that the unauthorized UE 1 receives the sensing signal, or indicate that the unauthorized UE 1 receives the sensing signal but the authorized UE 1 sends the sensing signal, or indicate that the authorized UE 1 performs the sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 1 and the sensing authorization information 1.

For another example, the sensing capability information 1 is used to indicate that the UE 1 does not support receiving a sensing signal but supports sending a sensing signal, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to send a sensing signal (or indicate that the UE 1 is not authorized to receive a sensing signal, or indicate that the UE 1 is not authorized to receive a sensing signal but the UE 1 is authorized to send a sensing signal, or indicate that the UE 1 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 1 and the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports the sensing operation, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to transmit the sensing signal (or indicate that the UE 1 is not authorized to receive the sensing signal, or indicate that the UE 1 is not authorized to receive the sensing signal but the UE 1 is authorized to transmit the sensing signal, or indicate that the UE 1 is authorized to perform the sensing operation), and the UE 1 may determine, according to the sensing capability information 1 and the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports sending and receiving sensing signals, the sensing authorization information 1 is used to indicate that the UE 1 is authorized to send sensing signals (or indicate that the UE 1 is not authorized to receive sensing signals, or indicate that the UE 1 is not authorized to receive sensing signals but the UE 1 is authorized to send sensing signals, or indicate that the UE 1 is authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 1 and the sensing authorization information 1, that the sensing mode for completing the sensing service is the second sensing mode.

It should be noted that the sensing service can be accomplished by a sensing signal or an echo signal of the sensing signal. In the embodiment of the present application, the support for receiving a sensing signal may be understood as a support for receiving a sensing signal, or an echo signal supporting receiving a sensing signal, or a support for receiving a sensing signal and an echo signal supporting receiving a sensing signal.

The perception authorization information 2 is used for indicating that the UE 2 is authorized or unauthorized to receive perception signals; or for instructing authorized or unauthorized UEs 2 to transmit a sensing signal; or for indicating authorized UEs 2 to receive the sensing signal but unauthorized UEs 2 to transmit the sensing signal; or for instructing authorized UE 2 to send a sensing signal but unauthorized UE 1 to receive a sensing signal; or for instructing the authorized UE 2 to send a sensing signal and the authorized UE 2 to receive the sensing signal; or for indicating that the UE 1 is not authorized or authorized to perform (or perform) the sensing operation, etc.

For example, the sensing capability information 2 is used to indicate that the UE 2 does not support sending the sensing signal, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the second sensing mode. For example, the sensing capability information 2 is used to indicate that the UE 2 supports receiving the sensing signal, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the second sensing mode. For example, the sensing capability information 2 is used to indicate that the UE 2 does not support sending sensing signals but supports receiving sensing signals, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the second sensing mode. For example, the sensing capability information 2 is used to indicate that the UE 2 does not support the sensing operation, and the UE 1 may determine, according to the sensing capability information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal, and the UE 1 may determine, according to the sensing authorization information 2, that the sensing mode for completing the sensing service is the second sensing mode. For another example, the sensing authorization information 2 is used to indicate that the UE 2 is authorized to receive the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 2. For another example, the sensing authorization information 2 is used to indicate that the unauthorized UE 2 sends a sensing signal but the authorized UE 2 receives the sensing signal, and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 2. For another example, the sensing authorization information 2 is used to instruct the unauthorized UE 2 to perform sensing operation, and the UE 1 may determine, according to the sensing authorization information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 does not support sending of sensing signals, the sensing authorization information 2 is used to indicate that the UE 2 is not authorized to send sensing signals (or indicate that the UE 2 is authorized to receive sensing signals, or indicate that the UE 2 is not authorized to send sensing signals but the UE 2 is authorized to receive sensing signals, or indicate that the UE 2 is not authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing sensing service is the second sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports receiving the sensing signal, the sensing authorization information 2 is used to indicate that the unauthorized UE 2 sends the sensing signal (or indicate that the authorized UE 2 receives the sensing signal, or indicate that the unauthorized UE 2 sends the sensing signal but the authorized UE 2 receives the sensing signal, or indicate that the unauthorized UE 2 performs the sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 2 and the sensing authorization information 2.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports not sending a sensing signal but receiving a sensing signal, the sensing authorization information 2 is used to indicate that the UE 2 is not authorized to send a sensing signal (or indicate that the UE 2 is authorized to receive a sensing signal, or indicate that the UE 2 is not authorized to send a sensing signal but the UE 2 is authorized to receive a sensing signal, or indicate that the UE 2 is not authorized to perform a sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 2 is used to indicate that the UE 2 does not support the sensing operation, the sensing authorization information 2 is used to indicate that the unauthorized UE 2 sends the sensing signal (or indicate that the authorized UE 2 receives the sensing signal, or indicate that the unauthorized UE 2 sends the sensing signal but the authorized UE 2 receives the sensing signal, or indicate that the unauthorized UE 2 performs the sensing operation), and the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 2 and the sensing authorization information 2.

For another example, the sensing capability information 2 is used to indicate that the UE 2 supports sending of sensing signals and supports receiving of sensing signals, the sensing authorization information 2 is used to indicate that the UE 2 is not authorized to send sensing signals (or indicate that the UE 2 is authorized to receive sensing signals, or indicate that the UE 2 is not authorized to send sensing signals but the UE 2 is authorized to receive sensing signals, or indicate that the UE 2 is not authorized to perform sensing operation), and the UE 1 may determine, according to the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing sensing service is the second sensing mode.

In one possible implementation, the UE 1 may receive a fifth message from the UE 2, where the fifth message includes the sensing capability information 2, or includes the sensing authorization information 2, or includes the sensing capability information 2 and the sensing authorization information 2. For example, UE 2 may send a fifth message to UE 1 in the discovery procedure; the corresponding UE 1 receives the fifth message; in this case, the fifth message may be a response message in model B. For another example, the UE 2 may send the fifth message to the UE 1 during the PC5 connection with the UE 1 or after the PC5 connection is established; the corresponding UE 1 receives the fifth message; in this case, the fifth message may be a direct communication acceptance message. It should be understood that the specific implementation manner of the fifth message in the embodiment of the present application is not limited thereto.

For example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 1 does not support receiving sensing signals but supports transmitting sensing signals, or indicate that the UE 1 supports sensing operations); the sensing capability information 2 is used to indicate that the UE 1 does not support sending sensing signals (or indicate that the UE 1 supports receiving sensing signals, or indicate that the UE 2 does not support sending sensing signals but supports receiving sensing signals, or indicate that the UE 2 does not support sensing operations). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 1 and the sensing capability information 2.

For example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 1 does not support receiving sensing signals but supports transmitting sensing signals, or indicate that the UE 1 supports sensing operations); the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal (or instruct the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to transmit the sensing signal but the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to perform sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 1 and the sensing authorization information 2.

For example, the sensing authorization information 1 is used to instruct the authorized UE 1 to transmit a sensing signal (or instruct the unauthorized UE 1 to receive the sensing signal, or instruct the unauthorized UE 1 to receive the sensing signal but the authorized UE 1 to transmit the sensing signal, or instruct the authorized UE 1 to perform sensing operation); the sensing capability information 2 is used to indicate that the UE 2 does not support sending sensing signals (or indicate that the UE 2 supports receiving sensing signals, or indicate that the UE 2 does not support sending sensing signals but supports receiving sensing signals, or indicate that the UE 2 does not support sensing operations). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 1 and the sensing capability information 2.

For example, the sensing authorization information 1 is used to instruct the authorized UE 1 to transmit a sensing signal (or instruct the unauthorized UE 1 to receive the sensing signal, or instruct the unauthorized UE 1 to receive the sensing signal but the authorized UE 1 to transmit the sensing signal, or instruct the authorized UE 1 to perform sensing operation); the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal (or instruct the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to transmit the sensing signal but the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to perform sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 1 and the sensing authorization information 2.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 1 does not support receiving sensing signals but supports transmitting sensing signals, or indicate that the UE 1 supports sensing operations); the perception authorization information 1 is used for indicating authorized UE 1 to send a perception signal (or indicating unauthorized UE 1 to receive the perception signal, or indicating unauthorized UE 1 to receive the perception signal but authorized UE 1 to send the perception signal, or indicating authorized UE 1 to perform perception operation); the sensing capability information 2 is used to indicate that the UE 2 does not support transmitting sensing signals (or indicate that the UE 2 supports receiving sensing signals, or indicate that the UE 2 does not support transmitting sensing signals but supports receiving sensing signals, or indicate that the UE 2 does not support sensing operation). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing authorization information 1, and the sensing capability information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 1 does not support receiving sensing signals but supports transmitting sensing signals, or indicate that the UE 1 supports sensing operations); the sensing authorization information 1 is used for instructing an authorized UE 1 to send a sensing signal (or instructing an unauthorized UE 1 to receive a sensing signal, or instructing an unauthorized UE 1 to receive a sensing signal but an authorized UE 1 to send a sensing signal, or instructing an authorized UE 1 to perform sensing operation); the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal (or instruct the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to transmit the sensing signal but the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to perform sensing operation). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing authorization information 1, and the sensing authorization information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting sensing signals (or indicate that the UE 1 does not support receiving sensing signals, or indicate that the UE 1 does not support receiving sensing signals but supports transmitting sensing signals, or indicate that the UE 1 supports sensing operations); the sensing capability information 2 is used for indicating that the UE2 does not support sending of sensing signals (or indicating that the UE2 supports receiving of sensing signals, or indicating that the UE2 does not support sending of sensing signals but supports receiving of sensing signals, or indicating that the UE2 does not support sensing operation); the sensing authorization information 2 is used to instruct the unauthorized UE2 to transmit a sensing signal (or instruct the authorized UE2 to receive the sensing signal, or instruct the unauthorized UE2 to transmit the sensing signal but the authorized UE2 to receive the sensing signal, or instruct the unauthorized UE2 to perform sensing operation). In this case, the UE 1 may determine, according to the sensing capability information 1, the sensing capability information 2 and the sensing authorization information 2, that the sensing mode for completing the sensing service is the second sensing mode.

For another example, the sensing authorization information 1 is used to instruct the authorized UE 1 to transmit a sensing signal (or instruct the unauthorized UE 1 to receive the sensing signal, or instruct the unauthorized UE 1 to receive the sensing signal but the authorized UE 1 to transmit the sensing signal, or instruct the authorized UE 1 to perform sensing operation); the sensing capability information 2 is used for indicating that the UE2 does not support sending of sensing signals (or indicating that the UE2 supports receiving of sensing signals, or indicating that the UE2 does not support sending of sensing signals but supports receiving of sensing signals, or indicating that the UE2 does not support sensing operation); the sensing authorization information 2 is used to instruct the unauthorized UE2 to transmit a sensing signal (or instruct the authorized UE2 to receive the sensing signal, or instruct the unauthorized UE2 to transmit the sensing signal but the authorized UE2 to receive the sensing signal, or instruct the unauthorized UE2 to perform sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing authorization information 1, the sensing capability information 2 and the sensing authorization information 2.

For another example, the sensing capability information 1 is used to indicate that the UE 1 supports transmitting the sensing signal (or indicate that the UE 1 does not support receiving the sensing signal, or indicate that the UE 1 does not support receiving the sensing signal but supports transmitting the sensing signal, or indicate that the UE 1 supports sensing operation); the perception authorization information 1 is used for indicating authorized UE 1 to send a perception signal (or indicating unauthorized UE 1 to receive the perception signal, or indicating unauthorized UE 1 to receive the perception signal but authorized UE 1 to send the perception signal, or indicating authorized UE 1 to perform perception operation); the sensing capability information 2 is used for indicating that the UE 2 does not support sending of sensing signals (or indicating that the UE 2 supports receiving of sensing signals, or indicating that the UE 2 does not support sending of sensing signals but supports receiving of sensing signals, or indicating that the UE 2 does not support sensing operation); the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal (or instruct the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to transmit the sensing signal but the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to perform sensing operation). In this case, the UE 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to the sensing capability information 1, the sensing authorization information 1, the sensing capability information 2, and the sensing authorization information 2.

The UE1 may determine that the sensing mode for completing the sensing service is the second sensing mode by any one of the three manners, and send the fourth message to the UE2 according to the second sensing mode.

As an example, the fourth message may include information of the second sensing mode, for example, the information of the second sensing mode may be sensing mode indication information or sensing mode identification information, so as to inform the UE2 that the mode for implementing the sensing service is the second sensing mode, and then the UE1 and the UE2 can cooperate with each other to complete the sensing service according to the second sensing mode.

As another example, the fourth message may include identification information of a sensing service, where the identification information of the sensing service is used to identify a type of the sensing service, and the type of the sensing service includes intrusion detection, environment sensing, and the like. The intrusion detection is used for detecting whether an object intrudes between the UE1 and the UE 2. The context awareness is used to perceive an object or environment around the UE1, or an object or environment around the UE 2. Furthermore, the types of perceptual services described in this application may also be object distribution, mapping, driving, violation detection, object trajectory tracking, emergency detection, object localization, object contour size, object velocity, weather prediction, etc. For ease of understanding, the embodiments of the present application are described with intrusion detection and environmental sensing as examples.

Fig. 10a and 10b show a schematic diagram of intrusion detection and context awareness, respectively, in this embodiment. In the intrusion detection, UE 1 sends a sensing signal to UE 2, and an object moves between UE 1 and UE 2; after receiving the sensing signal, the UE 2 can determine whether an object invades according to the state change of the sensing signal, as shown in fig. 10 a. In environment sensing, UE 1 transmits a sensing signal; the UE 2 receives the echo signal of the sensing signal, and senses the surrounding object or environment according to the echo signal of the sensing signal, as shown in fig. 10 b.

As another example, the fourth message may include third configuration information for the UE 2 to receive the second signal, or to process the second signal, or to receive and process the second signal. Wherein the third configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or a preset condition, etc. The third configuration information may be configuration information locally stored by the UE 1 (e.g., predefined, or preconfigured, etc.), for example, the UE 1 obtains the first configuration information from the locally stored configuration information according to the identification information of the sensing service; or the information is obtained by interaction with a PCF network element or an application server; or determined from the second correspondence.

The second corresponding relationship may be predefined, or may be obtained through a PCF network element or an application server, and the specific obtaining manner of the second corresponding relationship in this embodiment is not limited thereto. The second correspondence may include one or more of the following correspondences:

or, the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal corresponding to the sensing service;

or, the corresponding relation between the identification information of the sensing service and the processing mode of the sensing signal corresponding to the sensing service;

or, the corresponding relation between the identification information of the sensing service and the preset condition corresponding to the sensing service.

The UE 1 may determine the third configuration information according to the second corresponding relationship. The UE 1 determines a specific implementation process of the third configuration information according to the second corresponding relationship, please refer to the description that the UE 1 determines the second configuration information according to the second corresponding relationship in step S502, which is not described herein again. For a specific implementation process of the UE 1 obtaining the second corresponding relationship with the PCF network element or the application server, please refer to the content shown in fig. 8, which is not described herein again.

The second signal may be a sensing signal transmitted by UE 1, or an echo signal of the sensing signal transmitted by UE 1 and an echo signal of the sensing signal transmitted by UE 1. For example, when the sensing service is intrusion detection, the second signal is a sensing signal transmitted by the UE 1. For example, when the sensing service is environment sensing, the second signal is an echo signal of the sensing signal sent by the UE 1, and the echo signal is a signal formed by the sensing signal being reflected by an object. For another example, when the sensing service is intrusion detection and environmental sensing, the second signal is a sensing signal sent by UE 1 and an echo signal of the sensing signal sent by UE 1.

S902: UE 1 sends a sensing signal; UE 2 receives the second signal.

For example, UE 1 may transmit the sensing signal after transmitting the fourth message. Alternatively, after sending the fourth message, the UE 1 may receive the response message of the fourth message and then send the sensing signal.

As an example, UE 1 may transmit the sensing signal according to the second sensing mode. For example, after UE 1 transmits the fourth message, the sensing signal may be transmitted according to the second sensing mode.

As another example, UE 1 may transmit the sensing signal according to the fourth configuration information. Wherein, the fourth configuration information may include time information of the sensing service, or include signal characteristics of the sensing signal, or include both the time information of the sensing service and the signal characteristics of the sensing signal. For example, the fourth configuration information includes a transmission duration of the sensing signal, and the UE 1 may transmit the sensing signal according to the transmission duration of the sensing signal. The fourth configuration information includes signal characteristics of the sensing signal, such as frequency information of the sensing signal, and the UE 1 transmits the sensing signal according to the frequency information. For another example, the fourth configuration information includes a transmission period of the sensing signal and a signal characteristic of the sensing signal (for example, the sensing signal is a high-frequency signal), and the UE 1 may transmit the high-frequency sensing signal according to the transmission period. For another example, the fourth configuration information includes a transmission duration of the sensing signal and a signal characteristic of the sensing signal (e.g., the sensing signal is a low-frequency licensed spectrum signal), and the UE 1 may transmit the low-frequency licensed spectrum signal according to the transmission duration.

UE 1 may obtain the fourth configuration information. For example, the UE 1 may obtain the fourth configuration information from the locally stored configuration information according to the identification information of the sensing service. For another example, the UE 1 may acquire the fourth configuration information by interacting with a PCF network element or an application server. For another example, the UE 1 may determine the fourth configuration information according to the first corresponding relationship.

The first corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the specific obtaining manner of the first corresponding relationship in this embodiment is not limited thereto. The first correspondence may include one or more of the following correspondences:

The specific implementation process of the UE 1 determining the fourth configuration information according to the first corresponding relationship please refer to the description that the UE 1 determines the first configuration information according to the first corresponding relationship in step S501, which is not described herein again. And, please refer to the content shown in fig. 8 for a specific implementation process of the UE 1 obtaining the first corresponding relationship according to the PCF network element or the application server, which is not described herein again.

As another example, UE 1 may transmit the sensing signal according to the second sensing mode and the fourth configuration information. For example, the UE 1 may determine to transmit the sensing signal according to the second sensing mode, and transmit the sensing signal according to the fourth configuration information.

In one possible implementation, the AS layer configuration parameters may also be negotiated between UE 1 and UE 2 before UE 1 sends the sensing signal. UE 1 may send the sensing signal according to the AS layer configuration parameters. The AS layer configuration parameters are used for transmission and reception of the sensing signal. The AS layer configuration parameter may include at least one of a logical channel carrying the sensing signal, a layer 2 identification, or signal characteristics of the sensing signal.

In a possible implementation manner, before UE 1 sends the sensing signal, UE 1 may obtain a sensing resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the sensing signal, and send the sensing signal based on the sensing resource. For example, UE 1 may send a request message to RAN, where the request message is used to request to acquire a resource carrying a sensing signal corresponding to a sensing service; after receiving the request message, the RAN may determine the sensing resource of the sensing service, for example, obtain the sensing resource of the sensing service according to the sensing authorization information (e.g., signal characteristics of the sensing signal, etc.) of the UE 1, and send the sensing resource to the UE 1. Optionally, the request message sent by UE 1 may include the signal characteristics of the sensing signal.

In another possible implementation manner, before UE 1 sends the sensing signal, UE 1 may negotiate AS layer configuration parameters with UE 2 and obtain a sensing resource carrying the sensing signal. UE 1 may then send the sensing signal according to the AS layer configuration parameters and the sensing resources.

It should be understood that the UE 1 may send the sensing signal according to one or more of the second sensing mode, the fourth configuration information, the AS layer configuration parameter, or the sensing resource, and the specific implementation process may refer to the above description, which is not exemplified herein.

In step S902, UE 1 transmits a sensing signal; accordingly, the UE 2 receives the second signal in response to the fourth message. The second signal may be a sensing signal sent by the UE 1, or an echo signal of the sensing signal sent by the UE 1, or the sensing signal sent by the UE 1 and the echo signal of the sensing signal, please refer to the related description of step S901, which is not described herein again.

For example, after receiving the fourth message, the UE 2 may determine whether to receive the second signal or whether to approve (or accept) the second sensing mode. In this embodiment, the UE 2 determines to receive the second signal (or agrees to adopt the second sensing mode).

As an example, if the fourth message includes information of the second sensing mode, the UE 2 may determine the second sensing mode according to the information of the second sensing mode and determine to receive the second signal according to the second sensing mode. The information of the second sensing mode may be sensing mode indication information or sensing mode identification information, and the embodiment of the present application is not limited thereto.

As another example, the UE 2 may determine whether to receive the second signal according to the sensing capability information 2, or according to the sensing authorization information 2, or according to the sensing capability information 2 and the sensing authorization information 2.

For example, the sensing capability information 2 is used to indicate that the UE 2 does not support sending of sensing signals (or indicate that the UE 2 supports receiving of sensing signals, or indicate that the UE 2 does not support sending of sensing signals but supports receiving of sensing signals, or indicate that the UE 2 is supported sending of sensing signals and supports receiving of sensing signals, or indicate that the UE 2 does not support sensing operation); the UE 2 may determine to receive the second signal according to the perceptual capability information 2.

For another example, the sensing authorization information 2 is used to instruct the unauthorized UE 2 to transmit a sensing signal (or instruct the authorized UE 2 to receive the sensing signal, or instruct the unauthorized UE 2 to transmit the sensing signal but the authorized UE 2 to receive the sensing signal, or instruct the authorized UE 2 to transmit the sensing signal and receive the sensing signal, or instruct the unauthorized UE 2 to perform a sensing operation); in this case, the UE 2 may determine to receive the second signal according to the perceptual-grant information 2.

For another example, the sensing capability information 2 is used to indicate that the UE 2 does not support sending of sensing signals (or indicate that the UE 2 supports receiving of sensing signals, or indicate that the UE 2 does not support sending of sensing signals but supports receiving of sensing signals, or indicate that the UE 2 supports sending of sensing signals and supports receiving of sensing signals, or indicate that the UE 2 does not support sensing operations); the perception authorization information 2 is used for indicating the unauthorized UE 2 to send a perception signal (or indicating the authorized UE 2 to receive the perception signal, or indicating the unauthorized UE 2 to send the perception signal but the authorized UE 2 to receive the perception signal, or indicating the authorized UE 2 to send the perception signal and receive the perception signal, or indicating the unauthorized UE 2 to perform a perception operation); in this case, the UE 2 may determine to receive the second signal according to the sensing capability information 2 and the sensing authorization information 2.

As an example, UE 2 may receive the second signal according to the second sensing mode. For example, UE 2 may attempt to receive a first signal according to the second sensing mode after receiving the fourth message and receive the first signal.

As an example, the UE 2 may receive the second signal according to the third configuration information. The third configuration information may include one or more of the following: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or a preset condition, etc. For example, the third configuration information includes a transmission period of the sensing signal, and the UE 2 may receive the second signal according to the transmission period of the sensing signal. For example, the third configuration information includes a transmission duration of the sensing signal, and the UE 2 may receive the second signal according to the transmission duration of the sensing signal. For another example, the third configuration information includes signal characteristics of a sensing signal, and the UE 2 may receive the second signal according to the characteristic information of the sensing signal. For another example, the third configuration information includes a processing manner of the sensing signal, and the UE 2 may receive the second signal according to the processing manner of the sensing signal.

The sensing services are different, and the processing modes of the sensing signals (and/or the echo signals of the sensing signals) when the sensing data of the sensing services are acquired can be the same or different. The UE 2 processes the sensing signal to obtain sensing data. For example, the UE 2 may process the sensing signal according to a processing manner of the sensing signal to obtain sensing data. For example, the sensing service is intrusion detection, and the processing manner of the sensing signal (and/or the echo signal of the sensing signal) corresponding to the intrusion detection may be to generate a signal variation curve according to the received sensing signal. In this case, the perceptual data is the signal profile. For another example, the sensing service is environment sensing, and the processing manner of the echo signal of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to the received echo signal of the sensing signal. In this case, the perception data is the perception image.

Optionally, the UE 2 may analyze the sensing data to obtain a processing result of the sensing data. The processing result of the sensing data may be the type of the object or the number of the objects in the sensed image, or whether the object invades, and the like.

The number of the preset conditions may be one or more, and the embodiment of the present application is not limited thereto. For example, the preset condition may be a threshold for receiving the second signal, such as a signal state or strength. As another example, the preset condition may be the number of objects or a specific object. The preset condition may be used to analyze at least one of the perception data and a processing result of the perception data. Taking the processing result of the sensing data as an example, if the processing result of the sensing data meets the preset condition, it indicates that an object invades, or identifies that the object in the image is a specific object based on the sensing image, or the number of the objects exceeds a certain threshold, and the embodiment of the present application is not limited thereto.

Optionally, the UE2 determines whether the processing result of the sensing data (and/or the sensing data) meets a preset condition, and if the processing result meets the preset condition, notifies the application layer of the UE2 or notifies the UE 1.

