WO2023001179A1 - 通信感知方法、装置及设备 - Google Patents

通信感知方法、装置及设备 Download PDF

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Publication number
WO2023001179A1
WO2023001179A1 PCT/CN2022/106725 CN2022106725W WO2023001179A1 WO 2023001179 A1 WO2023001179 A1 WO 2023001179A1 CN 2022106725 W CN2022106725 W CN 2022106725W WO 2023001179 A1 WO2023001179 A1 WO 2023001179A1
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Prior art keywords
sensing
terminal
sensing signal
information
network device
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PCT/CN2022/106725
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English (en)
French (fr)
Inventor
姚健
姜大洁
潘翔
司晔
秦飞
袁雁南
Original Assignee
维沃移动通信有限公司
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Application filed by 维沃移动通信有限公司 filed Critical 维沃移动通信有限公司
Priority to EP22845344.5A priority Critical patent/EP4375694A1/en
Publication of WO2023001179A1 publication Critical patent/WO2023001179A1/zh
Priority to US18/419,792 priority patent/US20240196258A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0215—Traffic management, e.g. flow control or congestion control based on user or device properties, e.g. MTC-capable devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H04B17/327—Received signal code power [RSCP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/51—Allocation or scheduling criteria for wireless resources based on terminal or device properties

Definitions

  • the present application relates to the field of communication technologies, and in particular to a communication sensing method, device and equipment.
  • Perception capability that is, one or more devices with perception capability, which can perceive the orientation, distance, speed and other information of the target object through the transmission and reception of wireless signals, or detect, track, and detect the target object, event or environment. identification, imaging, etc.
  • 6G sixth Generation Mobile Communication Technology
  • Embodiments of the present application provide a communication sensing method, device, and equipment, which can solve the problem of how to perform communication sensing by sending and receiving sensing signals through a terminal.
  • a communication perception method including:
  • the first terminal acquires the sensing signal sent by the second terminal
  • the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • a communication awareness method including:
  • the second terminal sends the sensing signal to the first terminal.
  • a communication awareness method including:
  • the first network device sends first indication information to the first terminal and/or the second terminal, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to Instructing the first terminal to receive the sensing signal, and obtaining a measurement result corresponding to a first measurement quantity according to the sensing signal, the first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal includes at least one terminal .
  • a communication perception method including:
  • the second network device receives first indication information, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to indicate the first terminal to receive a sensing signal, and according to The sensing signal obtains a measurement result corresponding to a first measurement quantity, and the first measurement quantity is a measurement quantity related to the sensing signal.
  • a communication sensing device including:
  • a first obtaining module configured to obtain a sensing signal sent by the second terminal
  • the second obtaining module is configured to obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is a measurement quantity related to the sensing signal.
  • a communication sensing device including:
  • the first sending module is configured to send a sensing signal to the first terminal.
  • a communication sensing device including:
  • a second sending module configured to send first indication information to the first terminal and/or the second terminal, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication
  • the information is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal includes At least one terminal.
  • a communication sensing device including:
  • a first receiving module configured to receive first indication information, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to instruct the first terminal to receive a sensing signal , and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • a terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • the program or instruction is executed by the processor. The steps of the method described in the first aspect or the second aspect are realized.
  • a terminal including a processor and a communication interface, wherein the communication interface is used to obtain a sensing signal sent by a second terminal; the communication interface is used to obtain a first measurement based on the sensing signal. A measurement result corresponding to a quantity, the first measurement quantity is a measurement quantity related to the sensing signal; or, the communication interface is used to send the sensing signal to the first terminal.
  • a network device in an eleventh aspect, includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, the program or instruction being executed by the The processor realizes the steps of the method described in the third aspect or the fourth aspect when executed.
  • a network device including a processor and a communication interface, wherein the communication interface is used to send first indication information to the first terminal and/or the second terminal, and the first indication information uses Instructing the second terminal to send a sensing signal; and/or, the first indication information is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to the first measurement quantity according to the sensing signal, the The first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal includes at least one terminal; or, the communication interface is used to receive first indication information, and the first indication information is used to indicate the first indication information
  • the second terminal sends a sensing signal; and/or, the first indication information is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is A measurement quantity associated with the sensory signal.