The UE2 may obtain the third configuration information and receive the second signal according to the third configuration information. For example, if the fourth message includes the third configuration information, after receiving the fourth message, the UE2 may obtain the third configuration information according to the fourth message. For example, the third configuration information is locally stored (e.g., predefined, or preconfigured, etc.) configuration information of the UE2, and the UE2 may obtain the third configuration information from the locally stored configuration information according to the service-aware identification information. For another example, the UE2 may acquire the third configuration information by interacting with a PCF network element or an application server. For another example, the UE2 may determine the third configuration information according to the first corresponding relationship. Wherein, the UE2 may obtain the first corresponding relationship by interacting with the PCF network element or the application server.

The UE 2 determines a specific implementation process of the third configuration information according to the first corresponding relationship, please refer to the specific implementation process of the third configuration information determined by the UE 1 according to the first corresponding relationship in step S901, which is not described herein again. And, the UE 2 acquires the specific implementation process of the first corresponding relationship by interacting with the PCF network element or the application server, please refer to the content shown in fig. 8.

It is noted that if UE 2 does not accept to adopt the second sensing mode, UE 2 may determine other sensing modes and send information of the other sensing modes to UE 1. For the UE 2 to determine the specific implementation of other sensing modes, please refer to the specific implementation of the UE 2 to determine to receive the second signal, which is not described herein again.

S903: and the UE 2 acquires the sensing data of the sensing service according to the second signal.

After receiving the second signal, the UE 2 may obtain the sensing data of the sensing service according to the second signal. The sensing data may be a sensed image, a signal change curve, or the like, but the present application is not limited thereto.

As an example, the UE 2 may process the second signal according to the processing manner of the sensing signal to obtain the sensing data of the sensing service. For example, the sensing service is intrusion detection, and the processing mode of the sensing signal corresponding to the intrusion detection may be to generate a signal change curve according to the received sensing signal to obtain sensing data. Further, the UE 2 may determine whether an object invades according to the signal change curve to obtain a processing result of the sensing data, and if the signal change curve includes the RSSI, the UE 2 may determine whether the object invades according to the RSSI, and if the RSSI suddenly decreases or meets a preset condition, it indicates that the object invades, otherwise, it indicates that no object invades. For another example, the sensing service is environment sensing, and the processing mode of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to an echo signal of the sensing signal, so as to obtain sensing data. Further, the UE 2 may determine the type or number of objects in the perceptual image according to the perceptual image, so as to obtain a processing result of the perceptual data.

As another example, UE 2 may send the perception data (or the processing result of the perception data) to UE 1; accordingly, the UE 1 receives the sensing data (or the processing result of the sensing data). For example, the third configuration information includes a preset condition, and the processing result of the sensing data meets the preset condition, and the UE 2 sends the sensing data or the processing result of the sensing data to the UE 1 according to the preset condition. For another example, UE 1 may send a second transmission indication to UE 2, and UE 2 may receive the second transmission indication accordingly. The second transmission instruction is used to instruct the UE 2 to send the sensing data or the processing result of the sensing data to the UE 1. Further, the UE 2 sends the sensing data or the processing result of the sensing data to the UE 1 according to the second transmission instruction.

The terminal sensing method shown in fig. 9 is described below from the interaction of the various logical layers of the UE (as shown in fig. 4).

Fig. 11 shows a flowchart of a terminal sensing method provided in an embodiment of the present application. Here, step S1101, step S1105, and step S1109 are optional steps, and may be executed or not executed, and are indicated by dotted lines in fig. 11. As shown in fig. 11, the method may include:

s1101: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

For example, the UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present invention. For example, UE 1 may broadcast a sixth message, which may be a notification message in model a or an invite message in model B. In this embodiment, the sixth message may be used to discover a UE supporting the second sensing mode, or to discover a UE supporting sensing capability, or to discover a UE supporting receiving a sensing signal. For example, UE 1 carries a sensing indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the second sensing mode, or to transmit UEs supporting sensing capability, or to discover UEs supporting reception of sensing signals. The second sensing mode may be a mode in which UE 1 transmits a sensing signal, or a mode in which UE 2 receives a sensing signal, or a mode in which UE 1 transmits a sensing signal and UE 2 receives a sensing signal. A terminal device supporting sensing capability may be understood as a terminal device that supports transmitting sensing signals and supports receiving sensing signals.

In this embodiment, UE 1 supports sending of sensing signals, but does not support receiving of sensing signals; alternatively, UE 1 is only authorized to transmit the sensing signal and not authorized to receive the sensing signal. UE 1 can discover UE 2 supporting reception of the sensing signal by broadcasting the sixth message, so that UE 1 can request UE 2 to assist in completing the sensing service.

As an example, UE 2 may send a fifth message to UE 1; accordingly, UE 1 receives the fifth message. Wherein, the fifth message includes the sensing capability information of the UE 2 (i.e. sensing capability information 2), or includes the sensing authorization information of the UE 2 (i.e. sensing authorization information 2), or includes the sensing capability information 2 and the sensing authorization information 2. For example, UE 2 may send a fifth message to UE 1 in the discovery procedure, in which case the fifth message may be a response message in model B; or, the UE 2 may also send the fifth message to the UE 1 during the process of establishing the PC5 connection with the UE 1 or after the PC5 connection is established, for example, the second message may be a direct communication accept message; the embodiments of the present application are not limited thereto. For the introduction of the sensing capability information 2 and the sensing authorization information 2, reference is made to the relevant content in step S901, which is not described herein again.

In addition, the establishment of the PC5 connection between UE 1 and UE 2 can be completed according to the procedure shown in fig. 3 c. For the specific implementation process of S1101, reference may be made to the specific implementation processes of fig. 3a, fig. 3b, and fig. 3c, which are not described herein again.

S1102: the APP layer 1 sends a sensing requirement to the ProSe layer 1; accordingly, proSe layer 1 receives this perceptual need. Or, the APP layer 1 sends a sensing request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the sensing request. FIG. 11 illustrates an example of perceptual requirements.

The specific implementation process of step S1102 may refer to the specific implementation process of S702, which is not described herein again.

S1103: the ProSe layer 1 determines that the mode of completing the sensing service is the second sensing mode.

And after receiving the sensing requirement, the ProSe layer 1 determines a sensing mode for finishing the sensing service. In this embodiment, the ProSe layer 1 determines that the sensing mode for completing the sensing service is the second sensing mode. For example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to at least one of the sensing capability information 1 and the sensing authorization information 1. For another example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to at least one of the sensing capability information 2 and the sensing authorization information 2. For another example, the ProSe layer 1 may determine that the sensing mode for completing the sensing service is the second sensing mode according to at least one of the sensing capability information 1 and the sensing authorization information 1 and at least one of the sensing capability information 2 and the sensing authorization information 2. The ProSe layer 1 determines that the sensing mode for completing the sensing service is a specific implementation manner of the second sensing mode, please refer to the specific implementation manner in step S901 that the UE 1 determines that the sensing mode for completing the sensing service is the first sensing mode, which is not described herein again.

It should be noted that, the UE 1 may discover the UE 2 supporting the second sensing mode through the discovery procedure; or, after establishing the PC5 connection with the UE 2, the UE 1 may determine that the UE 2 supports the second sensing mode according to a fifth message (that is, including at least one of the sensing capability information 2 and the sensing authorization information 2) from the UE 2; the embodiments of the present application are not limited thereto.

S1104: the ProSe layer 1 sends a fourth message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the fourth message.

The fourth message may be, for example, a sensing request message or PC5 signaling (signaling), and the specific implementation form of the fourth message is not limited thereto. The fourth message may be used to request completion (or implementation, execution, etc.) of the sensing service via the second sensing mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the sensing service through the second sensing mode; or to request the UE 2 to assist in completing (or implementing, performing, etc.) the aware traffic, etc.

As an example, the fourth message may include information of the second sensing mode, for example, the information of the second sensing mode may be sensing mode indication information or sensing mode identification information, so as to inform the ProSe layer 2 that the mode for implementing the sensing service is the second sensing mode, and further, the UE 1 and the UE 2 can cooperate with each other through the second sensing mode to complete the sensing service.

As another example, the fourth message may include service-aware identification information for identifying a type of the service-aware. The types of sensing services include intrusion detection, environmental sensing, and the like.

As another example, the fourth message may include the third configuration information. The third configuration information is used for the UE 2 to receive the second signal, or to acquire the sensing data of the sensing service, or to receive the second signal and acquire the sensing data of the sensing service. Wherein the third configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or a preset condition, etc.

The ProSe layer 1 may obtain the third configuration information, carry the third configuration information in a fourth message, and send the fourth message to the ProSe layer 2. For example, the ProSe layer 1 may determine the type of sensing service according to the sensing requirements from the APP layer 1; and based on the type of the sensing service, acquiring the third configuration information from the locally stored configuration information. For another example, the ProSe layer 1 may obtain the third configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the third configuration information according to the second correspondence. The second corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the second corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the ProSe layer 1 for obtaining the third configuration information, please refer to the specific implementation process of the UE 1 for obtaining the third configuration information in step S901, which is not described herein again. And, the ProSe layer 1 obtains the second corresponding relationship through the PCF network element or the application server, please refer to the content shown in fig. 8, which is not described herein again.

It should be understood that one or more of the information of the second sensing mode, the identification information of the sensing service, or the third configuration information may be included in the fourth message, which is not listed here.

S1105: the ProSe layer 2 determines that the UE 2 receives the second signal.

Alternatively, the UE 2 determining that the UE 2 receives the second signal may be understood as the UE 2 agreeing (or accepting) to adopt the second sensing mode.

Alternatively, the ProSe layer of UE 2 (i.e., proSe layer 2) may determine to receive the second signal. For example, after the ProSe layer 2 receives the fourth message, it may determine whether to receive the second signal or whether to employ the second sensing mode in response to the fourth message. In this embodiment, the ProSe layer 2 determines to receive the second signal or determines to adopt the second sensing mode.

As an example, if the fourth message includes information of the second sensing mode, the ProSe layer 2 may determine to receive the second signal according to the information of the second sensing mode. The information of the second sensing mode may be sensing mode indication information or sensing mode identification information, and the embodiment of the present application is not limited thereto.

As another example, the ProSe layer 2 may determine whether to receive the second signal according to at least one of the sensing capability information 2 and the sensing authorization information 2. In the present embodiment, the ProSe layer 2 determines to receive the second signal according to at least one of the sensing capability information 2 and the sensing authorization information 2. The ProSe layer 2 may determine a specific implementation manner of receiving the second signal according to at least one of the sensing capability information 2 and the sensing authorization information 2, please refer to the specific implementation manner of receiving the second signal determined by the UE 2 according to at least one of the sensing capability information 2 and the sensing authorization information 2 in step S902, which is not described herein again.

S1106: the ProSe layer 2 sends an eighth message to the ProSe layer 1; accordingly, the ProSe layer 1 receives the eighth message.

Optionally, the ProSe layer 2 may send an eighth message to the ProSe layer 1, where the eighth message may be, for example, a sensing response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. This eighth message may be used to indicate whether UE 2 assists UE1 in completing the sensing service (or whether UE 2 accepts to adopt the second sensing mode). In the embodiment of the present application, UE 2 assists UE1 to complete a sensing service (or UE 2 accepts to adopt a second sensing mode) as an example.

Optionally, after receiving the eighth message, the ProSe layer 1 may further send a second transmission indication to the ProSe layer 2 (not shown in fig. 11). The second transmission instruction is used for instructing the UE 2 to send the sensing data of the sensing service or the processing result of the sensing data to the UE 1.

Optionally, if the UE 2 does not accept to adopt the second sensing mode, the eighth message may include information of other sensing modes determined by the UE 2. For the UE 2 to determine the specific implementation manner of the other sensing modes, please refer to the content related to the UE 2 determining to receive the second signal in step S1105, which is not described herein again.

S1107: the ProSe layer 1 sends fourth configuration information to the AS layer 1; accordingly, the AS layer 1 receives the fourth configuration information.

For example, after the ProSe layer 1 sends the fourth message or receives the eighth message, the ProSe layer 1 may obtain the fourth configuration information and send the fourth configuration information to the AS layer 2. The fourth configuration information is used to transmit a perceptual signal. Wherein the fourth configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

For example, the ProSe layer 1 may determine the fourth configuration information according to the identification information of the sensing service. For another example, the ProSe layer 1 may obtain the fourth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may further obtain the first corresponding relationship by interacting with the PCF network element or the application server, and determine the fourth configuration information according to the first corresponding relationship. Wherein the first corresponding relationship may include one or more of the following corresponding relationships:

For a specific implementation process of acquiring the fourth configuration information by the ProSe layer 1, refer to the related content of the fourth configuration information acquired by the UE 1 in step S902, which is not described herein again. And, please refer to fig. 8 for a specific implementation process of acquiring the first corresponding relationship by the ProSe layer 1, which is not described herein again.

S1108: the ProSe layer 2 sends third configuration information to the AS layer 2; accordingly, the AS layer 2 receives the third configuration information.

For example, after determining that the assistance UE 1 completes the sensing service, the ProSe layer 2 may obtain third configuration information, and send the third configuration information to the AS layer 2. The third configuration information is used for receiving the second signal, or for processing the second signal, or for receiving and processing the second signal.

For example, the ProSe layer 2 may determine the third configuration information according to the identification information of the sensing service. For another example, if the fourth message includes the third configuration information, after the ProSe layer 2 receives the fourth message, the third configuration information may be obtained according to the fourth message. For another example, the ProSe layer 2 may obtain the third configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain the second corresponding relationship by interacting with the PCF network element or the application server, and determine the third configuration information according to the second corresponding relationship. The second corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the second corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the ProSe layer 2 to obtain the third configuration information, please refer to the related content of the step S902 in which the UE 2 obtains the third configuration information, which is not described herein again. And, please refer to fig. 8 for a specific implementation process of acquiring the second corresponding relationship by the ProSe layer 2, which is not described herein again.

S1109: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

S1110: AS layer 1 sends a sensing signal; the AS layer 2 receives the second signal.

For example, AS layer 1 may transmit the sensing signal according to the second sensing mode. Alternatively, AS layer 1 may transmit the sensing signal according to the fourth configuration information. Alternatively, AS layer 1 may send the sensing signal according to AS layer configuration parameters. Alternatively, the AS layer 2 may transmit the sensing signal according to the second sensing mode and the fourth configuration information. Alternatively, AS layer 1 may send the sensing signal according to the second sensing mode and the AS layer configuration parameters. Alternatively, AS layer 1 may send the sensing signal according to the fourth configuration information and the AS layer configuration parameter. Or, the AS layer 1 may further send the sensing signal according to the second sensing mode, the fourth configuration information, and the AS layer configuration parameter. For a specific implementation process of the AS layer 1 sending the sensing signal, please refer to the related content of the UE 1 sending the sensing signal in the foregoing step S902, which is not described herein again.

In a possible implementation manner, before the AS layer 1 sends the sensing signal, the AS layer 1 may obtain a sensing resource (such AS a time domain resource, a frequency domain resource, and the like) carrying the sensing signal, and send the sensing signal based on the sensing resource. For a specific implementation manner of obtaining the sensing resource by the AS layer 1, please refer to the content related to the sensing resource obtained by the UE 1 in step S902, which is not described herein again.

The AS layer 2 receives the second signal. For example, AS layer 2 may receive the second signal according to a second perception mode. For example, AS layer 2 may receive the second signal according to the third configuration information. Alternatively, AS layer 2 may receive the second signal according to the AS layer configuration parameters. Alternatively, the AS layer 2 may receive the second signal according to the second sensing mode and the third configuration information. Alternatively, the AS layer 2 may receive the second signal according to the second sensing mode and the AS layer configuration parameters. Alternatively, AS layer 2 may receive the second signal according to the third configuration information and the AS layer configuration parameter. Alternatively, the AS layer 2 may further receive the second signal according to the second sensing mode, the third configuration information, and the AS layer configuration parameter. For a specific implementation process of the AS layer 2 receiving the second signal, please refer to the related content of the UE 2 receiving the second signal in the step S902, which is not described herein again.

The second signal may be a sensing signal sent by the AS layer 1, or an echo signal of the sensing signal sent by the AS layer 1, or the sensing signal sent by the AS layer 1 and the echo signal of the sensing signal sent by the AS layer 1. For example, when the sensing service is intrusion detection, the second signal is a sensing signal transmitted by AS 1. For example, when the sensing service is environmental sensing, the second signal is an echo signal of the sensing signal sent by the AS 1, and the echo signal is a signal formed by the sensing signal being reflected by an object. For another example, when the sensing service is intrusion detection and environmental sensing, the second signal is a sensing signal sent by AS 1 and an echo signal of the sensing signal sent by AS 1.

S1111: and the AS layer 2 acquires the sensing data of the sensing service according to the second signal.

For example, after receiving the second signal, the AS layer 2 may process the second signal according to a processing mode of the sensing signal to obtain sensing data of the sensing service. For example, the sensing service is intrusion detection, and a processing manner of a sensing signal corresponding to the intrusion detection may be to generate a signal change curve according to the received sensing signal. For another example, the sensing service is environment sensing, and the processing manner of the sensing signal corresponding to the environment sensing may be to generate a sensing image according to an echo signal of the sensing signal. The sensing data may be a signal change curve, a sensing image, or the like, and the present application is not limited thereto.

Further, the AS layer 2 may determine whether to further process the sensing data according to the sensing data and a preset condition, for example, send the sensing data to another logic layer (for example, an APP layer of the UE 2) for processing, or send the sensing data to the UE 2, and the like.

Optionally, after the AS layer 2 obtains the sensing data of the sensing service, the UE 2 may send the sensing data (or a processing result of the sensing data) to the UE 1, which is not shown in fig. 11. For example, if ProSe layer 1 sends the second transmission indication to ProSe layer 2, UE 2 may send the sensing data or the processing result of the sensing data to UE 1 according to the second transmission indication. For another example, if the third configuration information includes a preset condition and the processing result of the sensing data meets the preset condition, the UE 2 may send the sensing data or the processing result of the sensing data to the UE 1 according to the preset condition.

So far, the UE 2 successfully obtains the sensing data of the sensing service, and completes the sensing service of the UE 1.

The first and second embodiments described above describe the implementation process of the UE 1 and the UE 2 assisting each other to complete the sensing service. Next, a procedure for implementing the ranging service by the UE 1 and the UE 2 assisting each other will be described with reference to the third embodiment and the fourth embodiment.

Example three:

fig. 12 is a flowchart illustrating a terminal measurement method according to an embodiment of the present application. In this embodiment, UE1 sends a ranging signal (ranging signal) to assist in completing the ranging service by requesting UE 2 to send a feedback signal of the ranging signal. As shown in fig. 12, the method may include:

s1201: UE1 sends ninth message to UE 2; accordingly, UE 2 receives the ninth message.

Illustratively, UE1 has a ranging service requirement, and UE1 may send a ninth message to UE 2. For example, a PC5 connection is established between UE1 and UE 2, UE1 has a ranging service requirement, and the ninth message may be sent to UE 2 through the PC5 connection with UE 2. For another example, UE1 may initiate a discovery procedure when there is a ranging service requirement, complete the establishment of PC5 connection with UE 2, and send the ninth message to UE 2 through the PC5 connection with UE 2. It should be understood that, the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE1 and the UE 2.

It should be noted that the ranging service according to the embodiment of the present application may be used to measure the relative distance between UE1 and UE 2. Fig. 13 shows a schematic diagram of the ranging service in the present embodiment. As shown in fig. 13, UE1 sends a ranging signal to UE 2, and calculates a time length between sending the ranging signal and receiving a feedback signal of the ranging signal, which is denoted as Tround1; after the UE 2 receives the ranging signal, calculating the time length between the receiving of the ranging signal and the sending of the feedback signal, recording as Treply1, and sending the feedback signal carrying Treply1 to the UE 1; after the UE1 receives the feedback signal, the relative distance between the UE1 and the UE 2 is determined according to Tround1 and Treply1, and is denoted as D1, where D1 is a product of (Tround 1-Treply 1)/2 and the speed of light.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, the UE 1 may broadcast an eleventh message, which may be a notification message in model a or an invitation message in model B. In this embodiment, the eleventh message may be used to discover a UE supporting the first ranging mode, or to discover a UE supporting the ranging capability, or to discover a UE supporting reception of a ranging signal. For example, UE 1 carries a measurement indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the first ranging mode, or to discover UEs supporting the ranging capability, or to discover UEs supporting reception of the ranging signal. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not described herein again. In addition, a terminal device supporting ranging capability may be understood as a terminal device that supports transmitting ranging signals and that supports receiving ranging signals.

The ninth message may be, for example, a ranging request message or a PC5 signaling (signaling), and the specific implementation form of the ninth message in the present application is not limited thereto. The ninth message may be used to request completion (or implementation, execution, etc.) of the ranging service through the first ranging mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the ranging service through the first ranging mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the ranging service, etc. Wherein, the first ranging mode may be a mode in which UE 1 transmits a ranging signal; or a mode in which UE 2 receives a ranging signal; or a mode in which UE 1 transmits a ranging signal and UE 2 receives the ranging signal. The first ranging mode may also be a mode in which the UE 1 serves as a ranging signal transmitting end; or the mode that the UE 2 is used as a ranging signal receiving end; or a mode in which UE 1 serves as a ranging signal transmitting side and UE 2 serves as a ranging signal receiving side.

For example, UE 1 may determine that the ranging mode for completing the ranging service is the first ranging mode. For example, UE 1 may have a ranging service requirement, may determine that the ranging mode for completing the ranging service is the first ranging mode, and may send the ninth message to UE 2 according to the first ranging mode.

As an example, the UE 1 may determine the ranging mode for completing the ranging service according to at least one of the ranging capability information (denoted as ranging capability information 1) of the UE 1 and the ranging grant information (denoted as ranging grant information 1) of the UE 1. Or, the UE 1 may determine the ranging mode for completing the ranging service according to at least one of the ranging capability information (denoted as ranging capability information 2) of the UE 2 and the ranging authorization information (denoted as ranging authorization information 2) of the UE 2. Or, the UE 1 may further determine a ranging mode for completing the ranging service according to at least one of the ranging capability information 1 and the ranging authorization information 1, and at least one of the ranging capability information 2 and the ranging authorization information 2.

The ranging capability information 1 is used for indicating that the UE 1 supports or does not support receiving ranging signals; or for indicating that UE 1 supports or does not support sending ranging signals; or for indicating that UE 1 supports receiving ranging signals but does not support sending ranging signals; or for indicating that UE 1 supports transmitting ranging signals but does not support receiving ranging signals; or for indicating that UE 1 supports receiving ranging signals and supports transmitting ranging signals; or for indicating that the UE 1 supports or does not support measurement operations. The measurement operation may be understood as an operation of transmitting a ranging signal. The ranging authorization information 1 is used for indicating authorized or unauthorized UE 1 to receive ranging signals; or for instructing a licensed or unlicensed UE 1 to transmit a ranging signal; or is used for indicating the authorized UE 1 to receive the ranging signal but not authorizing the UE 1 to send the ranging signal; or for instructing authorized UE 1 to transmit the ranging signal but unauthorized UE 1 to receive the ranging signal; or is used for instructing the authorized UE 1 to send the ranging signal and the authorized UE 1 to receive the ranging signal; or for instructing an unauthorized or authorized UE 1 to perform (or perform) a measurement operation, etc.

In the embodiment of the present application, the support of transmitting the ranging signal may also be understood as a support of transmitting the ranging signal, or a support of receiving a feedback signal of the ranging signal, or a support of transmitting the ranging signal and a support of receiving the feedback signal of the ranging signal.

The ranging capability information 2 is used for indicating that the UE 2 supports or does not support receiving ranging signals; or for indicating that UE 2 supports or does not support sending ranging signals; or for indicating that UE 2 supports receiving ranging signals but not transmitting ranging signals; or for indicating that UE 2 supports transmitting ranging signals but does not support receiving ranging signals; or for indicating that UE 2 supports receiving ranging signals and supports transmitting ranging signals; or to indicate that the UE 2 supports or does not support measurement operations. And, the ranging grant information 2 is used to indicate the UE 2 that is authorized or unauthorized to receive the ranging signal; or for instructing a licensed or unlicensed UE 2 to transmit a ranging signal; or for instructing the authorized UE 2 to receive the ranging signal but the unauthorized UE 2 to transmit the ranging signal; or for instructing the authorized UE 2 to transmit the ranging signal but the unauthorized UE 1 to receive the ranging signal; or for instructing the authorized UE 2 to send a ranging signal and the authorized UE 2 to receive the ranging signal; or for instructing an unauthorized or authorized UE 1 to perform (or perform) measurement operations, etc.