  • a thirteenth aspect provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method as described in the first aspect are implemented, or The steps of the method described in the second aspect, or implement the steps of the method described in the third aspect, or implement the steps of the method described in the fourth aspect.
  • a chip in a fourteenth aspect, there is provided a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run programs or instructions, and implement the method described in the first aspect method, or implement the method as described in the second aspect, or implement the method as described in the third aspect, or implement the method as described in the fourth aspect.
  • a computer program product is provided, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement the first aspect and the second aspect Or the steps of the method described in the third aspect or the fourth aspect.
  • the first terminal obtains the sensing signal sent by the second terminal; the first terminal obtains the measurement result corresponding to the first measurement quantity according to the sensing signal, and the first measurement quantity is related to the The measurement quantity related to the sensing signal realizes the purpose of communicating and sensing by sending and receiving the sensing signal through the terminal.
  • FIG. 1 shows one of the schematic flow diagrams of the communication sensing method in the embodiment of the present application
  • FIG. 2 shows the second schematic flow diagram of the communication sensing method in the embodiment of the present application
  • FIG. 3 shows the third schematic flow diagram of the communication sensing method in the embodiment of the present application
  • FIG. 4 shows the fourth schematic flow diagram of the communication sensing method in the embodiment of the present application
  • FIG. 5 shows one of the schematic diagrams of the modules of the communication sensing device according to the embodiment of the present application
  • FIG. 6 shows the second schematic diagram of the modules of the communication sensing device according to the embodiment of the present application.
  • FIG. 7 shows a structural block diagram of a communication device according to an embodiment of the present application.
  • FIG. 8 shows a structural block diagram of a terminal in an embodiment of the present application.
  • FIG. 9 shows the third schematic diagram of the modules of the communication sensing device in the embodiment of the present application.
  • FIG. 10 shows the fourth schematic diagram of the modules of the communication sensing device in the embodiment of the present application.
  • FIG. 11 shows a structural block diagram of a first network device according to an embodiment of the present application.
  • Fig. 12 shows a structural block diagram of a second network device according to an embodiment of the present application.
  • first, second and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and “second” distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects.
  • “and/or” in the description and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • system and “network” in the embodiments of the present application are often used interchangeably, and the described technologies can be used for the above-mentioned systems and radio technologies as well as other systems and radio technologies.
  • NR New Radio
  • the following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions. These technologies can also be applied to applications other than NR system applications, such as the 6th Generation (6 th Generation , 6G) communication system.
  • 6th Generation 6th Generation
  • Future mobile communication systems such as the future fifth generation mobile communication (Beyond 5th Generation, B5G) system or 6G system will not only have communication capabilities, but will also have perception capabilities.
  • Perception capability that is, one or more devices with perception capability, which can perceive the orientation, distance, speed and other information of the target object through the transmission and reception of wireless signals, or detect, track, and detect the target object, event or environment. identification, imaging, etc.
  • the resolution of perception will be significantly improved compared with centimeter waves, so that 6G networks can provide more refined perception services.
  • radar system and communication system were strictly distinguished due to different research objects and focuses. In most scenarios, the two systems were distributed for research. In fact, radar and communication systems are also typical ways of sending, acquiring, processing and exchanging information. There are many similarities in terms of working principle, system architecture and frequency band.
  • the design of communication and radar integration has great feasibility, which is mainly reflected in the following aspects:
  • the communication system and the perception system are both based on the theory of electromagnetic waves, and use the emission and reception of electromagnetic waves to complete information acquisition and transmission;
  • Both the communication system and the perception system have structures such as antennas, transmitters, receivers, and signal processors, and there is a large overlap in hardware resources; with the development of technology, there are more and more overlaps in the working frequency bands between the two;
  • there are similarities in key technologies such as signal modulation, reception detection, and waveform design.
  • the integration of communication and radar systems can bring many advantages, such as saving costs, reducing size, reducing power consumption, improving spectral efficiency, reducing mutual interference, etc., thereby improving the overall system performance.