It should be noted that, the UE 1 determines that the ranging mode for completing the ranging service is a specific implementation process of the first ranging mode, and reference may be made to the specific implementation process of the UE 1 determining that the sensing mode for completing the sensing service is the second sensing mode in the foregoing embodiment two, which is not described in detail here. For example, the ranging capability information 1 is used to indicate that the UE 1 supports sending the ranging signal, and the ranging grant information 1 is used to indicate that the UE 1 is authorized to send the ranging signal, then the UE 1 may determine that the ranging mode for completing the ranging service is the first ranging mode according to the ranging capability information 1 and the ranging grant information 1. For another example, the ranging capability information 2 is used to indicate that the UE 2 does not support sending the ranging signal, and the ranging grant information 2 is used to indicate that the UE 2 is not authorized to send the ranging signal, so that the UE 1 may determine that the ranging mode for completing the ranging service is the first ranging mode according to the ranging capability information 2 and the ranging grant information 2.

In one possible implementation, UE 1 may receive a tenth message from UE 2, where the tenth message includes ranging capability information 2, or includes ranging grant information 2, or includes ranging capability information 2 and ranging grant information 2. For reference, the UE 1 receives the tenth message from the UE 2, referring to the related content of the fifth message received from the UE 2 by the UE 1 in the second embodiment, which is not described herein again.

As an example, the ninth message may include information of the first ranging mode, for example, the information of the first ranging mode may be ranging mode indication information or ranging mode identification information, so as to inform that the mode of implementing the ranging service by UE 2 is the first ranging mode, and then UE 1 and UE 2 can cooperate with each other to complete the ranging service according to the first ranging mode.

As another example, the ninth message may include identification information of the ranging service for identifying a type of the ranging service.

As another example, the ninth message may include fifth configuration information that may be used for UE 2 to receive the ranging signal. Wherein the fifth configuration information may include one or more of the following information: identification information of a ranging service, time information of the ranging service, signal characteristics of a ranging signal, or a processing mode of the ranging signal, etc. The identification information of the ranging service is used to identify the type of the ranging service, such as the ranging service or the angle measurement service. The time information of the ranging service may include one or more of a transmission period of the ranging signal, or a transmission duration of the ranging signal, etc. The signal characteristics of the ranging signal may be used to indicate one or more of whether the ranging signal is a licensed spectrum signal, whether the ranging signal is a high frequency signal, and frequency information of the ranging signal. The processing manner of the ranging signal may include generating a feedback signal of the ranging signal, and Treply1 is carried in the feedback signal.

The fifth configuration information may be configuration information locally stored by the UE1 (e.g., predefined, preconfigured, or the like), for example, the UE1 obtains the fifth configuration information from the locally stored configuration information according to the identification information of the ranging service; or the information is obtained by interaction with a PCF network element or an application server; or determined according to the third correspondence. For a specific implementation process of the UE1 for acquiring the fifth configuration information, please refer to the relevant content of the first configuration information acquired by the UE1 in the foregoing embodiment one, which is not described in detail herein.

The third corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the third corresponding relationship in this embodiment is not limited thereto. Please refer to the content shown in fig. 8, which is not described herein again, in accordance with a specific implementation process of obtaining the third corresponding relationship with the PCF network element or the application server by the UE 1. The third correspondence may include one or more of the following correspondences: the corresponding relation between the identification information of the ranging service and the time information of the ranging service; or, the corresponding relation between the identification information of the ranging service and the signal characteristics of the ranging signal corresponding to the ranging service; or, the corresponding relation between the identification information of the ranging service and the processing mode of the ranging signal.

S1202: UE 1 sends a ranging signal; UE 2 receives the ranging signal.

For example, UE 1 may transmit the ranging signal after transmitting the ninth message. Alternatively, UE 1 may receive the response message of the ninth message after transmitting the ninth message, and then transmit the ranging signal.

As an example, UE 1 may transmit a ranging signal according to a first ranging mode. For example, after the UE 1 transmits the ninth message, a ranging signal may be transmitted according to the first ranging mode.

As another example, UE 1 may transmit a ranging signal according to the sixth configuration information. The sixth configuration information may be used to send a ranging signal, receive a feedback signal of the ranging signal, or obtain at least one of ranging data of a ranging service. Wherein the sixth configuration information may include one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, a processing mode of the ranging signal, or a preset condition, etc. For example, the sixth configuration information includes a transmission duration of the ranging signal, and the UE 1 may transmit the ranging signal according to the transmission duration of the ranging signal. The sixth configuration information includes signal characteristics of the ranging signal, such as frequency information of the ranging signal, according to which the UE 1 transmits the ranging signal. For another example, the sixth configuration information includes a transmission period of the ranging signal and a signal characteristic of the ranging signal (e.g., the ranging signal is a high frequency signal), and the UE 1 may transmit the high frequency ranging signal according to the transmission period. For another example, the sixth configuration information includes a transmission duration of the ranging signal and a signal characteristic of the ranging signal (e.g., the ranging signal is a low-frequency licensed spectrum signal), and the UE 1 may transmit the low-frequency licensed spectrum signal according to the transmission duration.

The number of the preset conditions may be one or more, and the embodiment of the present application is not limited thereto. For example, the preset condition may be a threshold value, such as a signal state or strength, at which the ranging signal is transmitted. The preset condition may be used to analyze at least one of the ranging data and a processing result of the ranging data. Optionally, the UE 1 determines whether the processing result of the ranging data (and/or the ranging data) satisfies a preset condition, and if the processing result of the ranging data satisfies the preset condition, notifies the application layer of the UE 1 or notifies the UE 2. Wherein, the processing result of the ranging data can be understood as calculating the relative position information between the UE 1 and the UE 2 according to the ranging data.

UE 1 may obtain the sixth configuration information. For example, the UE 1 may obtain the sixth configuration information from the locally stored configuration information according to the identification information of the ranging service. For another example, the UE 1 may acquire the sixth configuration information through interaction with a PCF network element or an application server. For another example, the UE 1 may determine the sixth configuration information according to the fourth corresponding relationship. Wherein the fourth corresponding relationship may include one or more of the following corresponding relationships: the corresponding relation between the identification information of the ranging service and the time information of the ranging service; or, the corresponding relation between the identification information of the ranging service and the signal characteristics of the ranging signal; or, the corresponding relation between the identification information of the ranging service and the processing mode of the ranging signal, etc.; or, the corresponding relation between the identification information of the ranging service and the preset condition.

The UE 1 determines a specific implementation process of the sixth configuration information according to the fourth corresponding relationship, please refer to the description that the UE 1 determines the fifth configuration information according to the third corresponding relationship in step S1201, which is not described herein again.

As another example, the UE 1 may transmit a ranging signal according to the first ranging mode and the sixth configuration information. For example, the UE 1 may determine to transmit a ranging signal according to the first ranging mode and transmit the ranging signal according to the sixth configuration information.

In one possible implementation, the AS layer configuration parameters may also be negotiated between UE 1 and UE 2 before UE 1 transmits the ranging signal. UE 1 may send a ranging signal according to the AS layer configuration parameters. The AS layer configuration parameters are used for transmission and reception of ranging signals. The AS layer configuration parameter may include at least one of a logical channel carrying the ranging signal, a layer 2 identification, or signal characteristics of the ranging signal.

In one possible implementation manner, before UE 1 transmits the ranging signal, UE 1 may acquire a ranging resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the ranging signal and transmit the ranging signal based on the ranging resource. For example, UE 1 may send a request message to RAN, where the request message is used to request to acquire a resource carrying a ranging signal corresponding to a ranging service; after receiving the request message, the RAN may determine the ranging resource of the ranging service, for example, obtain the ranging resource of the ranging service according to the ranging authorization information (e.g., signal characteristics of the ranging signal) of the UE 1, and send the ranging resource to the UE 1. Optionally, the request message sent by UE 1 may include the signal characteristics of the ranging signal.

In another possible implementation, before UE 1 sends the ranging signal, UE 1 may negotiate AS layer configuration parameters with UE 2 and obtain ranging resources carrying the ranging signal. After that, UE 1 may send a ranging signal according to the AS layer configuration parameters and the ranging resource.

It should be understood that the UE 1 may transmit the ranging signal according to one or more of the first ranging mode, the sixth configuration information, the AS layer configuration parameter, or the ranging resource, and the specific implementation process may refer to the above description, which is not exemplified herein.

For example, after receiving the ninth message, the UE 2 may determine whether to receive the ranging signal or whether to approve (or accept) the first ranging mode. In this embodiment, UE 2 determines to receive the ranging signal (or agrees to use the first ranging mode). For the specific implementation process of the UE 2 determining whether to receive the ranging signal, reference is made to the description of the UE 2 determining whether to receive the sensing signal in the second embodiment, which is not repeated herein. For example, the ranging capability information 2 is used to indicate that the UE 2 does not support transmitting the ranging signal (or indicate that the UE 2 supports receiving the ranging signal, or indicate that the UE 2 does not support transmitting the ranging signal but supports receiving the ranging signal, or indicate that the UE 2 supports transmitting the ranging signal and supports receiving the ranging signal, or indicate that the UE 2 does not support a measurement operation), and the UE 2 may determine the receiving the ranging signal according to the ranging capability information 2.

As one example, UE 2 may receive ranging signals according to a first ranging mode. For example, the UE 2 may attempt to receive a ranging signal according to the first ranging mode after receiving the ninth message and receive the ranging signal.

As an example, the UE 2 may receive the ranging signal according to the fifth configuration information. The fifth configuration information may include one or more of the following information: identification information of the ranging service, time information of the ranging service, signal characteristics of the ranging signal or a processing mode of the ranging signal, and the like. For example, the fifth configuration information includes a transmission period of a ranging signal according to which the UE 2 may receive the ranging signal. For example, the fifth configuration information includes a transmission duration of the ranging signal, and the UE 2 may receive the ranging signal according to the transmission duration of the ranging signal. For another example, the fifth configuration information includes a signal characteristic of a ranging signal, and the UE 2 may receive the ranging signal according to the characteristic information of the ranging signal.

It should be understood that the UE 2 may receive the ranging signal according to one or more of the first ranging mode, the fifth configuration information, the AS layer configuration parameter or the ranging resource. For the description of the configuration parameters and ranging resources of the AS layer, please refer to the related content of the UE 1 sending the ranging signal, which is not described herein again.

It is noted that if UE 2 does not accept to adopt the first ranging mode, UE 2 may determine other ranging modes and send information of the other ranging modes to UE 1. Please refer to the specific implementation manner of the UE 2 for determining the first ranging mode, which is not described herein again.

S1203: UE 2 transmits a feedback signal of the ranging signal, and UE 1 receives the feedback signal.

After receiving the ranging signal from UE 1, UE 2 may send a feedback signal of the ranging signal to UE 1. Accordingly, UE 1 may receive the feedback signal. In this embodiment, the feedback signal carries a time length from the time when the UE 2 receives the ranging signal to the time when the feedback signal of the ranging signal is sent, that is, the feedback signal carries Treply1.

For example, the UE 2 may send the feedback signal of the ranging signal to the UE 1 according to one or more of the first ranging mode, the fifth configuration information, the AS layer configuration parameter, or the ranging resource, and please refer to the related content of the ranging signal sent by the UE 1 in the specific implementation process, which is not described herein again. UE 1 may receive the feedback signal from UE 2 according to one or more of the first ranging mode, the sixth configuration information, the AS layer configuration parameter, or the ranging resource, and please refer to the relevant content of UE 2 receiving the measurement signal in the specific implementation process, which is not described herein again.

S1204: and the UE 1 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.

In S1204, after receiving the feedback signal, UE 1 may obtain ranging data of the ranging service according to the ranging signal and the feedback signal. For example, the UE 1 may obtain the relative distance between the UE 1 and the UE 2 according to the ranging signal and the reference signal, where the relative distance between the UE 1 and the UE 2 is the product of (round 1-Treply 1)/2 and the speed of light, as shown in fig. 13.

As another example, UE 1 may send ranging data (or a processing result of the ranging data) to UE 2; accordingly, the UE 2 receives the ranging data (or the processing result of the ranging data). For example, the processing result of the ranging data satisfies the preset condition, and the UE 1 sends the ranging data or the processing result of the ranging data to the UE 2 according to the preset condition. For another example, UE 2 may send a third transmission indication to UE 1, and the corresponding UE 1 receives the third transmission indication. The third transmission instruction is used to instruct UE 1 to send ranging data or a processing result of the ranging data to UE 2. Further, the UE 1 sends the ranging data or the processing result of the ranging data to the UE 2 according to the third transmission instruction.

The terminal measurement method shown in fig. 12 will be described below from the interaction of the respective logical layers of the UE (as shown in fig. 4).

Fig. 14 shows a flowchart of a terminal measurement method provided in an embodiment of the present application. Step S1401, step S1405, step S1406, and step S1409 are optional steps, and may be executed or not executed, and are indicated by dotted lines in fig. 14. As shown in fig. 14, the method may include:

s1401: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

In this embodiment, UE 1 supports transmitting ranging signals but does not support receiving ranging signals; or, the UE 1 only authorizes sending the ranging signal and does not authorize receiving the ranging signal; alternatively, the UE 1 is authorized to perform (or perform) the measurement operation. UE 1 can discover UE 2 supporting reception of the ranging signal by broadcasting the eleventh message, so that UE 1 can request UE 2 to assist in completing the ranging service. For a specific implementation process of S1401, please refer to the related content of S1201, which is not described herein again.

S1402: the APP layer 1 sends a ranging requirement to the ProSe layer 1; accordingly, proSe layer 1 receives the ranging requirements. Or the APP layer 1 sends a ranging request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the ranging request.

For example, APP layer 1 has a ranging service requirement, generates a ranging requirement (or ranging request), and transmits the ranging requirement (or ranging request) to ProSe layer 1. The ranging requirement (or ranging request) may include identification information of the ranging service. The identification information of the ranging service is used to identify the type of the ranging service.

It should be noted that APP layer 1 may send a ranging request (or ranging request) to ProSe layer 1 after UE 1 completes the discovery procedure and the PC5 connection establishment procedure; or after the APP layer 1 has a requirement for the ranging service, triggering the UE 1 to initiate a discovery procedure and a PC5 connection establishment procedure, which is not limited in this embodiment of the present invention.

S1403: the ProSe layer 1 determines that the mode of completing the ranging service is the first ranging mode.

And after receiving the ranging requirement, the ProSe layer 1 determines a ranging mode for completing the ranging service. In this embodiment, the ProSe layer 1 determines that the ranging mode in which the ranging service is completed is the first ranging mode. For example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the first ranging mode according to at least one of ranging capability information 1 and ranging grant information 1. For another example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the first ranging mode according to at least one of the ranging capability information 2 and the ranging grant information 2. For another example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the first ranging mode according to at least one of the ranging capability information 1 and the ranging grant information 1 and at least one of the ranging capability information 2 and the ranging grant information 2. Please refer to the specific implementation manner in step S1201 that the UE 1 determines that the ranging mode completing the ranging service is the first ranging mode, which is not described herein again.

S1404: the ProSe layer 1 sends a ninth message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the ninth message.

The ninth message may be, for example, a ranging request message or PC5 signaling, but the specific implementation form of the ninth message is not limited thereto. The ninth message may be used to request completion (or implementation, execution, etc.) of the ranging service through the first ranging mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the ranging service through the first ranging mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the ranging service, etc.

The ninth message may include one or more of information of the first ranging mode, identification information of the ranging service, and fifth configuration information, please refer to the related description of the foregoing S1201, which is not repeated herein.

For example, proSe layer 1 may obtain the fifth configuration information, and carry the fifth configuration information in a ninth message, which is sent to ProSe layer 2. For example, the ProSe layer 1 may determine the type of ranging service according to the ranging requirement from the APP layer 1; and based on the type of the ranging service, acquiring the fifth configuration information from the locally stored configuration information. For another example, the ProSe layer 1 may obtain the fifth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the fifth configuration information according to the third correspondence. For a specific implementation process of the ProSe layer 1 for acquiring the fifth configuration information, please refer to the specific implementation process of the UE 1 for acquiring the fifth configuration information in step S1201, which is not described herein again.

S1405: the ProSe layer 2 determines that UE2 receives the ranging signal.

Alternatively, the UE2 receiving the ranging signal may be understood as the UE2 agreeing to adopt the first ranging mode, or understood as the UE2 agreeing to receive the ranging signal and send a feedback signal of the ranging signal to the UE 1.

Alternatively, the ProSe layer of UE2 (i.e., proSe layer 2) may determine to receive the ranging signal. For example, after the ProSe layer 2 receives the ninth message, it may determine whether to receive the ranging signal in response to the ninth message. In the present embodiment, the ProSe layer 2 determines a reception ranging signal. Step S1405 is an optional step. For a specific implementation process of determining to receive the ranging signal by the ProSe layer 2, please refer to the related description of the foregoing S1202, which is not described herein again.

S1406: the ProSe layer 2 sends a fifteenth message to the ProSe layer 1; accordingly, the ProSe layer 1 receives the fifteenth message.

Optionally, the ProSe layer 2 may send a fifteenth message to the ProSe layer 1, where the fifteenth message may be, for example, a measurement response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. The fifteenth message may be used to indicate whether UE2 assists UE 1 in completing the ranging service or whether UE2 accepts to adopt the first ranging mode. In the embodiment of the present application, UE2 assists UE 1 to complete a ranging service (UE 2 receives a signal in a first ranging mode) is described as an example.

Optionally, the fifteenth message may include a third transmission indication, which is not shown in fig. 14. The third transmission indication is used to instruct UE 1 to transmit the ranging data or the processing result of the ranging data to UE 2.

Optionally, if the UE2 does not accept to adopt the first ranging mode, the fifteenth message may further include other ranging modes determined by the UE 2. For a specific implementation manner of the other ranging modes determined by the UE2, please refer to the related description in step 12, which is not described herein again.

S1407: the ProSe layer 1 sends sixth configuration information to the AS layer 1; accordingly, AS layer 1 receives the sixth configuration information.

For example, after the ProSe layer 1 sends the ninth message or receives the fifteenth message, the ProSe layer 1 may obtain the sixth configuration information and send the sixth configuration information to the AS layer 2. The sixth configuration information is used for at least one of sending a ranging signal, acquiring ranging data of a ranging service, or receiving a feedback signal of the ranging signal. Wherein the sixth configuration information may include one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, a processing mode of the ranging signal, or a preset condition, etc. For a description of the sixth configuration information, please refer to the related content in fig. 12, which is not repeated herein.

For example, the ProSe layer 1 may determine the sixth configuration information according to the identification information of the ranging service. For another example, the ProSe layer 1 may obtain the sixth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may further obtain a fourth corresponding relationship by interacting with the PCF network element or the application server, and determine the fourth configuration information according to the fourth corresponding relationship. For a specific implementation process of acquiring the sixth configuration information by the ProSe layer 1, please refer to the related contents in the foregoing step S1202, which is not described herein again.

Alternatively, the ProSe layer 1 may transmit a ranging signal transmission indication to the AS layer 1. For example, the ProSe layer 1 may determine a ranging signal transmission indication according to the information of the first ranging mode and transmit the ranging signal transmission indication to the AS layer 1. Wherein the ranging signal transmission indication is used for indicating the transmission of the ranging signal.

S1408: the ProSe layer 2 sends fifth configuration information to the AS layer 2; accordingly, the AS layer 2 receives the fifth configuration information.

Exemplarily, after determining that the assisting UE 1 completes the ranging service, the ProSe layer 2 may obtain fifth configuration information, where the fifth configuration information is used for receiving the ranging signal and sending the fifth configuration information to the AS layer 2. The fifth configuration information is used for receiving a ranging signal, or for transmitting a feedback signal of the ranging signal, or for receiving the ranging signal and transmitting the feedback signal of the ranging signal. For example, the ProSe layer 2 may determine the fifth configuration information according to identification information of the ranging service. For another example, the ninth message includes the fifth configuration information, and the ProSe layer 2 may obtain the fifth configuration information according to the ninth message after receiving the ninth message. For another example, the ProSe layer 2 may obtain the fifth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain a third corresponding relationship by interacting with the PCF network element or the application server, and determine the fifth configuration information according to the third corresponding relationship. For a specific implementation process of acquiring the fifth configuration information by the ProSe layer 2, reference is made to the related content of the foregoing step S1202, which is not described herein again.

Optionally, the ProSe layer 2 may send a ranging signal reception indication to the AS layer 2. For example, the ProSe layer 2 may determine a ranging signal reception indication according to the information of the first ranging mode and transmit the ranging signal reception indication to the AS layer 2. Wherein the ranging signal reception indication is used to indicate reception of the ranging signal.

S1409: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

Optionally, AS layer 1 and AS layer 2 may negotiate AS layer configuration parameters. The AS layer configuration parameters are used for the transmission and reception of ranging signals. The AS layer configuration parameter may include at least one of a logical channel carrying the ranging signal, a layer 2 identification, or signal characteristics of the ranging signal.

S1410: AS layer 1 sends a ranging signal; AS layer 2 receives ranging signals.

For example, AS layer 1 may transmit a ranging signal according to a first ranging mode. Alternatively, AS layer 1 may transmit the ranging signal according to the sixth configuration information. Alternatively, AS layer 1 may send ranging signals according to AS layer configuration parameters. Alternatively, AS layer 1 may transmit the ranging signal according to the first ranging mode and the sixth configuration information. Alternatively, AS layer 1 may transmit the ranging signal according to the first ranging mode and the AS layer configuration parameters. Alternatively, the AS layer 1 may transmit the ranging signal according to the sixth configuration information and the AS layer configuration parameter. Or, the AS layer 1 may further send a ranging signal according to the first ranging mode, the sixth configuration information, and the AS layer configuration parameter. For a specific implementation process of sending the ranging signal by the AS layer 1, please refer to the related contents in the step S1202, which is not described herein again.

In a possible implementation manner, before the AS layer 1 sends the ranging signal, the AS layer 1 may obtain a ranging resource (such AS a time domain resource, a frequency domain resource, and the like) carrying the ranging signal, and send the ranging signal based on the ranging resource. For a specific implementation manner of acquiring the ranging resource by the AS layer 1, please refer to the related contents in fig. 12, which is not described herein again.

In S1410, please refer to the related contents in the foregoing step S1202 for the specific implementation process of the AS layer 2 receiving the ranging signal, which is not described herein again.

Optionally, the AS layer 1 transmits the ranging signal according to the ranging signal transmission instruction received from the ProSe layer 1. Accordingly, the AS layer 2 receives the ranging signal according to the ranging signal reception indication received from the ProSe layer 2.

S1411: AS 2 sends a feedback signal; AS 1 receives the feedback signal.

For a specific implementation process of S1411, please refer to the related content of S1203, which is not described herein again.

S1412: and the AS layer 1 acquires ranging data of the ranging service according to the ranging signal and the feedback signal.

For example, after receiving the feedback signal, the AS layer 1 may obtain the ranging data of the ranging service according to a processing manner of the ranging signal. For obtaining the ranging data, please refer to the related content in step S1204, which is not described herein again.

Further, the AS layer 1 may determine whether to perform further processing on the ranging data according to the ranging data and a preset condition, for example, send the ranging data to another logic layer (e.g., APP layer 1) for processing, or send the ranging data to the UE 2, etc.

Optionally, after the AS layer 1 acquires the ranging data, the UE 1 may send the ranging data (or a processing result of the ranging data) to the UE 2, which is not shown in fig. 14. For example, if the ProSe layer 2 transmits the third transmission indication to the ProSe layer 1, the UE 1 may transmit the ranging data or the processing result of the ranging data to the UE 2 according to the third transmission indication. For another example, if the sixth configuration information includes a preset condition and the processing result of the ranging data satisfies the preset condition, the UE 1 may send the ranging data or the processing result of the ranging data to the UE 2 according to the preset condition.

It should be noted that the UE may further include a Ranging layer (not shown in fig. 4), and the Ranging layer may be used to implement the Ranging service related function. Some or all of the steps performed by the ProSe layer in fig. 14 may be performed by the Ranging layer. For example, the Ranging layer of UE 1 may send a Ranging signal to the Ranging layer of UE 2; the Ranging layer of the UE 2 receives the Ranging signal and sends a feedback signal to the Ranging layer of the UE 1; and after receiving the feedback signal, the Ranging layer of the UE 1 can acquire Ranging data according to the Ranging signal and the feedback signal.

Thus, the UE 1 successfully obtains the ranging data, and completes the ranging service of the UE 1.

The above embodiment introduces UE 1 with a ranging service requirement to send a ranging signal, and completes the ranging service of UE 1 by requesting UE 2 to send a feedback signal of the ranging signal. Next, a specific implementation manner that UE 1 with a ranging service requirement does not send a ranging signal and UE 2 is requested to send a ranging signal to complete a ranging service of UE 1 will be described with reference to the fourth embodiment.

Example four:

fig. 15 shows another flowchart of the terminal measurement method provided in the embodiment of the present application. In this embodiment, UE 1 does not send a ranging signal, and requests UE 2 to send a ranging signal to obtain ranging data to assist in completing the ranging service. As shown in fig. 15, the method may include:

s1501: the UE 1 sends a twelfth message to the UE 2; accordingly, UE 2 receives the twelfth message.

Illustratively, UE 1 may have a ranging service requirement and UE 1 may send a twelfth message to UE 2. For example, a PC5 connection is established between UE 1 and UE 2, UE 1 has a ranging service requirement, and a twelfth message may be sent to UE 2 through the PC5 connection with UE 2. For another example, if the UE 1 has a ranging service requirement, it may initiate a discovery procedure, complete the establishment of the PC5 connection with the UE 2, and send the twelfth message to the UE 2 through the PC5 connection with the UE 2. It should be understood that, the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE 1 and the UE 2.

It should be noted that the ranging service according to the embodiment of the present application may be used to measure the relative distance between UE 1 and UE 2. Fig. 16 shows a schematic diagram of the ranging service in the present embodiment. As shown in fig. 16, UE 2 sends a ranging signal to UE 1, and calculates a time length between sending the ranging signal and receiving a feedback signal of the ranging signal, and records the time length as Tround2; after the UE 1 receives the ranging signal, calculating the time length between the reception of the ranging signal and the transmission of the feedback signal, recording the time length as Treply2, and transmitting the feedback signal carrying Treply2 to the UE 2; after receiving the feedback signal, UE 2 determines the relative distance between UE 1 and UE 2 according to Tround2 and Treply2, which is denoted as D2, where D2 is the product of (Tround 2-Treply 2)/2 and the speed of light.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, UE 1 may broadcast a fourteenth message, which may be a notification message in model a or an invite message in model B. In this embodiment, the fourteenth message may be used to discover a UE supporting the second ranging mode, or to discover a UE supporting the ranging capability, or to discover a UE supporting the transmission of the ranging signal. For example, UE 1 carries a measurement indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the second ranging mode, or to discover UEs supporting the ranging capability, or to discover UEs supporting the transmission of the ranging signal. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not described herein again. In addition, a terminal device supporting a ranging capability may be understood as a terminal device supporting transmission of a ranging signal and supporting reception of a ranging signal.

The twelfth message may be, for example, a ranging request message or a PC5 signaling (signaling), and the specific implementation form of the twelfth message is not limited thereto. The twelfth message may be used to request completion (or implementation, execution, etc.) of the ranging service through the second ranging mode; or, the UE 2 is configured to request the UE 2 to assist the UE 2 to complete (or implement, execute, etc.) the ranging service through the second ranging mode; or request UE 2 to assist UE1 in completing (or implementing, performing, etc.) the ranging service, etc.

Wherein, the second ranging mode may be a mode in which UE1 receives a ranging signal; or a mode in which UE 2 transmits a ranging signal; or a mode in which UE1 receives the ranging signal and UE 2 transmits the ranging signal. The second ranging mode may also be a mode in which UE1 serves as a ranging signal receiving end; or the mode that the UE 2 is used as a ranging signal sending end; or a mode in which UE1 serves as a ranging signal receiver and UE 2 serves as a ranging signal receiver.

For example, UE1 may determine that the ranging mode for completing the ranging service is the second ranging mode. For example, UE1 may have a ranging service requirement, determine that the ranging mode for completing the ranging service is the second ranging mode, and send a twelfth message to UE 2 according to the second ranging mode.

As an example, the UE 1 may determine the ranging mode for completing the ranging service according to at least one of the ranging capability information (denoted as ranging capability information 1) of the UE 1 and the ranging grant information (denoted as ranging grant information 1) of the UE 1. Or, the UE 1 may determine the ranging mode for completing the ranging service according to at least one of the ranging capability information (denoted as the ranging capability information 2) of the UE 2 and the ranging authorization information (denoted as the ranging authorization information 2) of the UE 2. Or, the UE 1 may further determine a ranging mode for completing the ranging service according to at least one of the ranging capability information 1 and the ranging grant information 1, and at least one of the ranging capability information 2 and the ranging grant information 2. For the description of the ranging capability information 1, the ranging authorization information 1, the ranging capability information 2, and the ranging authorization information 2, please refer to the related contents of the third embodiment, which is not repeated herein.

It should be noted that the UE 1 determines that the ranging mode for completing the ranging service is a specific implementation process of the second ranging mode, please refer to the specific implementation process of the first sensing mode for determining the sensing mode for completing the sensing service by the UE 1 in the foregoing embodiment one, which is not described in detail here. For example, the ranging capability information 1 is used to indicate that the UE 1 does not support sending the ranging signal, and the ranging grant information 1 is used to indicate that the UE 1 is not authorized to send the ranging signal, so that the UE 1 may determine that the ranging mode for completing the ranging service is the second ranging mode according to the ranging capability information 1 and the ranging grant information 1. For another example, the ranging capability information 2 is used to indicate that the UE 2 supports sending the ranging signal, and the ranging grant information 2 is used to indicate that the UE 2 is authorized to send the ranging signal, so that the UE 1 can determine that the ranging mode for completing the ranging service is the second ranging mode according to the ranging capability information 2 and the ranging grant information 2.

In one possible implementation, the UE 1 may receive a thirteenth message from the UE 2, where the thirteenth message includes the ranging capability information 2, or includes the ranging grant information 2, or includes the ranging capability information 2 and the ranging grant information 2. For example, UE 2 may send a thirteenth message to UE 1 in the discovery procedure; the corresponding UE 1 receives the thirteenth message; in this case, the thirteenth message may be a response message in model B. For another example, the UE 2 may send a thirteenth message to the UE 1 during the PC5 connection with the UE 1 or after the PC5 connection is established; the corresponding UE 1 receives the thirteenth message; in this case, the thirteenth message may be a direct communication accept message. It should be understood that the specific implementation manner of the thirteenth message in the embodiment of the present application is not limited thereto.

As an example, the twelfth message may include information of the second ranging mode, for example, the information of the second ranging mode may be ranging mode indication information or ranging mode identification information, so as to inform UE 2 that the mode for implementing the ranging service is the second ranging mode, and then UE 1 and UE 2 can cooperate with each other to complete the ranging service according to the second ranging mode.

As another example, the twelfth message may include identification information of the ranging service for identifying the type of the ranging service.

As another example, the twelfth message may include seventh configuration information for the UE 2 to transmit a ranging signal, receive a feedback signal of the ranging signal, and acquire at least one of ranging data of the ranging service. Wherein, the seventh configuration information may include one or more of the following information: identification information of a ranging service, time information of the ranging service, signal characteristics of a ranging signal, a processing mode of the ranging signal, or a preset condition, etc. The seventh configuration information may be configuration information locally stored by the UE 1 (e.g., predefined, or preconfigured, etc.), for example, the UE 1 obtains the seventh configuration information from the locally stored configuration information according to the identification information of the ranging service; or the information is obtained by interaction with a PCF network element or an application server; or determined according to the fourth correspondence.

For the description of the time information about the ranging service, the signal characteristics of the ranging signal, the processing manner of the ranging signal, the preset condition, and the fourth corresponding relationship, reference is made to the related description in step S1201, which is not repeated herein. For a specific implementation manner of the obtaining manner of the seventh configuration information, please refer to the related description of the sixth configuration information in step S1201, which is not described herein again.

S1502: UE 2 sends a ranging signal; UE 1 receives the ranging signal.

Illustratively, UE 2 may send the ranging signal after receiving the twelfth message. Alternatively, after receiving the twelfth message, the UE 2 first transmits a response message of the twelfth message and then transmits the ranging signal. For example, after receiving the twelfth message, the UE 2 may determine whether to transmit a ranging signal or whether to approve (accept) adoption of the second ranging mode. In this embodiment, UE 2 determines to transmit the ranging signal (or agrees to use the second ranging mode). For a specific implementation process of determining whether to send the ranging signal by the UE 2, reference is made to the description of determining whether to send the sensing signal by the UE 2 in the foregoing embodiment one, which is not described herein again. For example, the ranging capability information 2 is used to indicate that the UE 2 supports transmitting the ranging signal (or indicate that the UE 2 does not support receiving the ranging signal, or indicate that the UE 2 supports transmitting the ranging signal but does not support receiving the ranging signal, or indicate that the UE 2 supports transmitting the ranging signal and supports receiving the ranging signal, or indicate that the UE 2 supports the measurement operation); the UE 2 may determine to transmit a ranging signal according to the ranging capability information 2.

As an example, UE 2 may transmit a ranging signal according to the seventh configuration information. For example, the seventh configuration information includes a transmission period of a ranging signal, and the UE 2 may transmit the ranging signal according to the transmission period of the ranging signal. For example, the seventh configuration information includes a transmission duration of the ranging signal, and the UE 2 may transmit the ranging signal according to the transmission duration of the ranging signal. The seventh configuration information includes signal characteristics of the ranging signal, such as frequency information of the ranging signal, according to which the UE 2 transmits the ranging signal. For another example, the seventh configuration information includes a transmission period of the ranging signal and a signal characteristic of the ranging signal (for example, the ranging signal is a high frequency signal), and the UE 2 may transmit the high frequency ranging signal according to the transmission period. For another example, the seventh configuration information includes a transmission duration of the ranging signal and a signal characteristic of the ranging signal (e.g., the ranging signal is a low-frequency licensed spectrum signal), and the UE 2 may transmit the low-frequency licensed spectrum signal according to the transmission duration. For the description of the seventh configuration information, please refer to the related content in step S1501, which is not described herein again.

As another example, the UE 2 may also transmit a ranging signal according to the second ranging mode and the seventh configuration information. For example, the UE 2 may determine to transmit a ranging signal according to the second ranging mode and transmit the ranging signal according to the seventh configuration information. For a specific implementation process of sending the ranging signal according to the seventh configuration information, please refer to the above description, which is not described herein again.

In one possible implementation, the AS layer configuration parameters may also be negotiated between UE 1 and UE 2 before UE 2 sends the ranging signal. UE 2 may send a ranging signal according to the AS layer configuration parameters. The AS layer configuration parameters are used for the transmission and reception of ranging signals. The AS layer configuration parameter may include at least one of a logical channel carrying the ranging signal, a layer 2 identification, or signal characteristics of the ranging signal.

In one possible implementation, before UE 2 transmits the ranging signal, UE 2 may acquire a ranging resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the ranging signal and transmit the ranging signal based on the ranging resource. For example, UE 2 may send a request message to RAN, where the request message is used to request to acquire a resource carrying a ranging signal corresponding to a ranging service; after receiving the request message, the RAN may determine the ranging resource of the ranging service, for example, obtain the ranging resource of the ranging service according to the ranging authorization information (e.g., signal characteristics of the ranging signal) of the UE 2, and send the ranging resource to the UE 2. Optionally, the request message sent by UE 2 may include the signal characteristics of the ranging signal.

In another possible implementation, before UE 2 sends the ranging signal, UE 2 may negotiate AS layer configuration parameters with UE 1 and obtain a ranging resource carrying the ranging signal. And then, the UE 2 sends a ranging signal according to the AS layer configuration parameters and the ranging resources.

It should be understood that the UE 2 may send the ranging signal according to one or more of the second ranging mode, the seventh configuration information, the AS layer configuration parameter, or the ranging resource, and the specific implementation process may refer to the above description, which is not illustrated herein.

In step S1502, the UE 2 transmits a ranging signal in response to the twelfth message; accordingly, UE 1 receives the ranging signal.

As an example, UE 1 may receive the ranging signal according to the second ranging mode. For example, the UE 1 may attempt to receive a ranging signal according to the second ranging mode and receive the ranging signal after transmitting the twelfth message.

As an example, UE 1 may receive the ranging signal according to the eighth configuration information. The eighth configuration information may include one or more of the following information: time information of a ranging service, signal characteristics of a ranging signal, or a processing manner of the ranging signal, etc. For example, the eighth configuration information includes a transmission period of a ranging signal, and the UE 1 may receive the ranging signal according to the transmission period of the ranging signal. For example, the eighth configuration information includes a transmission duration of the ranging signal, and the UE 1 may receive the ranging signal according to the transmission duration of the ranging signal. For another example, the eighth configuration information includes a signal characteristic of a ranging signal, and the UE 1 may receive the ranging signal according to the characteristic information of the ranging signal. For another example, the eighth configuration information includes a processing manner of the ranging signal, and the UE 1 may receive the ranging signal according to the processing manner of the ranging signal.

The UE 1 may acquire the eighth configuration information and receive the ranging signal according to the eighth configuration information. For example, the eighth configuration information is locally stored (e.g., predefined, or preconfigured, etc.) configuration information of the UE 1, and the UE 1 may obtain the eighth configuration information from the locally stored configuration information according to the identification information of the ranging service. For another example, the UE 1 may acquire the eighth configuration information by interacting with a PCF network element or an application server. For another example, the UE 1 may determine the eighth configuration information according to the third corresponding relationship.

The third corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the third corresponding relationship in this embodiment is not limited thereto. Wherein the third corresponding relationship may include one or more of the following corresponding relationships: the corresponding relation between the identification information of the ranging service and the time information of the ranging service; or, the corresponding relation between the identification information of the ranging service and the signal characteristics of the ranging signal; or the corresponding relation between the identification information of the ranging service and the processing mode of the ranging signal, and the like.

The UE 1 determines a specific implementation process of the eighth configuration information according to the third corresponding relationship, please refer to the specific implementation process of the fifth configuration information determined by the UE 1 according to the third corresponding relationship, which is not described herein again.

As another example, the UE 1 may receive the measurement signal according to the second ranging mode and the eighth configuration information. For example, UE 1 may attempt to receive the measurement signal of UE 2 according to the second ranging mode and the eighth configuration information and receive the measurement signal.

It should be understood that the UE 1 may receive the ranging signal according to one or more of the second ranging mode, the eighth configuration information, the AS layer configuration parameter, or the ranging resource, and the specific implementation process may refer to the above description, which is not illustrated herein.

It is noted that if UE 2 does not accept to adopt the second ranging mode, UE 2 may determine other ranging modes and send information of the other ranging modes to UE 1. For the UE 2 to determine the specific implementation of the other ranging mode, please refer to the specific implementation of the UE 2 to determine the second ranging mode, which is not described herein again.

S1503: UE 1 sends the ranging signal feedback signal, and UE 2 receives the feedback signal. And obtaining ranging data of the ranging service according to the ranging signal.

After receiving the ranging signal from UE 2, UE 1 may send a feedback signal of the ranging signal to UE 2. Accordingly, UE 2 may receive the feedback signal. In this embodiment, the feedback signal carries a time length from the time when the UE 1 receives the ranging signal to the time when the feedback signal of the ranging signal is sent, that is, the feedback signal carries tresly 2.

For example, the UE 1 may send the feedback signal of the ranging signal to the UE 2 according to one or more of the second ranging mode, the eighth configuration information, the AS layer configuration parameter, or the ranging resource, and please refer to the related content of the ranging signal sent by the UE 2 in the specific implementation process, which is not described herein again. UE 2 may receive the feedback signal from UE 1 according to one or more of the second ranging mode, the seventh configuration information, the AS layer configuration parameter, or the ranging resource, and please refer to the relevant content of UE 1 receiving the measurement signal in the specific implementation process, which is not described herein again.

S1504: and the UE 2 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.

In S1504, after receiving the feedback signal, the UE 2 may obtain ranging data of the ranging service according to the ranging signal and the feedback signal. For example, the UE 2 may obtain the relative distance between the UE 1 and the UE 2 according to the ranging signal and the reference signal, where the relative distance between the UE 1 and the UE 2 is the product of (round 2-Treply 2)/2 and the speed of light, as shown in fig. 13.

As another example, UE 2 may transmit ranging data (or a processing result of the ranging data) to UE 1; accordingly, the UE 1 receives the ranging data (or the processing result of the ranging data). For example, the processing result of the ranging data satisfies the preset condition, and the UE 2 sends the ranging data or the processing result of the ranging data to the UE 1 according to the preset condition. For another example, UE 1 may send a fourth transmission indication to UE 2, and the corresponding UE 2 receives the fourth transmission indication. The fourth transmission instruction is used to instruct UE 2 to send ranging data or a processing result of the ranging data to UE 1. Further, UE 2 sends the ranging data or the processing result of the ranging data to UE 1 according to the third transmission instruction.

The terminal measurement method shown in fig. 15 will be described below from the interaction of the respective logical layers of the UE (as shown in fig. 4).

Fig. 17 is a flowchart illustrating a terminal measurement method according to an embodiment of the present application. Here, steps S1701, S1705, and S1709 are optional steps, and may be executed or not executed, and are indicated by broken lines in fig. 17. As shown in fig. 17, the method may include:

s1701: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

In this embodiment, UE 1 does not support sending ranging signals, but supports receiving ranging signals; alternatively, UE 1 is not authorized to transmit the ranging signal but is authorized to receive the ranging signal. UE 1 can discover UE 2 supporting sending the ranging signal by broadcasting the fourteenth message, so that UE 1 can request UE 2 to assist in completing the ranging service. For a specific implementation process of S1701, please refer to relevant contents of S1501, which is not described herein again.

S1702: the APP layer 1 sends a ranging requirement to the ProSe layer 1; accordingly, proSe layer 1 receives the ranging requirements. Or the APP layer 1 sends a ranging request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the ranging request.

The specific implementation process of step S1702 may refer to the specific implementation process of step S1402, and is not described herein again.

S1703: the ProSe layer 1 determines that the mode of completing the ranging service is the second ranging mode.

And after receiving the ranging requirement, the ProSe layer 1 determines a ranging mode for completing the ranging service. In this embodiment, the ProSe layer 1 determines that the ranging mode in which the ranging service is completed is the second ranging mode. For example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the second ranging mode according to at least one of ranging capability information 1 and ranging grant information 1. For another example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the second ranging mode according to at least one of the ranging capability information 2 and the ranging grant information 2. For another example, the ProSe layer 1 may determine that the ranging mode in which the ranging service is completed is the second ranging mode according to at least one of ranging capability information 1 and ranging grant information 1 and at least one of ranging capability information 2 and ranging grant information 2. The ProSe layer 1 determines that the ranging mode for completing the ranging service is a specific implementation manner of the second ranging mode, please refer to the specific implementation manner in step S1501 that the UE 1 determines that the ranging mode for completing the ranging service is the second ranging mode, which is not described herein again.

S1704: the ProSe layer 1 sends a twelfth message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the twelfth message.

The twelfth message may be, for example, a ranging request message or PC5 signaling, and the specific implementation form of the twelfth message is not limited thereto. The twelfth message may be used to request completion (or implementation, execution, etc.) of the ranging service through the second ranging mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the ranging service through the second ranging mode; or to request the UE 2 to assist in completing (or implementing, performing, etc.) the ranging service, etc.

The twelfth message may include one or more of information of the second ranging mode, identification information of the ranging service, or seventh configuration information, for which reference is specifically made to the foregoing description of S1501.

For example, proSe layer 1 may obtain the seventh configuration information, carry the seventh configuration information in a twelfth message, and send the twelfth message to ProSe layer 2. For example, the ProSe layer 1 may determine the type of ranging service according to the ranging requirement from the APP layer 1; and acquiring the seventh configuration information from the locally stored configuration information based on the type of the ranging service. For another example, the ProSe layer 1 may obtain the seventh configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the seventh configuration information according to the fourth correspondence. The fourth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the specific obtaining manner of the fourth corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the ProSe layer 1 for acquiring the seventh configuration information, please refer to the specific implementation process of the UE 1 for acquiring the seventh configuration information in step S1502, which is not described herein again. And, the ProSe layer 1 obtains the fourth corresponding relationship with the PCF network element or the application server, please refer to the content shown in fig. 8, which is not described herein again.

S1705: the ProSe layer 2 determines that UE 2 transmits a ranging signal.

Alternatively, the UE 2 determining that the UE 2 transmits the ranging signal may be understood as the UE 2 agreeing (or accepting) to adopt the second ranging mode.

Alternatively, the ProSe layer of UE 2 (i.e., proSe layer 2) may determine to transmit the ranging signal. For example, after the ProSe layer 2 receives the twelfth message, it may determine whether to transmit a ranging signal or whether to employ the second ranging mode in response to the twelfth message. In the present embodiment, the ProSe layer 2 determines to transmit a ranging signal or determines to adopt the second ranging mode. For a specific implementation process of determining to send the ranging signal by the ProSe layer 2, please refer to the related description of the foregoing S1502, which is not described herein again.

S1706: the ProSe layer 2 sends a sixteenth message to the ProSe layer 1; accordingly, the ProSe layer 1 receives the sixteenth message.

Optionally, the ProSe layer 2 may send a sixteenth message to the ProSe layer 1, where the sixteenth message may be, for example, a measurement response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. The sixteenth message may be used to indicate whether UE 2 assists UE 1 in completing the ranging service (or whether UE 2 accepts to employ the second ranging mode). In the embodiment of the present application, UE 2 assists UE 1 to complete a ranging service (or UE 2 accepts to adopt the second ranging mode) as an example.

Optionally, after receiving the sixteenth message, the ProSe layer 1 may further send a fourth transmission indication to the ProSe layer 2 (not shown in fig. 17). The fourth transmission indication is used to instruct UE 2 to send the ranging data or the processing result of the ranging data to UE 1.

Alternatively, if the UE 2 does not accept to adopt the second ranging mode, the sixteenth message may include information of other ranging modes determined by the UE 2. Please refer to the related contents in the step S1502 before, which is not repeated herein.

S1707: the ProSe layer 1 sends eighth configuration information to the AS layer 1; accordingly, AS layer 1 receives the eighth configuration information.

For example, after the ProSe layer 1 sends the twelfth message or receives the sixteenth message, the ProSe layer 1 may obtain the eighth configuration information and send the eighth configuration information to the AS layer 2. The eighth configuration information is used for receiving a ranging signal and for transmitting at least one of the ranging signals. Wherein the eighth configuration information may include one or more of the following information: identification information of the ranging service, time information of the ranging service, or signal characteristics of the ranging signal, or a processing mode of the ranging signal.

For example, the ProSe layer 1 may determine the eighth configuration information according to the identification information of the ranging service. For another example, the ProSe layer 1 may obtain the eighth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may further obtain a third corresponding relationship by interacting with the PCF network element or the application server, and determine the eighth configuration information according to the third corresponding relationship. Please refer to the content of step S1502 for the ProSe layer 1 to obtain the eighth configuration information, which is not described herein again.

Optionally, the ProSe layer 1 may send a ranging signal reception indication to the AS layer 1. For example, the ProSe layer 1 may determine a ranging signal reception indication according to the information of the second ranging mode and transmit the ranging signal reception indication to the AS layer 1. Wherein the ranging signal reception indication is used to indicate reception of a ranging signal.

S1708: the ProSe layer 2 sends seventh configuration information to the AS layer 2; accordingly, the AS layer 2 receives the seventh configuration information.

For example, after determining that the assisting UE 1 completes the ranging service, the ProSe layer 2 may obtain the seventh configuration information, and send the seventh configuration information to the AS layer 2. The seventh configuration information is used to send a ranging signal, to receive the ranging signal, or to obtain one or more of ranging data.

For example, the ProSe layer 2 may determine the seventh configuration information according to identification information of the ranging service. For another example, if the twelfth message includes the seventh configuration information, the ProSe layer 2 may obtain the seventh configuration information according to the twelfth message after receiving the twelfth message. For another example, the ProSe layer 2 may obtain the seventh configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain a fourth corresponding relationship by interacting with the PCF network element or the application server, and determine the seventh configuration information according to the fourth corresponding relationship. The fourth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the specific obtaining manner of the fourth corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of acquiring the seventh configuration information by the ProSe layer 2, please refer to the related content of the seventh configuration information acquired by the UE 2 in step S1502, which is not described herein again. And, the ProSe layer 2 obtains a specific implementation process of the fourth corresponding relationship, please refer to the content shown in fig. 8, which is not described herein again.

Optionally, the ProSe layer 2 may send a ranging signal transmission indication to the AS layer 2. For example, the ProSe layer 2 may determine a ranging signal transmission indication according to the information of the second ranging mode and transmit the ranging signal transmission indication to the AS layer 2. The ranging signal transmission indication is used for indicating the transmission of the ranging signal.

S1709: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

Optionally, AS layer 1 and AS layer 2 may negotiate AS layer configuration parameters. The AS layer configuration parameters are used for transmission and reception of ranging signals. The AS layer configuration parameter may include at least one of a logical channel carrying the ranging signal, a layer 2 identification, or signal characteristics of the ranging signal.

S1710: AS layer 2 sends a ranging signal; AS layer 1 receives ranging signals.

For example, AS layer 2 may transmit ranging signals according to a second ranging mode. Alternatively, the AS layer 2 may transmit the ranging signal according to the seventh configuration information. Alternatively, AS layer 2 may send ranging signals according to AS layer configuration parameters. Alternatively, AS layer 2 may transmit the ranging signal according to the second ranging mode and the fourth configuration information. Alternatively, the AS layer 2 may transmit the ranging signal according to the second ranging mode and the AS layer configuration parameter. Alternatively, AS layer 2 may transmit the ranging signal according to the seventh configuration information and the AS layer configuration parameter. Or, the AS layer 2 may further send a ranging signal according to the second ranging mode, the seventh configuration information, and the AS layer configuration parameter. For a specific implementation process of sending the ranging signal by the AS layer 2, please refer to the related contents in the step S1502, which is not described herein again.