  • the base station acts as the sending end of sensing signals and receives Terminals, terminals or other objects as sensing targets; it can also be based on dual-station/multi-station sensing, that is, the sending and receiving ends are not co-located, the sending end transmits sensing signals, and other receiving ends receive and analyze them to extract sensing parameters, for example, base stations 1 serves as the sensing signal sending end, and the terminal or base station 2 serves as the sensing signal receiving end.
  • the transmitting end of single-station or multi-station mode sensing may also be a terminal.
  • the flow of communicating and sensing through the same terminal is still unclear.
  • this embodiment of the present application provides a communication sensing method, including:
  • Step 101 the first terminal acquires the sensing signal sent by the second terminal.
  • the above-mentioned sensing signal may specifically be a signal for obtaining information such as the orientation, distance, and speed of the target object, or a signal for detecting, tracking, identifying, and imaging the target object, event, or environment.
  • Step 102 The first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is a measurement quantity related to the sensing signal.
  • the first measured quantity includes at least one of the following:
  • RSSI Received Signal Strength Indication
  • RSRP Reference Signal Received Power
  • CSI Channel State Information
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the characteristic difference between the I-channel signal and the Q-channel signal for example, the phase difference or amplitude difference between the I-channel signal and the Q-channel signal or others;
  • the first terminal obtains the sensing signal sent by the second terminal; the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is related to the sensing signal Signal-related measurement quantities, so as to achieve the purpose of communication perception through the terminal sending and receiving sensing signals.
  • the acquiring the sensing signal sent by the second terminal by the first terminal includes:
  • the configuration information of the sensing signal includes at least one of the following:
  • the waveform of the sensing signal for example, OFDM, single-carrier frequency-division multiple access (Single-carrier Frequency-Division Multiple Access, SC-FDMA), orthogonal time-frequency space (Orthogonal Time Frequency Space, OTFS), frequency modulation continuous wave ( Frequency Modulated Continuous Wave, FMCW), pulse signal, etc.;
  • the subcarrier spacing of the sensing signal for example, the subcarrier spacing of the OFDM system is 30KHz;
  • the guard interval of the sensing signal is the time interval from the moment when the signal ends to the moment when the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be calculated by 2dmax/c, Among them, dmax is the maximum sensing distance. For example, for the sensing signal sent and received spontaneously, dmax represents the maximum distance from the sensing signal receiving and receiving point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix CP can play the role of the minimum guard interval ; c is the speed of light;
  • the bandwidth of the sensing signal which is inversely proportional to the distance resolution, can be obtained by c/(2*delta_d), where delta_d is the distance resolution (belonging to the perception requirement);
  • the burst burst duration of the sensing signal is inversely proportional to the rate resolution (belonging to the sensing requirement), this parameter is the time span of the sensing signal, mainly to calculate the Doppler frequency offset; this parameter can be passed through c/(2 *delta_v*fc) is calculated; among them, delta_v is the velocity resolution; fc is the center frequency point of the signal;
  • the time domain interval of the perceptual signal this parameter can be calculated by c/(2*fc*v_range); wherein, v_range is the maximum rate minus the minimum speed (belonging to the perceptual demand); this parameter is two adjacent perceptual The time interval between signals; fc is the carrier frequency of the signal;
  • the transmitted signal power of the sensing signal takes a value every 2dBm from -20dBm to 23dBm;
  • the signal format of the sensing signal is, for example, Sounding Reference Signal (Sounding Reference Signal, SRS), Demodulation Reference Signal (Demodulation Reference Signal, DMRS), Positioning Reference Signal (Positioning Reference Signal, PRS), etc., or other predefined Signal, and related sequence format and other information;
  • Sounding Reference Signal Sounding Reference Signal, SRS
  • Demodulation Reference Signal Demodulation Reference Signal
  • DMRS Demodulation Reference Signal
  • PRS Positioning Reference Signal
  • PRS Positioning Reference Signal
  • the signal direction of the sensing signal for example, the direction or beam information of the sensing signal
  • the time resource of the sensing signal for example, the time slot index where the sensing signal is located or the symbol index of the time slot; wherein, the time resource is divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional The first signal; one is a non-disposable time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time), and each group of periodic time resources sends a target in the same direction signal, the beam directions on the periodic time resources of different groups are different;
  • the frequency resource of the sensing signal includes the center frequency point, bandwidth, RB and/or subcarrier of the target signal, etc.;
  • the quasi co-location (Quasi CoLoacted, QCL) relationship of the sensing signal for example, the target signal includes multiple resources, each resource is associated with a synchronization signal and a physical broadcast channel block (Synchronization Signal and PBCH block, SSB) QCL, and the QCL includes Type A, B, C or D.