In a possible implementation manner, before the AS layer 2 sends the ranging signal, the AS layer 2 may obtain a ranging resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the ranging signal, and send the ranging signal based on the ranging resource. For a specific implementation manner of the AS layer 2 acquiring the ranging resource, please refer to the related content of the step S1502 of the UE 2 acquiring the ranging resource, which is not described herein again.

In S1710, please refer to the related contents in step S1502, which will not be described herein again.

Optionally, the AS layer 2 transmits the ranging signal according to the ranging signal transmission instruction received from the ProSe layer 2. Accordingly, the AS layer 1 receives the ranging signal according to the ranging signal reception indication received from the ProSe layer 1.

S1711: AS layer 1 sends the feedback signal of the ranging signal; AS layer 2 receives the feedback signal.

For a specific implementation process of S1711, please refer to the related content of S1503 above, which is not described herein again.

S1712: and the AS layer 2 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.

For example, after receiving the feedback signal, the AS layer 2 may obtain the ranging data of the ranging service according to a processing manner of the ranging signal. Please refer to relevant contents of step S1504 for obtaining ranging data, which is not described herein.

Further, the AS layer 2 may determine whether to perform further processing on the ranging data according to the ranging data and a preset condition, for example, send the ranging data to another logic layer (for example, APP layer of UE 2) for processing, or send the ranging data to UE 1, and the like.

Optionally, after the AS layer 2 acquires the ranging data, the UE 2 may send the ranging data (or a processing result of the ranging data) to the UE 1, which is not shown in fig. 17. For example, if the ProSe layer 1 transmits the fourth transmission indication to the ProSe layer 2, the UE 2 may transmit the ranging data or the processing result of the ranging data to the UE 1 according to the fourth transmission indication. For another example, if the seventh configuration information includes a preset condition and the processing result of the ranging data satisfies the preset condition, the UE 2 may send the ranging data or the processing result of the ranging data to the UE 1 according to the preset condition.

It should be noted that the UE may further include a Ranging layer (not shown in fig. 4), and the Ranging layer may be used to implement the Ranging service related function. Some or all of the steps performed by the ProSe layer in fig. 17 may be performed by a Ranging layer. For example, the Ranging layer of UE 2 may send a Ranging signal to the Ranging layer of UE 1; the Ranging layer of the UE 1 receives the Ranging signal and sends a feedback signal to the Ranging layer of the UE 2; and after receiving the feedback signal, the Ranging layer of the UE 2 can acquire Ranging data according to the Ranging signal and the feedback signal.

Thus, the UE 2 successfully acquires the ranging data, and completes the ranging service of the UE 1.

The third and fourth embodiments describe the implementation process of the UE1 and the UE 2 assisting each other to complete the ranging service. Next, a process of implementing the angle measurement service by the mutual assistance of the UE1 and the UE 2 will be described with reference to the fifth embodiment and the sixth embodiment.

Example five:

fig. 18 shows a flowchart of a terminal measurement method provided in an embodiment of the present application. In this embodiment, UE1 sends an angle measurement signal (ranging signal), which is used to assist in the angle measurement service by requesting UE 2 to receive the angle measurement signal. As shown in fig. 18, the method may include:

s1801: the UE1 sends a seventeenth message to the UE 2; accordingly, the UE 2 receives the seventeenth message.

Illustratively, UE1 has an angle measurement (angular) traffic requirement, and UE1 may send a seventeenth message to UE 2. For example, a PC5 connection is established between the UE1 and the UE 2, the UE1 has a goniometric service requirement, and a seventeenth message may be sent to the UE 2 through the PC5 connection with the UE 2. For another example, UE1 may initiate a discovery procedure when there is a demand for angle measurement service, complete the establishment of PC5 connection with UE 2, and send the seventeenth message to UE 2 through the PC5 connection with UE 2. It should be understood that, the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE1 and the UE 2.

It should be noted that the angle measurement service related to the embodiment of the present application may be used to measure the relative angle between UE 1 and UE 2. Fig. 19 shows a schematic diagram of the goniometric service in the present embodiment. As shown in fig. 19, UE 1 transmits an angle measurement signal to UE 2; after receiving the angle measurement signal, the UE 2 calculates an included angle between the receiving direction (or the arrival direction) of the angle measurement signal and the reference direction, and obtains a relative angle between the UE 1 and the UE 2.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, UE 1 may broadcast a nineteenth message, which may be a notification message in model a or an invite message in model B. In this embodiment, the nineteenth message may be used to discover a UE supporting the first angle measurement mode, or to discover a UE supporting the angle measurement capability, or to discover a UE supporting reception of an angle measurement signal. For example, UE 1 carries a measurement indication in the notification message of model a (or the invite message of model B), which is used to discover a UE supporting the first goniometric mode, or to discover a UE supporting the goniometric capability, or to discover a UE supporting reception of the goniometric signal. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not described herein again. In addition, a terminal device supporting goniometric capabilities may be understood to be a terminal device that supports transmitting goniometric signals and that supports receiving goniometric signals.

The seventeenth message may be, for example, an angle measurement request message or PC5 signaling, and a specific implementation form of the seventeenth message is not limited thereto. The seventeenth message may be used to request that the angle measurement service be completed (or implemented, executed, etc.) through the first angle measurement mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the angle measurement service through the first angle measurement mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the angle measurement service, etc.

Wherein, the first angle measurement mode may be a mode in which the UE 1 transmits an angle measurement signal; or a mode in which UE 2 receives the angle measurement signal; or a mode in which UE 1 transmits an angle measurement signal and UE 2 receives the angle measurement signal.

Or, the first angle measurement mode may be a mode in which the UE 1 serves as an angle measurement signal transmitting end; or the mode that the UE 2 is used as an angle measuring signal receiving end; or a mode in which UE 1 serves as an angle measurement signal transmitting terminal and UE 2 serves as an angle measurement signal receiving terminal.

Alternatively, the first angle measurement mode may also be a mode in which UE 2 serves as a reference UE (reference UE); or a mode in which UE 1 is a target UE; or a mode in which UE 2 is the reference UE and UE 1 is the target UE. The reference UE may also be an observation UE (observer UE), and a reference plane and a reference direction of the reference UE are used to calculate an angle, so as to obtain angle measurement data.

For example, UE 1 may determine that the angle measurement mode for completing the angle measurement service is the first angle measurement mode. For example, UE 1 may have a demand for angle measurement service, may determine that the angle measurement mode for completing the angle measurement service is the first angle measurement mode, and send a seventeenth message to UE 2 according to the first angle measurement mode.

As an example, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information (denoted as angle measurement capability information 1) of the UE 1 and the angle measurement authorization information (denoted as angle measurement authorization information 1) of the UE 1. Or, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information (denoted as angle measurement capability information 2) of the UE 2 and the angle measurement authorization information (denoted as angle measurement authorization information 2) of the UE 2. Or, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1, and at least one of the angle measurement capability information 2 and the angle measurement authorization information 2.

The angle measurement capability information 1 is used for indicating that the UE 1 supports or does not support receiving angle measurement signals; or for indicating that UE 1 supports or does not support sending angle measurement signals; or for indicating that UE 1 supports receiving angle measurement signals but does not support sending angle measurement signals; or for indicating that UE 1 supports sending angle measurement signals but does not support receiving angle measurement signals; or for indicating that UE 1 supports receiving angle measurement signals and supports sending angle measurement signals; or for indicating that the UE 1 supports or does not support measurement operations. The measuring operation may be understood as an operation of transmitting an angle measuring signal. The angle measurement authorization information 1 is used for indicating authorized or unauthorized UE 1 to receive angle measurement signals; or for instructing authorized or unauthorized UEs 1 to send angle measurement signals; or for indicating authorized UE 1 to receive the angle measurement signal but unauthorized UE 1 to send the angle measurement signal; or for instructing authorized UE 1 to send angle measurement signals but unauthorized UE 1 to receive angle measurement signals; or for instructing authorized UE 1 to send angle measurement signals and authorized UE 1 to receive angle measurement signals; or for instructing an unauthorized or authorized UE 1 to perform (or perform) a measurement operation, etc.

The angle measurement capability information 2 is used for indicating that the UE 2 supports or does not support receiving angle measurement signals; or for indicating that UE 2 supports or does not support sending angle measurement signals; or for indicating that the UE 2 supports receiving angle measurement signals but does not support sending angle measurement signals; or for indicating that the UE 2 supports sending angle measurement signals but does not support receiving angle measurement signals; or for indicating that the UE 2 supports receiving angle measurement signals and supports sending angle measurement signals; or to indicate that the UE 2 supports or does not support measurement operations. And the angle measurement authorization information 2 is used for indicating authorized or unauthorized UE 2 to receive the angle measurement signal; or for instructing authorized or unauthorized UEs 2 to send angle measurement signals; or for indicating authorized UE 2 to receive angle measurement signals but unauthorized UE 2 to send angle measurement signals; or for instructing authorized UE 2 to send angle measurement signals but unauthorized UE 1 to receive angle measurement signals; or for instructing authorized UE 2 to send angle measurement signals and authorized UE 2 to receive angle measurement signals; or for instructing an unauthorized or authorized UE 1 to perform (or perform) measurement operations, etc.

It should be noted that, the UE 1 determines that the angle measurement mode for completing the angle measurement service is a specific implementation process of the first angle measurement mode, and reference may be made to a specific implementation process of the UE 1 determining that the sensing mode for completing the sensing service is the second sensing mode in the foregoing embodiment two, which is not described in detail here. For example, the angle measurement capability information 1 is used to indicate that the UE 1 supports sending the angle measurement signal, and the angle measurement authorization information 1 is used to indicate that the UE 1 is authorized to send the angle measurement signal, so that the UE 1 can determine that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode according to the angle measurement capability information 1 and the angle measurement authorization information 1. For another example, the angle measurement capability information 2 is used to indicate that the UE 2 does not support sending an angle measurement signal, and the angle measurement authorization information 2 is used to indicate that the unauthorized UE 2 sends an angle measurement signal, so that the UE 1 can determine that the angle measurement mode for completing the angle measurement service is the first angle measurement mode according to the angle measurement capability information 2 and the angle measurement authorization information 2.

In one possible implementation, the UE 1 may receive an eighteenth message from the UE 2, where the eighteenth message includes the goniometric capability information 2, or includes the goniometric authorization information 2, or includes the goniometric capability information 2 and the goniometric authorization information 2. For the eighteenth message received by the UE 1 from the UE 2, refer to the related content of the fifth message received by the UE 1 from the UE 2 in the foregoing second embodiment, which is not described herein again.

As an example, the seventeenth message may further include information of the first angle measurement mode, for example, the information of the first angle measurement mode may be angle measurement mode indication information or angle measurement mode identification information, so as to inform that the mode in which the UE 2 implements the angle measurement service is the first angle measurement mode, and then the UE 1 and the UE 2 can cooperate with each other to complete the angle measurement service according to the first angle measurement mode.

As another example, the seventeenth message may include identification information of the angle measurement service for identifying a type of the angle measurement service.

As another example, the seventeenth message may include ninth configuration information usable for the UE 2 to receive at least one of angle measurement signals and angle measurement data for acquiring angle measurement traffic. Wherein the ninth configuration information may include one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode or preset conditions of the angle measurement signal, and the like. The identification information of the angle measurement service is used for identifying the type of the angle measurement service, such as an internet of vehicles service or a near field communication service. The time information of the angle measurement service may include one or more of a transmission period of the angle measurement signal, or a transmission duration of the angle measurement signal. The signal characteristic of the angle measurement signal may be used to indicate one or more of whether the angle measurement signal is a licensed spectrum signal, whether the angle measurement signal is a high frequency signal, and frequency information of the angle measurement signal. The processing mode of the angle measurement signal may include different modes or methods for obtaining the angle information of the received signal, for example, a processing mode based on multiple antennas, or a processing mode based on digital or analog information.

The number of the preset conditions may be one or more, and the embodiment of the present application is not limited thereto. For example, the preset condition may be a threshold value for transmitting an angle measurement signal, such as a signal state or intensity. The preset condition may be used to analyze at least one of the angle measurement data and a processing result of the angle measurement data. Optionally, the UE1 determines whether the processing result of the angle measurement data (and/or the angle measurement data) satisfies a preset condition, and if the processing result satisfies the preset condition, notifies the application layer of the UE2 or notifies the UE 1. The processing result of the angle measurement data may be understood as calculating relative position information between the UE1 and the UE2 (for example, an angle or an orientation of the UE1 relative to the UE2, or an angle or an orientation of the UE2 relative to the UE 1) according to the angle measurement data.

The ninth configuration information may be configuration information locally stored by the UE1 (e.g., predefined, or preconfigured, etc.), for example, the UE1 obtains the ninth configuration information from the locally stored configuration information according to the identification information of the goniometric service; or the information is obtained by interacting with a PCF network element or an application server; or determined according to the fifth correspondence. For a specific implementation process of the UE1 for acquiring the ninth configuration information, please refer to the content related to the UE1 for acquiring the first configuration information in the foregoing embodiment one, which is not described in detail herein.

The fifth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the fifth corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the UE 1 obtaining the fifth corresponding relationship with the PCF network element or the application server, please refer to the content shown in fig. 8, which is not described herein again. The fifth correspondence may include one or more of the following correspondences: the corresponding relation between the identification information of the angle measurement service and the time information of the angle measurement service; or, the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal corresponding to the angle measurement service; or, the corresponding relation between the identification information of the angle measurement service and the processing mode of the angle measurement signal; or, the corresponding relation between the identification information of the angle measurement service and the preset condition.

S1802: UE 1 sends an angle measurement signal; UE 2 receives the angle measurement signal.

For example, the UE 1 may transmit the angle measurement signal after transmitting the seventeenth message. Alternatively, after transmitting the seventeenth message, the UE 1 may receive the response message of the seventeenth message and then transmit the angle measurement signal.

As an example, the UE 1 may transmit an angle measurement signal according to the first angle measurement mode. For example, after the UE 1 transmits the seventeenth message, the angle measurement signal may be transmitted according to the first angle measurement mode.

As another example, UE 1 may transmit an angle measurement signal according to the tenth configuration information. The tenth configuration information may be used to transmit an angle measurement signal. Wherein the tenth configuration information may include one or more of the following information: time information of the angle measurement service, signal characteristics of the angle measurement signal, and the like. For example, the tenth configuration information includes a transmission duration of the angle measurement signal, and the UE 1 may transmit the angle measurement signal according to the transmission duration of the angle measurement signal. The tenth configuration information includes signal characteristics of the angle measurement signal, such as frequency information of the angle measurement signal, and the UE 1 transmits the angle measurement signal according to the frequency information. For another example, the tenth configuration information includes a transmission period of the angle measurement signal and a signal characteristic of the angle measurement signal (for example, the angle measurement signal is a high-frequency signal), and the UE 1 can transmit the high-frequency angle measurement signal according to the transmission period. For another example, the tenth configuration information includes a transmission duration of the angle measurement signal and a signal characteristic of the angle measurement signal (for example, the angle measurement signal is a low-frequency licensed spectrum signal), and the UE 1 may transmit the low-frequency licensed spectrum signal according to the transmission duration.

UE 1 may acquire the tenth configuration information. For example, the UE 1 may obtain the tenth configuration information from the locally stored configuration information according to the identification information of the angle measurement service. For another example, the UE 1 may acquire the tenth configuration information by interacting with a PCF network element or an application server. For another example, the UE 1 may determine the tenth configuration information according to the sixth correspondence. The sixth corresponding relationship may include one or more of the following corresponding relationships: the corresponding relation between the identification information of the angle measurement service and the time information of the angle measurement service; or, the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal.

The UE 1 determines a specific implementation process of the tenth configuration information according to the sixth corresponding relationship, please refer to the description that the UE 1 determines the ninth configuration information according to the fifth corresponding relationship in step S1801, which is not described herein again.

As another example, the UE 1 may transmit the angle measurement signal according to the first angle measurement mode and the tenth configuration information. For example, the UE 1 may determine to transmit an angle measurement signal according to the first angle measurement mode, and transmit the angle measurement signal according to the tenth configuration information.

In a possible implementation manner, before UE 1 sends the angle measurement signal, UE 1 and UE 2 may also negotiate AS layer configuration parameters. UE 1 may send an angle measurement signal according to the AS layer configuration parameter. The AS layer configuration parameters are used for sending and receiving angle measuring signals. The AS layer configuration parameter may include at least one of a logical channel carrying the goniometric signal, a layer 2 identification, or signal characteristics of the goniometric signal.

In a possible implementation manner, before the UE 1 sends the angle measurement signal, the UE 1 may obtain an angle measurement resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the angle measurement signal, and send the angle measurement signal based on the angle measurement resource. For example, UE 1 may send a request message to RAN, where the request message is used to request to acquire a resource carrying an angle measurement signal corresponding to an angle measurement service; after receiving the request message, the RAN may determine the angle measurement resource of the angle measurement service, for example, obtain the angle measurement resource of the angle measurement service according to the angle measurement authorization information (e.g., signal characteristics of the angle measurement signal, etc.) of the UE 1, and send the angle measurement resource to the UE 1. Optionally, the request message sent by the UE 1 may include the signal characteristics of the angle measurement signal.

In another possible implementation manner, before UE 1 sends the angle measurement signal, UE 1 may negotiate AS layer configuration parameters with UE 2 and obtain an angle measurement resource carrying the angle measurement signal. Then, UE 1 may send an angle measurement signal according to the AS layer configuration parameters and the angle measurement resource.

It should be understood that the UE 1 may send the angle measurement signal according to one or more of the first angle measurement mode, the tenth configuration information, the AS layer configuration parameter, or the angle measurement resource, and the specific implementation process may refer to the above description, which is not given by way of example.

Illustratively, upon receiving the seventeenth message, the UE 2 may determine whether to receive the angle measurement signal or whether to approve (or accept) the first angle measurement mode. In this embodiment, the UE 2 determines to receive the angle measurement signal (or agrees to adopt the first angle measurement mode). For the specific implementation process of the UE 2 determining whether to receive the angle measurement signal, reference is made to the description of the UE 2 determining whether to receive the sensing signal in the second embodiment, which is not repeated here. For example, if the seventeenth message includes information of the first angle measurement mode, the UE 2 may determine the first angle measurement mode according to the information of the first angle measurement mode and determine to receive the angle measurement signal according to the first angle measurement mode.

As an example, the UE 2 may receive the angle measurement signal according to a first angle measurement mode. For example, the UE 2, after receiving the seventeenth message, may attempt to receive an angle measurement signal according to the first angle measurement mode and receive the angle measurement signal.

As an example, the UE 2 may receive the angle measurement signal according to the ninth configuration information. The ninth configuration information may include one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, a processing mode or preset conditions of the angle measurement signal, and the like. For example, the ninth configuration information includes a transmission period of the angle measurement signal, and the UE 2 may receive the angle measurement signal according to the transmission period of the angle measurement signal. For example, the ninth configuration information includes a transmission duration of the angle measurement signal, and the UE 2 may receive the angle measurement signal according to the transmission duration of the angle measurement signal. For another example, the ninth configuration information includes signal characteristics of an angle measurement signal, and the UE 2 may receive the angle measurement signal according to the characteristic information of the angle measurement signal.

It should be understood that the UE2 may receive the angle measurement signal according to one or more of the first angle measurement mode, the ninth configuration information, the AS layer configuration parameter, or the angle measurement resource. For the description of the AS layer configuration parameters and the angle measurement resources, please refer to the content related to the UE1 sending the angle measurement signal, which is not described herein again.

It is noted that if UE2 does not accept to adopt the first goniometric mode, UE2 may determine other goniometric modes and send information of the other goniometric modes to UE 1. For the UE2 to determine the specific implementation of the other angle measurement modes, please refer to the specific implementation of the UE2 to determine the first angle measurement mode, which is not described herein again.

S1803: and the UE2 acquires angle measurement data of the angle measurement service according to the angle measurement signal.

After receiving the angle measurement signal from the UE1, the UE2 may obtain angle measurement data (e.g., an angle or an orientation of the UE1 with respect to the UE 2) of the angle measurement service according to a receiving direction (or an arrival direction) of the angle measurement signal and a reference direction. The angle measurement data is an included angle between the receiving direction (or arrival direction) of the angle measurement signal and the reference direction, as shown in fig. 19. The reference direction may be preset, or may be negotiated between UE1 and UE2 in advance, which is not limited in this embodiment of the present application.

As another example, UE 2 may send angle measurement data (or a processing result of the angle measurement data) to UE 1; accordingly, the UE 1 receives the angle measurement data (or the processing result of the angle measurement data). For example, the processing result of the angle measurement data satisfies the preset condition, and the UE 2 sends the angle measurement data or the processing result of the angle measurement data to the UE 1 according to the preset condition. For another example, UE 1 may send a fifth transmission indication to UE 2, and the corresponding UE 2 receives the fifth transmission indication. The fifth transmission instruction is used to instruct the UE 2 to send the angle measurement data or the processing result of the angle measurement data to the UE 1. Further, the UE 2 sends angle measurement data or a processing result of the angle measurement data to the UE 1 according to the fifth transmission instruction.

The terminal measurement method shown in fig. 18 will be described below from the interaction of the respective logical layers of the UE (as shown in fig. 4).

Fig. 20 is a flowchart illustrating a terminal measurement method according to an embodiment of the present application. Here, step S2001, step S2005, step S2006, and step S2009 are optional steps, and may be executed or not executed, and are indicated by broken lines in fig. 20. As shown in fig. 20, the method may include:

s2001: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

In the present embodiment, UE 1 supports sending angle measurement signals, but does not support receiving angle measurement signals; or, the UE 1 only authorizes sending the angle measurement signal and does not authorize receiving the angle measurement signal; alternatively, the UE 1 is authorized to perform (or perform) the measurement operation. UE 1 can find UE 2 supporting receiving the angle measurement signal by broadcasting the nineteenth message, so that UE 1 can request UE 2 to assist in completing the angle measurement service. For a specific implementation process of S2001, reference is made to the related content of S1801, which is not described herein again.

S2002: the APP layer 1 sends an angle measurement requirement to the ProSe layer 1; accordingly, proSe layer 1 receives this goniometric requirement. Or the APP layer 1 sends an angle measurement request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the goniometric request.

For example, the APP layer 1 has an angle measurement service requirement, generates an angle measurement requirement (or angle measurement request), and transmits the angle measurement requirement (or angle measurement request) to the ProSe layer 1. The angle measurement requirement (or angle measurement request) may include identification information of the angle measurement service. The identification information of the angle measurement service is used for identifying the type of the angle measurement service.

It should be noted that the APP layer 1 may send an angle measurement requirement (or an angle measurement request) to the ProSe layer 1 after the UE 1 completes the discovery procedure and the PC5 connection establishment procedure; or after the APP layer 1 has the angle measurement service requirement, triggering the UE 1 to initiate a discovery procedure and a PC5 connection establishment procedure, which is not limited in this embodiment of the present invention.

S2003: the ProSe layer 1 determines that the mode of completing the angle measurement service is the first angle measurement mode.

And after receiving the angle measurement requirement, the ProSe layer 1 determines an angle measurement mode for completing the angle measurement service. In this embodiment, the ProSe layer 1 determines that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode. For example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1. For another example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode according to at least one of the angle measurement capability information 2 and the angle measurement authorization information 2. For another example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1, and at least one of the angle measurement capability information 2 and the angle measurement authorization information 2. Please refer to the specific implementation manner in step S1801 that the angle measurement mode in which the UE 1 determines that the angle measurement mode in which the angle measurement service is completed is the first angle measurement mode, which is not described herein again.

S2004: the ProSe layer 1 sends a seventeenth message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the seventeenth message.

The seventeenth message may be, for example, an angle measurement request message or PC5 signaling, but the specific implementation form of the seventeenth message is not limited thereto. The seventeenth message may be used to request that the angle measurement service be completed (or implemented, executed, etc.) through the first angle measurement mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the angle measurement service through the first angle measurement mode; or request UE 2 to assist UE 1 in completing (or implementing, executing, etc.) the goniometric service, etc.

The seventeenth message may include one or more of information of the first angle measurement mode, identification information of the angle measurement service, or the first configuration information, which please refer to the related description of the foregoing S1801, and details are not repeated here.

For example, the ProSe layer 1 may obtain the ninth configuration information, and carry the ninth configuration information in a seventeenth message, which is sent to the ProSe layer 2. For example, the ProSe layer 1 may determine the type of angle measurement service according to the angle measurement requirement from the APP layer 1; and acquiring the ninth configuration information from the locally stored configuration information based on the type of the angle measurement service. For another example, the ProSe layer 1 may obtain the ninth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the ninth configuration information according to the fifth correspondence. For a specific implementation process of acquiring the ninth configuration information by the ProSe layer 1, please refer to the specific implementation process of acquiring the ninth configuration information by the UE 1 in step S1801, which is not described herein again.