  • QCL quasi co-location (Quasi CoLoacted, QCL) relationship of the sensing signal
  • the target signal includes multiple resources, each resource is associated with a synchronization signal and a physical broadcast channel block (Synchronization Signal and PBCH block, SSB) QCL, and the QCL includes Type A, B, C or D.
  • SSB Physical broadcast channel block
  • the determining the configuration information of the sensing signal includes:
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the third indication information includes at least one of sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information.
  • the first configuration information is the configuration information of the sensing signal determined by the first network device, and the first configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal.
  • the second configuration information is the configuration information of the sensing signal determined by the second network device, and the second configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal;
  • the above-mentioned third The configuration information is the configuration information of the sensing signal determined by the second terminal, and the third configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal.
  • the perception requirement includes at least one of a perception result and a perception index.
  • the perception results include at least one of the following:
  • Characteristic information of the target object the existence, distance, position, speed, acceleration, material, shape, category, radar cross-sectional area RCS of the target object, polarization scattering characteristics, etc.;
  • Information about target events fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip recognition, gait recognition, expression recognition, breathing monitoring, heart rate monitoring, etc.;
  • Relevant information of the target environment humidity, brightness, temperature, atmospheric pressure, air quality, weather conditions, topography, building/vegetation distribution, population statistics, crowd density, vehicle density, etc.
  • the perception index includes at least one of the following:
  • Perceptual accuracy including distance resolution or imaging resolution or moving speed resolution or angular resolution
  • Perception errors including distance errors or imaging errors or movement speed errors
  • the above-mentioned first network device may be a core network device, specifically, may include a mobility and access management function (Authentication Management Function, AMF) entity or a perception function entity.
  • AMF Authentication Management Function
  • the foregoing first network device is a perception network function or a perception network element.
  • the foregoing second network device may specifically be a base station.
  • the sensing network function or sensing network element of the above-mentioned core network satisfies at least one of the following:
  • AMF can select one or more sensing network functions or sensing network elements after receiving sensing requirements, and the factors considered in the selection include at least: the requested Quality of Service (Quality of Service, QoS) (such as sensing Accuracy, response time, perceived QoS level), access type (3GPP access or non-3GPP access), target UE’s access network (Access Network, AN) type (such as 5G NR or eLTE) and serving AN node (such as gNodeB or NG-eNodeB), resident access network (Residential Access Network, RAN) configuration information, sensing network function/perceiving network element capability, sensing network function or sensing network element load, sensing network function or sensing network element location, single Event reporting or indication of multiple event reporting, event reporting duration, network slicing information, etc.;
  • QoS Quality of Service
  • QoS Quality of Service
  • access type such as 5G NR or eLTE
  • serving AN node such as gNodeB or
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Send and receive the sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal;
  • sensing network function/sensing network element located on the base station side, compared with the core network, all the processes of sensing services can be completed in the RAN (for base station trigger sensing services, or UE trigger sensing business situation).
  • the foregoing first network node and the second network node may specifically be base stations.
  • the sensing network function or sensing network element of the core network also has at least one of the following features:
  • target information includes processing sensing request, interactive sensing capability, interactive sensing auxiliary data, interactive sensing measurement or sensing results) with the target UE or the serving base station of the target UE or the base station associated with the target area to obtain the target sensing result or perception measurements (uplink measurements or downlink measurements);
  • the sensing network function or sensing network element directly interacts with the application server (such as the operator's application server) for sensing requests and sensing results; or, the sensing network function or sensing network element interacts with the AMF for sensing requests and sensing results, and the AMF can directly or indirectly ( Interact perception requests and perception results with application servers (such as third-party application servers) through Gateway Mobile Location Center (GMLC) and Network Exposure Function (NEF);
  • GMLC Gateway Mobile Location Center
  • NEF Network Exposure Function
  • the sensing network function or sensing network element may be a new network element; or it may be an existing network function/network element such as a location management function (Location Management Function, LMF), but a new sensing-related function is added.