S2005: the ProSe layer 2 determines that UE2 receives an angle measurement signal.

Alternatively, the UE2 receiving the angle measurement signal may be understood as the UE2 agrees to adopt the first angle measurement mode, or as the UE2 agrees to receive the angle measurement signal.

Alternatively, the ProSe layer of UE2 (i.e., proSe layer 2) may determine the receive goniometric signal. For example, after the ProSe layer 2 receives the seventeenth message, it may determine whether to receive an angle measurement signal in response to the seventeenth message. In this embodiment, the ProSe layer 2 determines the reception angle measurement signal. Wherein, step S2005 is an optional step. For a specific implementation process of determining to receive the angle measurement signal by the ProSe layer 2, please refer to the related description of the foregoing S1802, which is not described herein again.

S2006: the ProSe layer 2 sends a twenty-third message to the ProSe layer 1; accordingly, the ProSe layer 1 receives the twenty-third message.

Optionally, the ProSe layer 2 may send twenty-third message to the ProSe layer 1, where the twenty-third message may be, for example, a measurement response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. The twenty-third message may be used to indicate whether UE2 assists UE 1 in completing the angle measurement service or indicate whether UE2 accepts to adopt the first angle measurement mode. In the embodiment of the present application, UE2 assists UE 1 to complete an angle measurement service (UE 2 receives data in a first angle measurement mode) as an example.

Optionally, after receiving the twenty-third message, the ProSe layer 1 may further send a fifth transmission indication to the ProSe layer 2 (not shown in fig. 20). The fifth transmission instruction is used to instruct the UE2 to send the angle measurement data or the processing result of the angle measurement data to the UE 1.

Optionally, if the UE2 does not accept to adopt the first angle measurement mode, the twenty-third message may further include other angle measurement modes determined by the UE 2. For a specific implementation manner of the other angle measurement modes determined by the UE2, please refer to the related description in step 18, which is not described herein again.

S2007: the ProSe layer 1 sends tenth configuration information to the AS layer 1; accordingly, AS layer 1 receives the tenth configuration information.

For example, after the ProSe layer 1 sends the seventeenth message or receives the twenty-third message, the ProSe layer 1 may obtain tenth configuration information and send the tenth configuration information to the AS layer 2. The tenth configuration information is used to transmit an angle measurement signal. Wherein the tenth configuration information may include one or more of the following information: time information of the angle measurement service, and signal characteristics of the angle measurement signal. For a description of the tenth configuration information, please refer to the related content in fig. 18, which is not repeated herein.

For example, the ProSe layer 1 may determine the tenth configuration information according to the identification information of the goniometric service. For another example, the ProSe layer 1 may obtain the tenth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may further obtain a sixth mapping relationship by interacting with the PCF network element or the application server, and determine the fourth configuration information according to the sixth mapping relationship. For a specific implementation process of the ProSe layer 1 obtaining the tenth configuration information, please refer to the related content in the foregoing step S1802, which is not described herein again.

Optionally, the ProSe layer 1 sends an angle measurement signal sending instruction to the AS layer 1. For example, the ProSe layer 1 may determine an angle measurement signal transmission instruction according to the information of the first angle measurement mode and transmit the angle measurement signal transmission instruction to the AS layer 1. For another example, if the first goniometric mode is a mode in which UE 2 is the reference UE and/or a mode in which UE 1 is the target UE, meaning that UE 1 needs to transmit a goniometric signal to UE 2, proSe layer 1 may determine to transmit a goniometric signal transmission indication to AS layer 1. Wherein the angle measuring signal sending indication is used for indicating sending of the angle measuring signal.

S2008: the ProSe layer 2 sends ninth configuration information to the AS layer 2; accordingly, the AS layer 2 receives the ninth configuration information.

For example, after determining that the assistance UE 1 completes the angle measurement service, the ProSe layer 2 may obtain ninth configuration information, where the ninth configuration information is used to receive the angle measurement signal and send the ninth configuration information to the AS layer 2. The ninth configuration information is used for receiving an angle measurement signal or for acquiring at least one item of angle measurement data of an angle measurement service. For example, the ProSe layer 2 may determine the ninth configuration information according to the identification information of the goniometric service. For another example, the seventeenth message includes the ninth configuration information, and the ProSe layer 2 can obtain the ninth configuration information from the seventeenth message after receiving the seventeenth message. For another example, the ProSe layer 2 may obtain the ninth configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain a fifth corresponding relationship by interacting with the PCF network element or the application server, and determine the ninth configuration information according to the fifth corresponding relationship. For a specific implementation process of acquiring the ninth configuration information by the ProSe layer 2, please refer to the related content of the step S1802, which is not described herein again.

Optionally, the ProSe layer 2 sends an angle measurement signal reception indication to the AS layer 2. For example, the ProSe layer 2 may determine an angle measurement signal reception indication according to the information of the first angle measurement mode and transmit the angle measurement signal reception indication to the AS layer 2. For another example, if the first angle measurement mode is a mode in which UE2 is a reference UE and/or a mode in which UE 1 is a target UE, meaning that UE2 needs to receive an angle measurement signal transmitted by UE 1 and calculate an angle, proSe layer 2 may determine to transmit an angle measurement signal reception indication to AS layer 2. Wherein the goniometric reception indication is indicative of receiving the goniometric signal. Alternatively, the angle measurement signal reception indication may also be an indication of a calculated received signal angle.

S2009: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

Optionally, AS layer 1 and AS layer 2 may negotiate AS layer configuration parameters. The AS layer configuration parameters are used for sending and receiving angle measuring signals. The AS layer configuration parameter may include at least one of a logical channel carrying the goniometric signal, a layer 2 identification, or signal characteristics of the goniometric signal.

S2010: the AS layer 1 sends an angle measurement signal; the AS layer 2 receives the goniometric signal.

For example, AS layer 1 may transmit an angle measurement signal according to a first angle measurement mode. Alternatively, AS layer 1 may transmit an angle measurement signal according to the tenth configuration information. Alternatively, AS layer 1 may send angle measurement signals according to AS layer configuration parameters. Alternatively, the AS layer 1 may transmit the angle measurement signal according to the first angle measurement mode and the tenth configuration information. Alternatively, the AS layer 1 may send the angle measurement signal according to the first angle measurement mode and the AS layer configuration parameter. Alternatively, the AS layer 1 may send the angle measurement signal according to the tenth configuration information and the AS layer configuration parameter. Or, the AS layer 1 may also send an angle measurement signal according to the first angle measurement mode, the tenth configuration information, and the AS layer configuration parameter. For a specific implementation process of sending the angle measurement signal by the AS layer 1, please refer to the related contents in the step S1802, which is not described herein again.

In a possible implementation manner, before the AS layer 1 sends the angle measurement signal, the AS layer 1 may obtain an angle measurement resource (such AS a time domain resource, a frequency domain resource, and the like) carrying the angle measurement signal, and send the angle measurement signal based on the angle measurement resource. For a specific implementation manner of obtaining the angle measurement resource by the AS layer 1, please refer to related contents in fig. 18, which is not described herein again.

In S2010, please refer to the related contents in step S1802 before for the specific implementation process of receiving the angle measurement signal by the AS layer 2, which is not described herein again.

Optionally, the AS layer 1 transmits the angle measurement signal according to the angle measurement signal transmission instruction received from the ProSe layer 1. Accordingly, the AS layer 2 receives the angle measurement signal according to the angle measurement signal reception indication received from the ProSe layer 2.

S2011: and the AS 2 acquires angle measurement data of the angle measurement service according to the angle measurement signal.

Exemplarily, after receiving the angle measurement signal, the AS layer 2 may obtain angle measurement data of the angle measurement service according to a processing manner of the angle measurement signal. For obtaining the angle measurement data, please refer to relevant contents in step S1803, which is not described herein again.

Further, the AS layer 2 may determine whether to further process the angle measurement data according to the angle measurement data and a preset condition, for example, send the angle measurement data to other logic layers (for example, APP layer) for processing, or send the angle measurement data to the UE 1, and the like.

Optionally, after the AS layer 2 obtains the angle measurement data, the UE 2 may send the angle measurement data (or a processing result of the angle measurement data) to the UE 1, which is not shown in fig. 20. For example, if the ProSe layer 1 transmits a fifth transmission instruction to the ProSe layer 2, the UE 2 may transmit angle measurement data or a processing result of the angle measurement data to the UE 1 according to the fifth transmission instruction. For another example, if the tenth configuration information includes a preset condition and the processing result of the angle measurement data satisfies the preset condition, the UE 2 may send the angle measurement data or the processing result of the angle measurement data to the UE 1 according to the preset condition.

It should be noted that the UE may further include an Angular layer (or Ranging layer) (not shown in fig. 4), which may be used to implement the goniometric service related function. Some or all of the steps performed by the ProSe layer in fig. 20 may be performed by the Angular layer. For example, the Angular layer of UE 1 may send a goniometric signal to the Angular layer of UE 2; the Angular layer of the UE 2 receives the angle measurement signal and obtains angle measurement data according to the angle measurement signal.

So far, the UE 2 successfully obtains angle measurement data, and completes the angle measurement service of the UE 1.

The above embodiment introduces UE 1 with angle measurement service requirement to send an angle measurement signal, and complete the angle measurement service of UE 1 by requesting UE 2 to obtain angle measurement data. Next, a specific implementation manner that UE 1 with a requirement for angle measurement service does not send an angle measurement signal and UE 2 is requested to send an angle measurement signal to complete the angle measurement service of UE 1 is described with reference to the sixth embodiment.

Example six:

fig. 21 is a schematic flowchart illustrating another terminal measurement method according to an embodiment of the present application. In this embodiment, UE 1 does not send an angle measurement signal, and requests UE 2 to send an angle measurement signal to assist in completing the angle measurement service. As shown in fig. 21, the method may include:

s2101: UE 1 sends twentieth message to UE 2; accordingly, UE 2 receives the twentieth message.

For example, UE 1 may have a goniometric traffic demand and UE 1 may send a twentieth message to UE 2. For example, a PC5 connection is established between UE 1 and UE 2, UE 1 has a goniometric service requirement, and a twentieth message may be sent to UE 2 through the PC5 connection with UE 2. For another example, UE 1 may have a demand for angle measurement service, initiate a discovery procedure, complete establishment of PC5 connection with UE 2, and send the twentieth message to UE 2 through the PC5 connection with UE 2. It should be understood that the embodiment of the present application is not limited to the reason for establishing the PC5 connection between the UE 1 and the UE 2.

It should be noted that the angle measurement service related to the embodiment of the present application may be used to measure the relative angle between UE 1 and UE 2. Fig. 22 shows a schematic diagram of the goniometric service in the present embodiment. As shown in fig. 22, UE 2 transmits an angle measurement signal to UE 1; after receiving the angle measurement signal, the UE 1 calculates an included angle between a receiving direction (or an arrival direction) of the angle measurement signal and a reference direction, and obtains a relative angle between the UE 1 and the UE 2.

The UE 1 may initiate the discovery procedure according to model a shown in fig. 3a, or may also initiate the discovery procedure according to model B shown in fig. 3B, which is not limited in this embodiment of the present application. For example, UE 1 may broadcast a twenty-second message, which may be a notification message in model a or an invite message in model B. In this embodiment, the twenty-second message may be used to discover a UE supporting the second angle measurement mode, or to discover a UE supporting the angle measurement capability, or to discover a UE supporting the transmission of the angle measurement signal. For example, UE 1 carries a measurement indication in the notification message of model a (or the invite message of model B), which is used to discover UEs supporting the second goniometric mode, or to discover UEs supporting the goniometric capability, or to discover UEs supporting the sending of the goniometric signal. For the specific implementation process of establishing the PC5 between the UE 1 and the UE 2, please refer to the description related to fig. 3c, which is not described herein again. In addition, a terminal device supporting goniometric capabilities may be understood to be a terminal device that supports transmitting goniometric signals and that supports receiving goniometric signals.

The twentieth message may be, for example, an angle measurement request message, PC5 signaling, or the like, and the specific implementation form of the twentieth message in the present application is not limited thereto. The twentieth message may be for requesting completion (or implementation, execution, etc.) of the angle measurement service through the second angle measurement mode; or, the UE 2 is configured to request the UE 2 to assist the UE 2 to complete (or implement, execute, etc.) the angle measurement service through the second angle measurement mode; or request UE 2 to assist UE 1 in completing (or implementing, performing, etc.) the angle measurement service, etc.

Wherein, the second angle measurement mode may be a mode in which UE 1 receives an angle measurement signal; or a mode in which the UE 2 transmits an angle measurement signal; or a mode in which UE 1 receives the angle measurement signal and UE 2 transmits the angle measurement signal.

Alternatively, the second angle measurement mode may be a mode in which the UE 1 serves as an angle measurement signal receiving end; or the mode that the UE 2 is used as the angle measuring signal sending end; or a mode in which UE 1 serves as the angle measurement signal receiving terminal and UE 2 serves as the angle measurement signal receiving terminal.

Alternatively, the second goniometric mode may be a mode in which UE 1 serves as a reference UE; or a mode in which UE 2 is the target UE; or a mode in which UE 1 is the reference UE and UE 2 is the target UE. The reference UE may also be an observation UE, and the reference plane and the reference direction of the reference UE are used to calculate an angle, so as to obtain angle measurement data.

For example, UE 1 may determine that the goniometric mode for completing the goniometric service is the second goniometric mode. For example, UE 1 may have a demand for angle measurement service, determine that the angle measurement mode for completing the angle measurement service is the second angle measurement mode, and send the twentieth message to UE 2 according to the second angle measurement mode.

As an example, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information (denoted as angle measurement capability information 1) of the UE 1 and the angle measurement authorization information (denoted as angle measurement authorization information 1) of the UE 1. Or, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information (denoted as angle measurement capability information 2) of the UE 2 and the angle measurement authorization information (denoted as angle measurement authorization information 2) of the UE 2. Or, the UE 1 may determine the angle measurement mode for completing the angle measurement service according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1, and at least one of the angle measurement capability information 2 and the angle measurement authorization information 2. For the description of the angle measurement capability information 1, the angle measurement authorization information 1, the angle measurement capability information 2, and the angle measurement authorization information 2, reference is made to the relevant contents of the fifth embodiment, and details are not repeated here.

It should be noted that, the UE 1 determines that the angle measurement mode for completing the angle measurement service is a specific implementation process of the second angle measurement mode, and reference may be made to the specific implementation process of the UE 1 determining that the sensing mode for completing the sensing service is the first sensing mode in the foregoing embodiment one, which is not described herein again. For example, the angle measurement capability information 1 is used to indicate that the UE 1 does not support sending the angle measurement signal, and the angle measurement authorization information 1 is used to indicate that the unauthorized UE 1 sends the angle measurement signal, so that the UE 1 can determine that the angle measurement mode for completing the angle measurement service is the second angle measurement mode according to the angle measurement capability information 1 and the angle measurement authorization information 1. For another example, the angle measurement capability information 2 is used to indicate that the UE 2 supports sending the angle measurement signal, and the angle measurement authorization information 2 is used to indicate that the UE 2 is authorized to send the angle measurement signal, so that the UE 1 can determine that the angle measurement mode for completing the angle measurement service is the second angle measurement mode according to the angle measurement capability information 2 and the angle measurement authorization information 2.

In one possible implementation, the UE 1 may receive a twenty-first message from the UE 2, where the twenty-first message includes the angle measurement capability information 2, or includes the angle measurement authorization information 2, or includes the angle measurement capability information 2 and the angle measurement authorization information 2. For reference, the UE 1 receives the twenty-first message from the UE 2, refer to the related content of the second message received by the UE 1 from the UE 2 in the foregoing embodiment one, which is not described herein again.

As one example, the twentieth message may include one or more of information of the second angle measurement mode, identification information of the angle measurement service, or eleventh configuration information. The eleventh configuration information is used for the UE 2 to transmit the angle measurement signal. The eleventh configuration information may include one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal, and the like. The eleventh configuration information may be configuration information locally stored by the UE 1 (e.g., predefined, or preconfigured, etc.), for example, the UE 1 obtains the eleventh configuration information from the locally stored configuration information according to the identification information of the goniometric service; or the information is obtained by interacting with a PCF network element or an application server; or determined according to the sixth correspondence.

For the description of the information about the second angle measurement mode, the identification information of the angle measurement service, the time information of the angle measurement service, the signal characteristics of the angle measurement signal, and the sixth corresponding relationship, reference is made to the related description in step S1801, which is not repeated here. For a specific implementation manner of the eleventh configuration information, please refer to the description related to the tenth configuration information in step S1801, which is not described herein again.

S2102: UE 2 sends an angle measurement signal; UE 1 receives the angle measurement signal.

Illustratively, the UE 2 may send the angle measurement signal after receiving the twentieth message. Alternatively, after receiving the twentieth message, the UE 2 first transmits a response message of the twentieth message, and then transmits the angle measurement signal. For example, after receiving the twentieth message, the UE 2 may determine whether to transmit an angle measurement signal or whether to approve (accept) the second angle measurement mode. In this embodiment, the UE 2 determines to send the angle measurement signal (or agrees to adopt the second angle measurement mode). For the specific implementation process of the UE 2 determining whether to send the angle measurement signal, reference is made to the description of the UE 2 determining whether to send the sensing signal in the foregoing embodiment one, which is not described in detail herein. For example, the goniometry capability information 2 is used to indicate that the UE 2 supports transmitting goniometry signals (or indicate that the UE 2 does not support receiving goniometry signals, or indicate that the UE 2 supports transmitting goniometry signals but does not support receiving goniometry signals, or indicate that the UE 2 supports transmitting goniometry signals and supports receiving goniometry signals, or indicate that the UE 2 supports measurement operations); the UE 2 may determine to transmit the angle measurement signal according to the angle measurement capability information 2.

As an example, the UE 2 may transmit an angle measurement signal according to the eleventh configuration information. For example, the eleventh configuration information includes a transmission period of the angle measurement signal, and the UE 2 may transmit the angle measurement signal according to the transmission period of the angle measurement signal. For example, the eleventh configuration information includes a transmission duration of the angle measurement signal, and the UE 2 may transmit the angle measurement signal according to the transmission duration of the angle measurement signal. The eleventh configuration information includes signal characteristics of the angle measurement signal, such as frequency information of the angle measurement signal, according to which the UE 2 transmits the angle measurement signal. For another example, the eleventh configuration information includes a transmission cycle of the angle measurement signal and a signal characteristic of the angle measurement signal (for example, the angle measurement signal is a high-frequency signal), and the UE 2 can transmit the high-frequency angle measurement signal according to the transmission cycle. For another example, the eleventh configuration information includes a transmission duration of the angle measuring signal and a signal characteristic of the angle measuring signal (e.g., the angle measuring signal is a low-frequency licensed spectrum signal), and the UE 2 may transmit the low-frequency licensed spectrum signal according to the transmission duration. For the description of the eleventh configuration information, please refer to the related content of step S2101, which is not described herein again.

As another example, the UE 2 may also transmit an angle measurement signal according to the second angle measurement mode and the eleventh configuration information. For example, the UE 2 may determine to transmit an angle measurement signal according to the second angle measurement mode and transmit the angle measurement signal according to the eleventh configuration information. For a specific implementation process of sending the angle measurement signal according to the eleventh configuration information, reference is made to the above description, and details are not repeated here.

In a possible implementation manner, before UE 2 sends the angle measurement signal, UE 1 and UE 2 may also negotiate AS layer configuration parameters. UE 2 may send angle measurement signals according to the AS layer configuration parameters. The AS layer configuration parameters are used for sending and receiving angle measuring signals. The AS layer configuration parameter may include at least one of a logical channel carrying the goniometric signal, a layer 2 identification, or signal characteristics of the goniometric signal.

In a possible implementation manner, before the UE 2 sends the angle measurement signal, the UE 2 may obtain an angle measurement resource (e.g., a time domain resource, a frequency domain resource, etc.) carrying the angle measurement signal, and send the angle measurement signal based on the angle measurement resource. For example, the UE 2 may send a request message to the RAN, where the request message is used to request to acquire a resource carrying an angle measurement signal corresponding to an angle measurement service; after receiving the request message, the RAN may determine the angle measurement resource of the angle measurement service, for example, obtain the angle measurement resource of the angle measurement service according to the angle measurement authorization information (e.g., signal characteristics of the angle measurement signal, etc.) of the UE 2, and send the angle measurement resource to the UE 2. Optionally, the request message sent by the UE 2 may include the signal characteristics of the angle measurement signal.

In another possible implementation manner, before UE 2 sends the angle measurement signal, UE 2 may negotiate AS layer configuration parameters with UE 1 and obtain an angle measurement resource carrying the angle measurement signal. And then, the UE 2 sends an angle measurement signal according to the AS layer configuration parameters and the angle measurement resource.

It should be understood that the UE 2 may send the angle measurement signal according to one or more of the second angle measurement mode, the eleventh configuration information, the AS layer configuration parameter, or the angle measurement resource, and the specific implementation process may refer to the above contents, which is not illustrated herein.

In step S2102, the UE 2 transmits an angle measurement signal in response to the twentieth message; accordingly, UE 1 receives the angle measurement signal.

As an example, the UE 1 may receive the angle measuring signal according to the second angle measuring mode. For example, the UE 1 may attempt to receive an angle measurement signal according to the second angle measurement mode after transmitting the twentieth message, and receive the angle measurement signal.

As an example, the UE 1 may receive the goniometric signal according to the twelfth configuration information. The twelfth configuration information may be used to receive an angle measurement signal or to obtain at least one item of angle measurement data of an angle measurement service. The twelfth configuration information may include one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, a processing mode of the angle measurement signal, or a preset condition, and the like. For example, the twelfth configuration information includes a transmission period of the angle measurement signal, and the UE 1 may receive the angle measurement signal according to the transmission period of the angle measurement signal. For example, the twelfth configuration information includes a transmission duration of the angle measurement signal, and the UE 1 may receive the angle measurement signal according to the transmission duration of the angle measurement signal. For another example, the twelfth configuration information includes signal characteristics of the angle measurement signal, and the UE 1 may receive the angle measurement signal according to the characteristic information of the angle measurement signal. For another example, the twelfth configuration information includes a processing manner of the angle measurement signal, and the UE 1 may receive the angle measurement signal according to the processing manner of the angle measurement signal. For specific descriptions of the identification information of the angle measurement service, the time information of the angle measurement service, the signal characteristics of the angle measurement signal, the processing mode of the angle measurement signal, and the preset conditions, reference is made to the related description in step S1801, which is not repeated herein.

The UE 1 may obtain the twelfth configuration information and receive the angle measurement signal according to the twelfth configuration information. For example, the twelfth configuration information is locally stored (e.g., predefined, or preconfigured, etc.) configuration information of the UE 1, and the UE 1 may obtain the twelfth configuration information from the locally stored configuration information according to the identification information of the goniometric service. For another example, the UE 1 may acquire the twelfth configuration information through interaction with a PCF network element or an application server. For another example, the UE 1 may determine the twelfth configuration information according to the fifth corresponding relationship.

The fifth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the like, and a specific obtaining manner of the fifth corresponding relationship in this embodiment is not limited thereto. Wherein the fifth corresponding relationship may include one or more of the following corresponding relationships: the corresponding relation between the identification information of the angle measurement service and the time information of the angle measurement service; or, the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal; or the corresponding relation between the identification information of the angle measurement service and the processing mode of the angle measurement signal, and the like.

For the UE 1 to determine the specific implementation process of the twelfth configuration information according to the fifth corresponding relationship, please refer to the specific implementation process of the UE 1 to determine the ninth configuration information according to the fifth corresponding relationship, which is not described herein again.

As another example, the UE 1 may receive the measurement signal according to the second angle measurement mode and the twelfth configuration information. For example, the UE 1 may attempt to receive the measurement signal of the UE 2 according to the second goniometric pattern and the twelfth configuration information, and receive the measurement signal.

It should be understood that the UE 1 may receive the angle measurement signal according to one or more of the second angle measurement mode, the twelfth configuration information, the AS layer configuration parameter, or the angle measurement resource, and the specific implementation process may refer to the above contents, which is not illustrated herein.

It is noted that if UE 2 does not accept to adopt the second goniometric mode, UE 2 may determine other goniometric modes and send information of the other goniometric modes to UE 1. For the UE 2 to determine the specific implementation of the other angle measurement modes, please refer to the specific implementation of the UE 2 to determine the second angle measurement mode, which is not described herein again.

S2103: and the UE 1 acquires angle measurement data of the angle measurement service according to the angle measurement signal.

After receiving the angle measurement signal from the UE2, the UE1 may obtain angle measurement data (e.g., an angle or an orientation of the UE2 with respect to the UE 1) of the angle measurement service according to a receiving direction (or an arrival direction) of the angle measurement signal and a reference direction. The angle measurement data is an angle between a receiving direction (or an arrival direction) of the angle measurement signal and a reference direction, as shown in fig. 22. The reference direction may be preset, or may be pre-negotiated between the UE1 and the UE2, which is not limited in this embodiment of the present application.