  • LMF Location Management Function
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the first terminal determines the fourth configuration information through at least one of the following;
  • the recommended configuration information of the first network device
  • the second terminal recommends configuration information.
  • the configuration information of the sensing signal includes at least one of the following methods:
  • the other two parties may send the capability or recommended configuration to the decision party;
  • the configuration is jointly determined by at least two of the first network device, the second network device, and the UE.
  • the first network device determines 5 of the 10 parameters
  • the UE determines the other 5 parameters.
  • the deciding parties can also report the capability or recommended configuration
  • the non-deciding parties can also report the capability or recommended configuration to the deciding party.
  • the second network device may also send capabilities or recommended configurations to at least one of the first network device or the UE;
  • the configuration information of the sensing signal is agreed in advance and is associated with the sensing requirement (the mapping table from the sensing requirement to the related configuration of the sensing signal is established in advance). For example, after the first terminal receives the sensing requirement sent by the first network device, it automatically Select the configuration information of the corresponding sensing signal.
  • the UE includes at least one of the first terminal and the second terminal.
  • the second network device may be at least one of the access base station of the first terminal and the access base station of the second terminal, and the access base station of the first terminal and the access base station of the second terminal may be the same or may different.
  • the method further includes:
  • Sensing demand response information where the first sensing demand response information is used to indicate that the first terminal agrees to participate in the sensing service
  • the item sends second perception demand response information, where the second perception demand response information is used to indicate that the first terminal refuses to participate in the perception service.
  • the first terminal may agree or refuse to participate in the perception service, and the specific method includes at least one of the following:
  • Method 1 After the first network device sends the sensing requirement to the UE, the UE agrees or rejects it, and selects UEs that participate in the sensing service from the UEs that agree to provide the sensing requirement.
  • Method 2 After the first network device or the second network device screens the UEs participating in the sensing service, it sends the sensing requirement to the associated UE, and the UE agrees or rejects it.
  • Method 3 Whether the UE can participate:
  • the sensing service is agreed in advance and stored in the relevant storage node of the core network, such as UDR. After the first network device receives the sensing demand and screens the UEs participating in the sensing service, whether it is possible to access and store the associated UE
  • the storage node participating in the related sensing service acquires information about whether the UE can participate in the related sensing service.
  • the method of the embodiment of the present application further includes:
  • the first terminal acquires the first measurement quantity sent by the first network device, the second network device, or the second terminal;
  • the first measurement quantity is determined according to a perception requirement.
  • the method further includes:
  • the first terminal sends the measurement result to the first network device, the second network device or the second terminal.
  • the measurement result is sent to the first network device, the second network device or the second terminal, and the corresponding perception result is determined by the first network device, the second network device or the second terminal.
  • the method further includes:
  • the first terminal determines a sensing result according to the measurement result
  • the first terminal determines the sensing result according to the measurement result, and sends it to the first network device, the second network device or the second terminal.
  • the method before the first terminal obtains the sensing signal sent by the second terminal, the method further includes:
  • the first terminal After the first terminal obtains the measurement result corresponding to the first measurement quantity according to the sensing signal, it further includes:
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the sensing service may be initiated by the first terminal, and the first terminal sends fourth indication information to the first network device, the second terminal, or the second network device, and obtains a corresponding target sensing result.
  • the perception results include at least one of the following:
  • the characteristic information of the target object is understood as: information that can reflect the attribute or state of the target object, which can be at least one of the following: the position of the target object, the speed of the target object, the acceleration of the target object, the target The material of the object, the shape of the target object, the category of the target object, the Radar Cross Section (RCS) of the target object, etc.