As another example, UE1 may send angle measurement data (or a processing result of the angle measurement data) to UE 2; accordingly, the UE2 receives the angle measurement data (or the processing result of the angle measurement data). For example, the processing result of the angle measurement data satisfies the preset condition, and the UE2 sends the angle measurement data or the processing result of the angle measurement data to the UE1 according to the preset condition. For another example, UE2 may send a sixth transmission indication to UE1, and corresponding UE1 receives the sixth transmission indication. The sixth transmission instruction is used to instruct the UE1 to send the angle measurement data or the processing result of the angle measurement data to the UE 2. Further, the UE1 sends angle measurement data or a processing result of the angle measurement data to the UE2 according to the sixth transmission instruction.

The terminal measurement method shown in fig. 21 will be described below from the interaction of the respective logical layers of the UE (as shown in fig. 4).

Fig. 22 shows a flowchart of a terminal measurement method provided in an embodiment of the present application. Here, step S2301, step S2305, and step S2309 are optional steps, and may be executed or not executed, and are indicated by broken lines in fig. 22. As shown in fig. 22, the method may include:

s2301: the discovery process and the PC5 connection establishment process are performed between the UE 1 and the UE 2.

In the present embodiment, UE 1 does not support sending angle measurement signals, but supports receiving angle measurement signals; alternatively, UE 1 is not authorized to send angle measurement signals, but is authorized to receive angle measurement signals. UE 1 can find UE 2 supporting sending angle measurement signal by broadcasting the twenty-second message, so that UE 1 can request UE 2 to assist in completing angle measurement service. For a specific implementation process of S2301, please refer to related contents of S2101, which is not described herein again.

S2302: the APP layer 1 sends an angle measurement requirement to the ProSe layer 1; accordingly, the ProSe layer 1 receives this goniometric requirement. Or the APP layer 1 sends an angle measurement request to the ProSe layer 1; accordingly, the ProSe layer 1 receives the goniometric request.

The specific implementation process of step S2302 may refer to the specific implementation process of step S2102, which is not described herein again.

S2303: the ProSe layer 1 determines that the mode of completing the goniometric service is the second goniometric mode.

And after receiving the angle measurement requirement, the ProSe layer 1 determines an angle measurement mode for completing the angle measurement service. In this embodiment, the ProSe layer 1 determines that the angle measurement mode in which the angle measurement service is completed is the second angle measurement mode. For example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the second angle measurement mode according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1. For another example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the second angle measurement mode according to at least one of the angle measurement capability information 2 and the angle measurement authorization information 2. For another example, the ProSe layer 1 may determine that the angle measurement mode in which the angle measurement service is completed is the second angle measurement mode according to at least one of the angle measurement capability information 1 and the angle measurement authorization information 1, and at least one of the angle measurement capability information 2 and the angle measurement authorization information 2. The ProSe layer 1 determines that the angle measurement mode for completing the angle measurement service is a specific implementation manner of the second angle measurement mode, please refer to the specific implementation manner of the UE 1 in step S2101 that the angle measurement mode for completing the angle measurement service is the second angle measurement mode, which is not described herein again.

S2304: the ProSe layer 1 sends a twentieth message to the ProSe layer 2; accordingly, the ProSe layer 2 receives the twentieth message.

The twentieth message may be, for example, an angle measurement request message or PC5 signaling, and the specific implementation form of the twentieth message is not limited thereto. The twentieth message may be for requesting completion (or implementation, execution, etc.) of the goniometric service through the second goniometric mode; or, the UE 2 is configured to request the UE 1 to complete (or implement, execute, etc.) the angle measurement service through the second angle measurement mode; or request the UE 2 to assist in completing (or implementing, executing, etc.) the goniometric service, etc.

The twentieth message may include one or more of information of the second angle measurement mode, identification information of the angle measurement service, or twelfth configuration information, which please refer to the related description of the foregoing S2101, and details are not repeated herein.

As an example, the twentieth message may include information of the second angle measurement mode, for example, the information of the second angle measurement mode may be angle measurement mode indication information or angle measurement mode identification information, so as to inform the ProSe layer 2 that the mode for implementing the angle measurement service is the second angle measurement mode, and thus the UE 1 and the UE 2 can complete the angle measurement service by cooperating with each other through the second angle measurement mode.

For example, proSe layer 1 may obtain eleventh configuration information and carry the eleventh configuration information in a twentieth message, which is sent to ProSe layer 2. For example, the ProSe layer 1 may determine the type of angle measurement traffic according to the angle measurement requirement from the APP layer 1; and based on the type of the goniometric service, the eleventh configuration information is obtained from locally stored configuration information. For another example, the ProSe layer 1 may obtain the eleventh configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 1 may determine the eleventh configuration information according to the sixth correspondence. The sixth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the specific obtaining manner of the sixth corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the ProSe layer 1 for acquiring the eleventh configuration information, please refer to the specific implementation process of the UE 1 for acquiring the eleventh configuration information in step S2102, which is not described herein again. And, the ProSe layer 1 obtains the sixth corresponding relationship with the PCF network element or the application server, please refer to the content shown in fig. 8, which is not described herein again.

S2305: the ProSe layer 2 determines that UE 2 transmits an angle measurement signal.

Alternatively, the UE 2 determining that the UE 2 sends the angle measurement signal may be understood as the UE 2 agreeing (or accepting) to adopt the second angle measurement mode.

Alternatively, the ProSe layer of UE 2 (i.e., proSe layer 2) may determine to transmit the goniometric signal. For example, upon receipt of the twentieth message, the ProSe layer 2 may determine whether to transmit an angle measurement signal or determine whether to employ the second angle measurement mode in response to the twentieth message. In this embodiment, the ProSe layer 2 determines to transmit an angle measurement signal or determines to adopt the second angle measurement mode. For a specific implementation process of determining to send the angle measurement signal by the ProSe layer 2, please refer to the related description of S2102, which is not described herein again.

S2306: the ProSe layer 2 sends a twenty-fourth message to the ProSe layer 1; accordingly, proSe layer 1 receives the twenty-fourth message.

Optionally, the ProSe layer 2 may send a twenty-fourth message to the ProSe layer 1, where the twenty-fourth message may be, for example, a measurement response message or PC 5 signaling, and the embodiment of the present application is not limited thereto. The twenty-fourth message may be used to indicate whether UE 2 assists UE 1 in completing the angle measurement service (or whether UE 2 accepts to adopt the second angle measurement mode). In the embodiment of the present application, UE 2 assists UE 1 to complete an angle measurement service (or UE 2 accepts to adopt a second angle measurement mode) as an example.

Optionally, the twenty-fourth message may include a sixth transmission indication (not shown in fig. 23). The sixth transmission instruction is used to instruct the UE 1 to send the angle measurement data or the processing result of the angle measurement data to the UE 2.

Optionally, if the UE 2 does not accept to adopt the second angle measurement mode, the twenty-fourth message may include information of other angle measurement modes determined by the UE 2. The UE 2 determines a specific implementation manner of the other angle measurement mode, please refer to the related content in the step S2102, which is not described herein again.

S2307: the ProSe layer 1 sends twelfth configuration information to the AS layer 1; accordingly, the AS layer 1 receives the twelfth configuration information.

For example, after the ProSe layer 1 sends the twentieth message or receives the twenty-fourth message, the ProSe layer 1 may obtain the twelfth configuration information and send the twelfth configuration information to the AS layer 2. The twelfth configuration information is used for receiving an angle measurement signal or for acquiring at least one item of angle measurement data of an angle measurement service. Wherein the twelfth configuration information may include one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, and a processing mode or preset conditions of the angle measurement signal.

For example, the ProSe layer 1 may determine the twelfth configuration information according to the identification information of the goniometric service. For another example, the ProSe layer 1 may obtain the twelfth configuration information by interacting with the PCF network element or the application server. For another example, the ProSe layer 1 may further obtain a fifth corresponding relationship by interacting with the PCF network element or the application server, and determine the twelfth configuration information according to the fifth corresponding relationship. For the ProSe layer 1 to obtain the twelfth configuration information, refer to the content of step S2102, which is related to the UE 1 to obtain the twelfth configuration information, and is not described herein again.

Optionally, the ProSe layer 1 sends an angle measurement signal reception indication to the AS layer 1. For example, the ProSe layer 1 may determine an angle measurement signal reception indication according to the information of the second angle measurement mode and transmit the angle measurement signal reception indication to the AS layer 1. For another example, if the second angle measurement mode is a mode in which UE 1 is used AS a reference UE and/or a mode in which UE 2 is used AS a target UE, meaning that UE 1 needs to receive an angle measurement signal transmitted by UE 2 and calculate an angle, proSe layer 1 may determine to transmit an angle measurement signal reception indication to AS layer 1. Wherein the goniometric signal reception indication is indicative of receiving the goniometric signal. Alternatively, the angle measurement signal reception indication may also be an indication of a calculated received signal angle.

S2308: the ProSe layer 2 sends eleventh configuration information to the AS layer 2; accordingly, the AS layer 2 receives the eleventh configuration information.

For example, after determining that the assistance UE 1 completes the angle measurement service, the ProSe layer 2 may obtain eleventh configuration information and send the eleventh configuration information to the AS layer 2. The eleventh configuration information is used to transmit an angle measurement signal.

For example, the ProSe layer 2 may determine the eleventh configuration information according to the identification information of the goniometric service. For another example, if the twentieth message includes the eleventh configuration information, the ProSe layer 2 may obtain the eleventh configuration information according to the twentieth message after receiving the twentieth message. For another example, the ProSe layer 2 may obtain the eleventh configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may further obtain a sixth mapping relationship by interacting with the PCF network element or the application server, and determine the eleventh configuration information according to the sixth mapping relationship. The sixth corresponding relationship may be predefined, or obtained through a PCF network element or an application server, and the specific obtaining manner of the sixth corresponding relationship in this embodiment is not limited thereto. For a specific implementation process of the ProSe layer 2 for acquiring the eleventh configuration information, please refer to the relevant content of the step S2102 for the UE 2 to acquire the eleventh configuration information, which is not described herein again. For a concrete implementation process of acquiring the sixth correspondence by the ProSe layer 2, please refer to the content shown in fig. 8, which is not described herein again.

Optionally, the ProSe layer 2 sends an angle measurement signal sending instruction to the AS layer 2. For example, the ProSe layer 2 may determine an angle measurement signal transmission instruction according to the information of the second angle measurement mode and transmit the angle measurement signal transmission instruction to the AS layer 2. For another example, if the second goniometric mode is a mode in which UE 1 is the reference UE and/or a mode in which UE 2 is the target UE, meaning that UE 2 needs to send a goniometric signal to UE 1, proSe layer 2 may determine to send a goniometric signal transmission indication to AS layer 2. Wherein the angle measuring signal sending indication is used for indicating sending of the angle measuring signal.

S2309: and negotiating AS layer configuration parameters between the AS layer 1 and the AS layer 2.

Optionally, AS layer 1 and AS layer 2 may negotiate AS layer configuration parameters. The AS layer configuration parameters are used for sending and receiving angle measuring signals. The AS layer configuration parameters may include at least one of logical channels carrying angle measurement signals, layer 2 identification, or signal characteristics of angle measurement signals.

S2310: the AS layer 2 sends an angle measurement signal; AS layer 1 receives the goniometric signal.

For example, AS layer 2 may transmit an angle measurement signal according to a second angle measurement mode. Alternatively, the AS layer 2 may transmit an angle measurement signal according to the eleventh configuration information. Alternatively, AS layer 2 may send angle measurement signals according to AS layer configuration parameters. Alternatively, the AS layer 2 may transmit the angle measurement signal according to the second angle measurement mode and the fourth configuration information. Alternatively, the AS layer 2 may send the angle measurement signal according to the second angle measurement mode and the AS layer configuration parameter. Alternatively, the AS layer 2 may send the angle measurement signal according to the eleventh configuration information and the AS layer configuration parameter. Or, the AS layer 2 may also send an angle measurement signal according to the second angle measurement mode, the eleventh configuration information, and the AS layer configuration parameter. For a specific implementation process of sending the angle measurement signal by the AS layer 2, please refer to the related content in the step S2102, which is not described herein again.

In a possible implementation manner, before the AS layer 2 sends the angle measurement signal, the AS layer 2 may obtain an angle measurement resource (such AS a time domain resource, a frequency domain resource, and the like) carrying the angle measurement signal, and send the angle measurement signal based on the angle measurement resource. For a specific implementation manner of the AS layer 2 acquiring the angle measurement resource, please refer to the content related to the step S2102 for the UE 2 acquiring the angle measurement resource, which is not described herein again.

In S2310, please refer to the related contents in step S2102 for the specific implementation process of the AS layer 1 receiving the angle measurement signal, which is not described herein again.

Optionally, the AS layer 2 sends the angle measurement signal according to the angle measurement signal sending instruction received from the ProSe layer 2. Accordingly, the AS layer 1 receives the angle measurement signal according to the angle measurement signal reception indication received from the ProSe layer 1.

S2311: and the AS layer 1 acquires angle measurement data of the angle measurement service according to the angle measurement signal.

For example, after receiving the angle measurement signal, the AS layer 1 may obtain angle measurement data of the angle measurement service according to a processing mode of the angle measurement signal. Please refer to the related content of step S2103 for obtaining the angle measurement data, which is not described herein again.

Further, the AS layer 1 may determine whether to further process the angle measurement data according to the angle measurement data and a preset condition, for example, send the angle measurement data to another logic layer (for example, APP layer 1) for processing, or send the angle measurement data to the UE 2, and the like.

Optionally, after the AS layer 1 obtains the angle measurement data, the UE 1 may send the angle measurement data (or a processing result of the angle measurement data) to the UE 2, which is not shown in fig. 23. For example, if the ProSe layer 2 transmits a sixth transmission instruction to the ProSe layer 1, the UE 1 may transmit angle measurement data or a processing result of the angle measurement data to the UE 2 according to the sixth transmission instruction. For another example, if the twelfth configuration information includes a preset condition and the processing result of the angle measurement data satisfies the preset condition, the UE 1 may send the angle measurement data or the processing result of the angle measurement data to the UE 2 according to the preset condition.

It should be noted that the UE may further include an Angular layer (or Ranging layer) (not shown in fig. 4), which may be used to implement the goniometric service related function. Some or all of the steps performed by the ProSe layer in fig. 23 may be performed by the Angular layer. For example, the Angular layer of UE 2 may send a goniometric signal to the Angular layer of UE 1; and the Angular layer of the UE 1 receives the angle measurement signal and acquires angle measurement data according to the angle measurement signal.

Thus, the UE 1 successfully obtains the angle measurement data, and the angle measurement service of the UE 1 is completed.

The above-mentioned scheme provided by the embodiments of the present application is introduced mainly from the perspective of device interaction. It is understood that, in order to implement the above functions, each device may include a corresponding hardware structure and/or software module for performing each function. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software drives hardware depends upon the particular application and implementation constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the device may be divided into the functional units according to the method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

In case of an integrated unit, fig. 24 shows a possible exemplary block diagram of the apparatus involved in the embodiments of the present application. As shown in fig. 24, device 2400 may include: a transceiver module 2401 and a processing module 2402. Processing module 2402 is configured to control and manage operations of device 2400. Transceiver module 2401 is used to support communication of apparatus 2400 with other devices. Optionally, the transceiver module 2401 may be a module, or may be two modules (e.g., a receiving module and a transmitting module), and the module may be configured to perform receiving and transmitting operations. Optionally, device 2400 may also include a storage module 2403 for storing program codes and/or data for device 2400.

For example, the apparatus 2400 may be the first terminal device in the foregoing embodiment, or may also be a chip disposed in the first terminal device. Processing module 2402 may enable apparatus 2400 to perform the actions of the first terminal device in the above method examples. Alternatively, the processing module 2402 mainly performs the internal actions of the first terminal device in the method example, and the transceiver module 2401 may support communication between the apparatus 2400 and other devices.

For another example, the apparatus 2400 may be the second terminal device in the foregoing embodiment, or may also be a chip disposed in the second terminal device. Processing module 2402 may enable apparatus 2400 to perform the actions of the second terminal device in the above method examples. Alternatively, the processing module 2402 mainly performs the internal actions of the second terminal device in the method example, and the transceiver module 2401 may support communication between the apparatus 2400 and other devices.

As an example, the transceiving module 2401 is configured to send a first message to a second terminal device, where the first message is used to request that a sensing service is completed through a first sensing mode, where the first sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends a sensing signal, or a mode in which the first terminal device receives a sensing signal and the second terminal device sends the sensing signal; and receiving a first signal, wherein the first signal is the perception signal sent by the second terminal device or an echo signal of the perception signal sent by the second terminal device.

The processing module 2402 is configured to obtain sensing data of the sensing service according to the first signal.

In a possible embodiment, the first message includes information of the first perception mode.

In a possible implementation, the processing module 2402 is configured to determine the first perception mode according to at least one of first perception capability information and first perception authorization information; the first sensing capability information is used for indicating that the first terminal equipment does not support sending the sensing signal, and the first sensing authorization information is used for indicating that the first terminal equipment is not authorized to send the sensing signal; and/or determining the first perception mode according to at least one of second perception capability information and second perception authorization information; the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

In a possible implementation, the transceiving module 2401 is configured to receive a second message from the second terminal device, where the second message includes at least one of the second sensing capability information and the second sensing authorization information.

In a possible implementation, the transceiver module 2401 is configured to send a third message, where the third message is used to discover a terminal device supporting the first sensing mode or discover a terminal device supporting sensing capability.

In a possible implementation, the transceiver module 2401 is configured to send the sensing data to the second terminal device.

In a possible implementation, the transceiver module 2401 is configured to receive a first transmission indication from the second terminal device, where the first transmission indication is used to instruct the first terminal device to send the sensing data to the second terminal device; and sending the perception data to the second terminal equipment according to the first transmission instruction.

In a possible implementation, the transceiver module 2401 is configured to receive the first signal according to the first sensing mode.

In a possible implementation, the first message further includes first configuration information, and the first configuration information includes one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

In a possible implementation, the processing module 2402 is configured to determine the first configuration information according to a first corresponding relationship; wherein the first corresponding relationship comprises one or more of the following corresponding relationships:

In a possible implementation, the transceiver module 2401 is configured to receive the first signal according to second configuration information, where the second configuration information includes one or more of the following information: the time information of the sensing service, the signal characteristics of the sensing signal and the processing mode of the sensing signal.

In a possible implementation manner, the processing module 2402 is configured to determine the second configuration information according to a second corresponding relationship; wherein the second corresponding relationship comprises one or more of the following corresponding relationships:

As another example, the transceiving module 2401 is configured to send a fourth message to a second terminal device, where the fourth message is used to request that a sensing service is completed through a second sensing mode, where the second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives a sensing signal, or a mode in which the first terminal device sends a sensing signal and the second terminal device receives the sensing signal; and transmitting the sensing signal according to the second sensing mode.

In a possible embodiment, the fourth message comprises information of the second perception mode.

In a possible implementation, the processing module 2402 is configured to determine the second sensing mode according to at least one of third sensing capability information and third sensing authorization information; the third sensing capability information is used for indicating that the first terminal device supports sending the sensing signal, and the third sensing authorization information is used for indicating that the first terminal device is authorized to send the sensing signal; and/or determining the second perception mode according to at least one of fourth perception capability information and fourth perception authorization information; the fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal, and the fourth sensing authorization information is used to indicate that the second terminal device is authorized to receive the sensing signal.

In a possible implementation, the transceiver module 2401 is configured to receive a fifth message from the second terminal device, where the fifth message includes at least one of the fourth sensing capability information and the fourth sensing authorization information.

In a possible implementation, the transceiving module 2401 is configured to send a sixth message, where the sixth message is used to discover a terminal device that supports the second sensing mode or discover a terminal device that supports sensing capability.

In a possible implementation, the transceiver module 2401 is configured to receive sensing data of the sensing service from the second terminal device.

In a possible implementation manner, the transceiver module 2401 is configured to send a second transmission instruction to the second terminal device, where the second transmission instruction is used to instruct the second terminal device to send the sensing data to the first terminal device.

In a possible implementation, the fourth message further includes third configuration information, and the third configuration information includes one or more of the following information: the identification information of the sensing service, the time information of the sensing service, the signal characteristics of the sensing signal, or the processing mode of the sensing signal.

In a possible implementation, the processing module 2402 is configured to determine the third configuration information according to a second corresponding relationship, where the second corresponding relationship includes one or more of the following corresponding relationships:

In a possible implementation, the transceiver module 2401 is configured to transmit the sensing signal according to the second sensing mode and fourth configuration information, where the fourth configuration information includes at least one of time information of the sensing service and a signal characteristic of the sensing signal.

In a possible implementation, the processing module 2402 is configured to determine the fourth configuration information according to a first corresponding relationship, where the first corresponding relationship includes one or more of the following corresponding relationships:

As yet another example, the transceiving module 2401 may be configured to send a ninth message to a second terminal device, where the ninth message is used to request that a ranging service is completed through a first ranging mode, where the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device sends a ranging signal and the second terminal device receives the ranging signal; transmitting the ranging signal according to the first ranging mode; and receiving a feedback signal of the ranging signal from the second terminal device. The processing module 2402 may be configured to obtain ranging data of the ranging service according to the ranging signal and the feedback signal.

For a specific implementation process of this example, please refer to the related description in the third embodiment, which is not repeated here.

As another example, the transceiving module 2401 may be configured to send a twelfth message to a second terminal device, where the twelfth message is used to request that a ranging service is completed through a second ranging mode, where the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal and the first terminal device receives the ranging signal; receiving the ranging signal from the second terminal device; and sending a feedback signal of the ranging signal to the second terminal device. For a specific implementation process of this example, please refer to the related description in the fourth embodiment, which is not repeated here.

As another example, the transceiving module 2401 may be configured to send a seventeenth message to a second terminal device, where the seventeenth message is used to request that an angle measurement service is completed through a first angle measurement mode, where the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal and the second terminal device receives the angle measurement signal, and send the angle measurement signal according to the first angle measurement mode. For a specific implementation process of this example, reference is made to the related description in the fifth embodiment, and details are not repeated here.

As another example, the transceiving module 2401 may be configured to send a twentieth message to a second terminal device, where the twentieth message is used to request that an angle measurement service is completed through a second angle measurement mode, where the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal and the first terminal device receives the angle measurement signal; the first terminal device receives the angle measurement signal from the second terminal device. The processing module 2402 may be configured to obtain angle measurement data of the angle measurement service according to the angle measurement signal. For a specific implementation process of this example, please refer to the related description in the sixth embodiment, which is not repeated here.

For another example, the apparatus 2400 may be the second terminal device in the foregoing embodiment, or may also be a chip disposed in the second terminal device. Processing module 2402 may enable apparatus 2400 to perform the actions of the second terminal device in the above method examples. Alternatively, the processing module 2402 mainly performs internal actions of the second terminal device in the method example, and the transceiving module 2401 may support communication between the apparatus 2400 and other devices.

As an example, the transceiving module 2401 is configured to receive a first message from a first terminal device, where the first message is used to request that a sensing service is completed through a first sensing mode, where the first sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends a sensing signal, or a mode in which the first terminal device receives a sensing signal and the second terminal device sends the sensing signal; and transmitting the sensing signal according to the first sensing mode.

In a possible implementation manner, the processing module 2402 is configured to determine to send the sensing signal according to the first sensing mode according to at least one of second sensing capability information and second sensing authorization information, where the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

In a possible implementation manner, the transceiving module 2401 is configured to send a second message to the first terminal device, where the second message includes at least one of second sensing capability information and second sensing authorization information, where the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

In a possible implementation, the transceiving module 2401 is configured to receive a third message from the first terminal device, where the third message is used to discover a terminal device that supports the first sensing mode or discover a terminal device that supports sensing capability.

In a possible implementation, the transceiver module 2401 is configured to receive sensing data of the sensing service from the first terminal device.

In a possible implementation manner, the transceiver module 2401 is configured to send a first transmission instruction to a first terminal device, where the first transmission instruction is used to instruct the first terminal device to send the sensing data to the second terminal device.

In a possible implementation, the transceiver module 2401 is configured to transmit the sensing signal according to the first sensing mode and first configuration information; wherein the first configuration information comprises one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

In one possible embodiment, the first message includes the first configuration information.

As another example, the transceiving module 2401 is configured to receive a fourth message from a first terminal device, where the fourth message is used to request that a sensing service is completed through a second sensing mode, where the second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives a sensing signal, or a mode in which the first terminal device sends a sensing signal and the second terminal device receives the sensing signal; and receiving a second signal, wherein the second signal is a sensing signal sent by the first terminal device or an echo signal of the sensing signal sent by the first terminal device.

A processing module 2402, configured to determine, according to the second information, sensing data of the sensing service.

In a possible embodiment, the fourth message includes information of the second perception mode.

In a possible embodiment, the processing module 2402 is configured to determine to receive the second signal according to at least one of fourth perceptual capability information and fourth perceptual authorization information; the fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal or the echo signal of the sensing signal, and the fourth sensing authorization information is used to indicate that the first terminal device is authorized to send the sensing signal or the echo signal of the sensing signal.

In a possible implementation manner, the transceiving module 2401 is configured to send a fifth message to the first terminal device, where the fifth message includes at least one of the fourth sensing capability information and the fourth sensing authorization information.

In a possible implementation, the transceiving module 2401 is configured to receive a sixth message from the first terminal device, where the sixth message is used to discover a terminal device that supports the second sensing mode or discover a terminal device that supports sensing capability.

In a possible implementation, the transceiver module 2401 is configured to send the sensing data to the first terminal device.

In a possible implementation, the transceiver module 2401 is configured to receive a second transmission indication from the first terminal device, where the second transmission indication is used to instruct the second terminal device to send the sensing data to the first terminal device; and sending the perception data to the first terminal equipment according to the second transmission instruction.

In a possible implementation, the transceiver module 2401 is configured to receive the second signal according to third configuration information, where the third configuration information includes one or more of the following information: the identification information of the sensing service, the time information of the sensing service, the signal characteristics of the sensing signal, or the processing mode of the sensing signal.

In a possible embodiment, the fourth message comprises the third configuration information.

In a possible implementation manner, the processing module 2402 is configured to determine the third configuration information according to a second corresponding relationship, where the second corresponding relationship includes one or more of the following corresponding relationships:

The corresponding relation between the identification information of the sensing service and the time information of the sensing service; or,

the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal; or,

and the corresponding relation between the identification information of the sensing service and the processing mode of the sensing signal.

As another example, the transceiving module 2401 may be configured to receive a ninth message from a first terminal device, where the ninth message is used to request that a ranging service is completed through a first ranging mode, where the first ranging mode is a mode in which the first terminal device transmits a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device transmits a ranging signal and the second terminal device receives the ranging signal; receiving the ranging signal according to the first ranging mode; and sending a feedback signal of the ranging signal to the first terminal device. For a specific implementation process of this example, reference is made to the related description in the third embodiment, and details are not repeated here.

As another example, the transceiving module 2401 may be configured to receive a twelfth message from a first terminal device, where the twelfth message is used to request that a ranging service is completed through a second ranging mode, where the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device transmits a ranging signal and the first terminal device receives the ranging signal; transmitting the ranging signal according to the second ranging mode; and receiving a feedback signal of the ranging signal from the first terminal device. The processing module 2402 may be configured to obtain ranging data of the ranging service according to the ranging signal and the feedback signal. For a specific implementation process of this example, please refer to the related description in the fourth embodiment, which is not repeated here.

As another example, the transceiving module 2401 may be configured to receive a seventeenth message from a first terminal device, where the seventeenth message is used to request that an angle measurement service is completed through a first angle measurement mode, where the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal and the second terminal device receives the angle measurement signal; and receiving the angle measurement signal according to the first angle measurement mode. The processing module 2402 may be configured to obtain angle measurement data of the angle measurement service according to the angle measurement signal. For a specific implementation process of this example, reference is made to the related description in the fifth embodiment, and details are not repeated here.

As still another example, the transceiving module 2401 may be configured to receive a twentieth message from a first terminal device, where the twentieth message is used to request that an angle measurement service is completed through a second angle measurement mode, where the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device transmits an angle measurement signal and the first terminal device receives the angle measurement signal; and sending the angle measurement signal according to the second angle measurement mode. For a specific implementation process of this example, please refer to the related description in the sixth embodiment, which is not repeated here.

It should be understood that the division of the units in the above apparatus is only a division of logical functions, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. And the units in the device can be realized in the form of software called by the processing element; or may be implemented entirely in hardware; part of the units can also be implemented in the form of software invoked by a processing element and part of the units can be implemented in the form of hardware. For example, each unit may be a processing element separately set up, or may be implemented by being integrated into a chip of the apparatus, or may be stored in a memory in the form of a program, and a function of the unit may be called and executed by a processing element of the apparatus. In addition, all or part of the units can be integrated together or can be independently realized. The processing element may be a processor, which may be an integrated circuit having signal processing capabilities. In implementation, each operation of the above method or each unit above may be implemented by an integrated logic circuit of hardware in a processor element or implemented in a form called by software through the processor element.

In one example, the units in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), or a combination of at least two of these integrated circuit forms. For another example, when a unit in a device may be implemented in the form of a processing element scheduler, the processing element may be a processor, such as a Central Processing Unit (CPU), or other processor capable of invoking a program. As another example, these units may be integrated together and implemented in the form of a system-on-a-chip (SOC).

The above unit for receiving is an interface circuit of the apparatus for receiving signals from other apparatuses. For example, when the device is implemented in the form of a chip, the receiving unit is an interface circuit for the chip to receive signals from other chips or devices. The above unit for transmitting is an interface circuit of the apparatus for transmitting a signal to other apparatuses. For example, when the device is implemented in the form of a chip, the transmitting unit is an interface circuit for the chip to transmit signals to other chips or devices.

Fig. 25 is a schematic structural diagram of a terminal device according to an embodiment of the present application, which may be a first terminal device or a second terminal device in the foregoing embodiments, and is used to implement operations of the devices in the foregoing embodiments. As shown in fig. 25, the terminal device 2500 includes: an antenna 2510, a radio frequency part 2520, and a signal processing part 2530. The antenna 2510 is connected to the rf section 2520. In the downlink direction, the rf section 2520 receives information transmitted from a network device or other terminal device via the antenna 2510, and transmits the information to the signal processing section 2530 for processing. In the uplink direction, the signal processing portion 2530 processes the information of the terminal device and sends the information to the radio frequency portion 2520, and the radio frequency portion 2520 processes the information of the terminal device and sends the information to the network device or other terminal devices via the antenna 2510.

The signal processing portion 2530 may include a modem subsystem for implementing processing of each communication protocol layer of data; the system also comprises a central processing subsystem used for realizing the processing of the operating system and the application layer of the terminal equipment; in addition, other subsystems, such as a multimedia subsystem for controlling a camera, a screen display, etc. of the terminal device, a peripheral subsystem for connecting with other devices, etc. may be included. The modem subsystem may be a separately provided chip.

The modem subsystem may include one or more processing elements 2531, including, for example, a master CPU and other integrated circuits. The modem subsystem may also include a memory element 2532 and an interface circuit 2533. The storage element 2532 is used to store data and programs, but a program for executing the method executed by the terminal device in the above method may not be stored in the storage element 2532, but stored in a memory other than the modem subsystem, and loaded for use when used. The interface circuit 2533 is used to communicate with other subsystems.

The modem subsystem may be implemented by a chip comprising at least one processing element for performing the steps of any of the methods performed by the terminal equipment above, and interface circuitry for communicating with other devices. In one implementation, the module for implementing each step in the above method by the terminal device may be implemented in the form of a processing element scheduler, for example, the apparatus for the terminal device includes a processing element and a storage element, and the processing element calls a program stored in the storage element to execute the method executed by the terminal device in the above method embodiment. The memory elements may be memory elements on the same chip as the processing elements, i.e. on-chip memory elements.

In another implementation, the program for performing the method performed by the terminal device in the above method may be a memory element on a different chip than the processing element, i.e. an off-chip memory element. At this time, the processing element calls or loads a program from the off-chip storage element onto the on-chip storage element to call and execute the method executed by the terminal device in the above method embodiment.

In yet another implementation, the module of the terminal device implementing the steps of the above method may be configured as one or more processing elements disposed on the modem subsystem, where the processing elements may be integrated circuits, for example: one or more ASICs, or one or more DSPs, or one or more FPGAs, or a combination of these types of integrated circuits. These integrated circuits may be integrated together to form a chip.

The modules of the terminal equipment for realizing the steps of the method can be integrated together and realized in the form of SOC, and the SOC chip is used for realizing the method. At least one processing element and a storage element can be integrated in the chip, and the processing element calls the stored program of the storage element to realize the method executed by the terminal equipment; or, at least one integrated circuit may be integrated in the chip, so as to implement the method executed by the above terminal device; or, the above implementation modes may be combined, the functions of some modules are implemented in the form of a processing element calling program, and the functions of some modules are implemented in the form of an integrated circuit.

It is seen that the above apparatus for a terminal device may comprise at least one processing element and interface circuitry, wherein the at least one processing element is configured to perform the method performed by any one of the terminal devices provided by the above method embodiments. The processing element may: namely, the method calls the program stored in the storage element to execute part or all of the steps executed by the terminal equipment; it is also possible to: that is, some or all of the steps performed by the terminal device are performed by integrated logic circuits of hardware in the processor element in combination with the instructions; of course, some or all of the steps performed by the terminal device may be performed in combination with the first manner and the second manner.

The processing elements herein, like those described above, may be implemented by a processor, and the functions of the processing elements may be the same as those of the processing module 2402 described in FIG. 24. Illustratively, the processing element may be a general-purpose processor, such as a CPU, and may also be one or more integrated circuits configured to implement the above methods, such as: one or more ASICs, or one or more microprocessors DSP, or one or more FPGAs, etc., or a combination of at least two of these integrated circuit forms. The memory elements may be implemented by memory and may function the same as the memory module 2403 described in FIG. 24. The memory elements may be implemented by memory, and the function of the memory elements may be the same as the function of the memory module 2403 depicted in FIG. 24. The storage element may be a single memory or a combination of memories.

The terminal device shown in fig. 25 can implement the respective processes of the first terminal device or the second terminal device involved in the above-described method embodiments. The operations and/or functions of the modules in the terminal device shown in fig. 25 are respectively for implementing the corresponding flows of the first terminal device or the second terminal device in the above method embodiments. Reference may be made specifically to the description of the method embodiments above, and in order to avoid repetition, detailed description is omitted here where appropriate.

Referring to fig. 26, a schematic diagram of a communication apparatus according to an embodiment of the present application is provided, where the communication apparatus is used to implement the operation of the access network device or the policy control function network element in the foregoing embodiment. The communication device includes: the processor 2610 and the interface 2630, optionally the communication device further includes a memory 2620. The interface 2630 is used to enable communication with other devices.

In the above embodiment, the method executed by the first terminal device or the second terminal device may be implemented by the processor 2610 calling a program stored in a memory (which may be the memory 2620 in the first terminal device or the second terminal device, or may be an external memory). That is, the apparatus for the first terminal device or the second terminal device may include the processor 2610, where the processor 2610 executes the method executed by the first terminal device or the second terminal device in the above method embodiment by calling a program in a memory. The processor here may be an integrated circuit with signal processing capabilities, such as a CPU. The apparatus for the first terminal device or the second terminal device may be implemented by one or more integrated circuits configured to implement the above method. For example: one or more ASICs, or one or more microprocessors DSP, or one or more FPGAs, etc., or a combination of at least two of these integrated circuit forms. Alternatively, the above implementations may be combined.

For example, the functions/implementation processes of the processing module 2402 in fig. 24 can be implemented by the processor 2610 in the communication device 2600 in fig. 26 calling computer-executable instructions stored in the memory 2620, and the functions/implementation processes of the transceiver module 2401 in fig. 24 can be implemented by the interface 2630 in the communication device 2600 in fig. 26.

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application occur, in whole or in part, when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

The various illustrative logical units and circuits described in connection with the embodiments disclosed herein may be implemented or operated upon as a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.

The steps of a method or algorithm described in the embodiments herein may be embodied directly in hardware, in a software element executed by a processor, or in a combination of the two. The software cells may be stored in Random Access Memory (RAM), flash memory, read-only memory (ROM), EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one or more exemplary implementations, the functions described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source over a coaxial cable, fiber optic computer, twisted pair, digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disks) and disks (discs) include compact disks, laser disks, optical disks, digital Versatile Disks (DVDs), floppy disks and blu-ray disks, where magnetic discs usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.

Those skilled in the art will recognize that the functionality described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination thereof, in one or more of the examples described above. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the embodiments of the present application in further detail, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present application, and are not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application. The above description of the present application is provided to enable any person skilled in the art to make or use the present application, and any modifications based on the disclosed embodiments should be considered as obvious in the art, and the basic principles described in the embodiments of the present application may be applied to other variations without departing from the inventive spirit and scope of the present application. Thus, the disclosure of the embodiments of the present application is not intended to be limited to the embodiments and implementations described, but is to be accorded the widest scope consistent with the principles of the application and the novel features disclosed.

Although the present application has been described in conjunction with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of the embodiments of the application. Accordingly, the specification and drawings are merely illustrative of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the embodiments of the present application are intended to include such modifications and variations as well.

Claims

1. A terminal sensing method, comprising:

a first terminal device sends a first message to a second terminal device, wherein the first message is used for requesting to complete a sensing service through a first sensing mode, and the first sensing mode is a mode that the first terminal device receives a sensing signal, or a mode that the second terminal device sends the sensing signal, or a mode that the first terminal device receives the sensing signal and the second terminal device sends the sensing signal;

The first terminal device receives a first signal, wherein the first signal is the perception signal sent by the second terminal device or an echo signal of the perception signal sent by the second terminal device;

and the first terminal equipment acquires the perception data of the perception service according to the first signal.

2. The method of claim 1, wherein the first message includes information of the first perception mode.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

the first terminal equipment determines the first perception mode according to at least one of first perception capability information and first perception authorization information; the first sensing capability information is used for indicating that the first terminal equipment does not support sending the sensing signal, and the first sensing authorization information is used for indicating that the first terminal equipment is not authorized to send the sensing signal.

4. The method according to any one of claims 1 to 3, further comprising:

the first terminal equipment determines the first perception mode according to at least one of second perception capability information and second perception authorization information; the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.

5. The method of claim 4, further comprising:

the first terminal device receives a second message from the second terminal device, wherein the second message comprises at least one of the second perception capability information and the second perception authorization information.

6. The method according to any one of claims 1 to 5, further comprising:

and the first terminal equipment sends a third message, wherein the third message is used for discovering the terminal equipment supporting the first perception mode or discovering the terminal equipment supporting the perception capability.

7. The method according to any one of claims 1 to 6, further comprising:

and the first terminal equipment sends the perception data to the second terminal equipment.

8. The method of claim 7, further comprising:

the first terminal device receives a first transmission instruction from the second terminal device, wherein the first transmission instruction is used for instructing the first terminal device to send the perception data to the second terminal device;

the sending, by the first terminal device, the sensing data to the second terminal device includes:

And the first terminal equipment sends the perception data to the second terminal equipment according to the first transmission indication.

9. The method according to any of claims 1 to 8, wherein the first terminal device receives a first signal comprising:

and the first terminal equipment receives the first signal according to the first perception mode.

10. The method according to any one of claims 1 to 9, wherein the first message further comprises first configuration information, the first configuration information comprising one or more of the following information: identification information of the sensing service, time information of the sensing service, or signal characteristics of the sensing signal.

11. The method of claim 10, further comprising:

the first terminal equipment determines the first configuration information according to the first corresponding relation; wherein the first corresponding relationship comprises one or more of the following corresponding relationships:

and the corresponding relation between the identification information of the sensing service and the signal characteristics of the sensing signal.

12. The method according to any of claims 1 to 11, wherein the first terminal device receives a first signal comprising:

the first terminal equipment receives the first signal according to second configuration information, wherein the second configuration information comprises one or more of the following information: the time information of the sensing service, the signal characteristics of the sensing signal and the processing mode of the sensing signal.

13. The method of claim 12, further comprising:

the first terminal equipment determines the second configuration information according to the second corresponding relation; wherein the second corresponding relationship comprises one or more of the following corresponding relationships:

14. A terminal sensing method, comprising:

a first terminal device sends a fourth message to a second terminal device, wherein the fourth message is used for requesting to complete a sensing service through a second sensing mode, and the second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives the sensing signal, or a mode in which the first terminal device sends the sensing signal and the second terminal device receives the sensing signal;

And the first terminal equipment sends the perception signal according to the second perception mode.

15. The method of claim 14, wherein the fourth message comprises information of the second perception mode.

16. The method according to claim 14 or 15, characterized in that the method further comprises:

the first terminal equipment determines the second perception mode according to at least one of third perception capability information and third perception authorization information; the third sensing capability information is used to indicate that the first terminal device supports sending the sensing signal, and the third sensing authorization information is used to indicate that the first terminal device is authorized to send the sensing signal.

17. The method according to any one of claims 14 to 16, further comprising:

the first terminal equipment determines the second perception mode according to at least one of fourth perception capability information and fourth perception authorization information; the fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal, and the fourth sensing authorization information is used to indicate that the second terminal device is authorized to receive the sensing signal.

18. The method of claim 17, further comprising:

the first terminal device receives a fifth message from the second terminal device, where the fifth message includes at least one of the fourth sensing capability information and the fourth sensing authorization information.

19. The method according to any one of claims 14 to 18, further comprising:

and the first terminal equipment sends a sixth message, wherein the sixth message is used for discovering the terminal equipment supporting the second perception mode or discovering the terminal equipment supporting the perception capability.

20. The method according to any one of claims 14 to 19, further comprising:

and the first terminal equipment receives the perception data of the perception service from the second terminal equipment.

21. The method of claim 20, further comprising:

and the first terminal equipment sends a second transmission instruction to the second terminal equipment, wherein the second transmission instruction is used for instructing the second terminal equipment to send the perception data to the first terminal equipment.

22. The method according to any one of claims 14 to 21, wherein the fourth message further comprises third configuration information, the third configuration information comprising one or more of the following information: the identification information of the sensing service, the time information of the sensing service, the signal characteristics of the sensing signal, or the processing mode of the sensing signal.

23. The method of claim 22, further comprising:

the first terminal device determines the third configuration information according to a second corresponding relationship, where the second corresponding relationship includes one or more of the following corresponding relationships:

24. The method according to any of the claims 14 to 23, wherein the first terminal device transmits the sensing signal according to the second sensing mode, comprising:

and the first terminal equipment sends the sensing signal according to the second sensing mode and fourth configuration information, wherein the fourth configuration information comprises at least one of time information of the sensing service and signal characteristics of the sensing signal.

25. The method of claim 24, further comprising:

The first terminal device determines the fourth configuration information according to a first corresponding relationship, where the first corresponding relationship includes one or more of the following corresponding relationships:

26. A method for measuring a terminal, comprising:

a first terminal device sends a seventeenth message to a second terminal device, where the seventeenth message is used to request that an angle measurement service be completed through a first angle measurement mode, where the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal and the second terminal device receives the angle measurement signal;

and the first terminal equipment sends the angle measurement signal according to the first angle measurement mode.

27. The method of claim 26, wherein information of the first goniometric pattern is included in the seventeenth message.

28. The method of claim 26 or 27, further comprising:

the first terminal equipment determines the first angle measurement mode according to at least one of the first angle measurement capability information and the first angle measurement authorization information; the first angle measurement capability information is used for indicating that the first terminal equipment supports sending the angle measurement signal, and the first angle measurement authorization information is used for indicating authorization of the first terminal equipment to send the angle measurement signal.

29. The method of any one of claims 26 to 28, further comprising:

the first terminal equipment determines the first angle measurement mode according to at least one of second angle measurement capability information and second angle measurement authorization information; the second angle measurement capability information is used for indicating that the second terminal equipment does not support sending the angle measurement signal, and the second angle measurement authorization information is used for indicating that the second terminal equipment is not authorized to send the angle measurement signal.

30. The method of claim 29, further comprising:

the first terminal device receives an eighteenth message from the second terminal device, where the eighteenth message includes at least one of the second angle measurement capability information and the second angle measurement authorization information.

31. The method of any one of claims 26 to 30, further comprising:

and the first terminal equipment sends a nineteenth message, wherein the nineteenth message is used for discovering the terminal equipment supporting the first angle measurement mode or discovering the terminal equipment supporting the angle measurement capability.

32. The method of any one of claims 26 to 31, further comprising:

and the first terminal equipment receives angle measurement data of the angle measurement service from the second terminal equipment.

33. The method of claim 32, further comprising:

and the first terminal equipment sends a fifth transmission instruction to the second terminal equipment, wherein the fifth transmission instruction is used for instructing the second terminal equipment to send the angle measurement data to the first terminal equipment.

34. The method of any one of claims 26 to 33, wherein the seventeenth message further comprises ninth configuration information, wherein the ninth configuration information comprises one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode of the angle measurement signal.

35. The method of claim 34, further comprising:

the first terminal equipment determines the ninth configuration information according to a fifth corresponding relation; wherein the fifth corresponding relationship comprises one or more of the following corresponding relationships:

the corresponding relation between the identification information of the angle measurement service and the time information of the angle measurement service; or,

the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal; or,

and the corresponding relation between the identification information of the angle measurement service and the processing mode of the angle measurement signal.

36. The method according to any of the claims 26 to 35, wherein the first terminal device transmits the angle measurement signal according to the first angle measurement mode, comprising:

the first terminal device sends the angle measurement signal according to the first angle measurement mode and tenth configuration information, wherein the tenth configuration information comprises one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.

37. The method of claim 36, further comprising:

The first terminal device determines the tenth configuration information according to a sixth corresponding relationship; wherein the sixth correspondence includes one or more of the following correspondences:

and the corresponding relation between the identification information of the angle measurement service and the signal characteristics of the angle measurement signal.

38. A terminal measurement method is characterized by comprising the following steps:

a first terminal device sends a twentieth message to a second terminal device, where the twentieth message is used to request that an angle measurement service be completed through a second angle measurement mode, where the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal and the first terminal device receives the angle measurement signal;

the first terminal equipment receives the angle measurement signal from the second terminal equipment;

and the first terminal equipment acquires angle measurement data of the angle measurement service according to the angle measurement signal.

39. The method of claim 38, wherein the twentieth message includes information of the second goniometric pattern.

40. The method of claim 38 or 39, further comprising:

the first terminal equipment determines the second angle measurement mode according to at least one of third angle measurement capability information and third angle measurement authorization information; the third angle measurement capability information is used for indicating that the first terminal equipment does not support sending the angle measurement signal, and the third angle measurement authorization information is used for indicating that the first terminal equipment is not authorized to send the angle measurement signal.

41. The method of any one of claims 38 to 40, further comprising:

the first terminal equipment determines the second angle measurement mode according to at least one of fourth angle measurement capability information and fourth angle measurement authorization information; the fourth angle measurement capability information is used for indicating that the second terminal device supports sending the angle measurement signal, and the fourth angle measurement authorization information is used for indicating that the second terminal device is not authorized to send the angle measurement signal.

42. The method of claim 41, further comprising:

the first terminal device receives a twenty-first message from the second terminal device, where the twenty-first message includes at least one of the fourth angle measurement capability information and the fourth angle measurement authorization information.

43. The method of any one of claims 38 to 42, further comprising:

and the first terminal equipment sends a twenty-second message, wherein the twenty-second message is used for discovering the terminal equipment supporting the second angle measurement mode or discovering the terminal equipment supporting the angle measurement capability.

44. The method of any one of claims 38 to 43, further comprising:

and the first terminal equipment sends the angle measurement data to the second terminal equipment.

45. The method of claim 44, further comprising:

the first terminal device receives a sixth transmission instruction from the second terminal device, wherein the sixth transmission instruction is used for instructing the first terminal device to send the angle measurement data to the second terminal device;

the first terminal device sends the angle measurement data to the second terminal device, and the angle measurement data comprises:

and the first terminal equipment sends the angle measurement data to the second terminal equipment according to the sixth transmission instruction.

46. The method according to any of claims 38 to 45, wherein the first terminal device receives the goniometric signal from the second terminal device, comprising:

And the first terminal equipment receives the angle measuring signal from the second terminal equipment according to the second angle measuring mode.

47. The method according to any one of claims 38 to 46, wherein the twentieth message further comprises eleventh configuration information, the eleventh configuration information comprising one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.

48. The method of claim 47, further comprising:

the first terminal device determines the eleventh configuration information according to a sixth corresponding relationship, where the sixth corresponding relationship includes one or more of the following corresponding relationships:

49. The method according to any of claims 38 to 48, wherein the first terminal device receives the goniometric signal from the second terminal device, comprising:

The first terminal device receives the angle measurement signal according to the second angle measurement mode and twelfth configuration information, wherein the twelfth configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or a processing mode of the angle measurement signal.

50. The method of claim 49, further comprising:

the first terminal device determines the twelfth configuration information according to a fifth corresponding relationship, where the fifth corresponding relationship includes one or more of the following corresponding relationships:

51. A communications apparatus comprising one or more processors and memory, the one or more processors coupled with the memory;

The memory stores a computer program;

the one or more processors configured to execute a computer program stored in the memory to cause the communication device to perform the method of any of claims 1-50.

52. A computer-readable storage medium, comprising a program or instructions for performing the method of any one of claims 1 to 50 when the program or instructions are run on a computer.