  • RCS Radar Cross Section
  • the relevant information of the target event can be understood as: information related to the target event, that is, the information that can be detected/perceived when the target event occurs, which can be: fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip language Recognition, gait recognition, expression recognition, breathing monitoring, heart rate monitoring, etc.
  • the relevant information of the target environment may be at least one of the following: humidity, brightness, temperature, atmospheric pressure, air quality, weather conditions, topography, building/vegetation distribution, population statistics, crowd density, vehicle density, etc.
  • the perception result may be obtained directly based on the above-mentioned first measurement quantity, or further calculation and processing may be performed on the above-mentioned first measurement quantity to convert it into a desired perception result.
  • the first terminal obtains the sensing signal sent by the second terminal; the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is related to the sensing signal Signal-related measurement quantities, so as to achieve the purpose of communication perception through the terminal sending and receiving sensing signals.
  • the embodiment of the present application also provides a communication sensing method, including:
  • Step 201 the second terminal sends a sensing signal to the first terminal.
  • the above-mentioned sensing signal may specifically be a signal for obtaining information such as the orientation, distance, and speed of the target object, or a signal for detecting, tracking, identifying, and imaging the target object, event, or environment.
  • the second terminal sends a sensing signal to the first terminal, so that the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is a measurement quantity related to the sensing signal , thereby realizing the purpose of performing communication sensing through sending and receiving sensing signals by the terminal.
  • the first measured quantity includes at least one of the following:
  • RSSI Received Signal Strength Indication
  • RSRP Reference Signal Received Power
  • CSI Channel State Information
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the characteristic difference between the I-channel signal and the Q-channel signal for example, the phase difference or amplitude difference between the I-channel signal and the Q-channel signal or others;
  • the second terminal sending a sensing signal to the first terminal includes:
  • the configuration information of the sensing signal includes at least one of the following:
  • the waveform of the sensing signal for example, OFDM, single-carrier frequency-division multiple access (Single-carrier Frequency-Division Multiple Access, SC-FDMA), orthogonal time-frequency space (Orthogonal Time Frequency Space, OTFS), frequency modulation continuous wave ( Frequency Modulated Continuous Wave, FMCW), pulse signal, etc.;
  • the subcarrier spacing of the sensing signal for example, the subcarrier spacing of the OFDM system is 30KHz;
  • the guard interval of the sensing signal is the time interval from the moment when the signal ends to the moment when the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be calculated by 2dmax/c, Among them, dmax is the maximum sensing distance. For example, for the sensing signal sent and received spontaneously, dmax represents the maximum distance from the sensing signal receiving and receiving point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix CP can play the role of the minimum guard interval ; c is the speed of light;
  • the bandwidth of the sensing signal which is inversely proportional to the distance resolution, can be obtained by c/(2*delta_d), where delta_d is the distance resolution (belonging to the perception requirement);
  • the burst burst duration of the sensing signal is inversely proportional to the rate resolution (belonging to the sensing requirement), this parameter is the time span of the sensing signal, mainly to calculate the Doppler frequency offset; this parameter can be passed through c/(2 *delta_v*fc) is calculated; among them, delta_v is the velocity resolution; fc is the center frequency point of the signal;
  • the time domain interval of the perceptual signal this parameter can be calculated by c/(2*fc*v_range); wherein, v_range is the maximum rate minus the minimum speed (belonging to the perceptual demand); this parameter is two adjacent perceptual The time interval between signals; fc is the carrier frequency of the signal;
  • the transmitted signal power of the sensing signal takes a value every 2dBm from -20dBm to 23dBm;
  • the signal format of the sensing signal such as Sounding Reference Signal (Sounding Reference Signal, SRS), DMRS, PRS, etc., or other predefined signals, and related sequence formats and other information;
  • Sounding Reference Signal Sounding Reference Signal
  • DMRS Downlink Reference Signal
  • PRS Physical Reference Signal
  • the signal direction of the sensing signal for example, the direction or beam information of the sensing signal
  • the time resource of the sensing signal for example, the time slot index where the sensing signal is located or the symbol index of the time slot; wherein, the time resource is divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional The first signal; one is a non-disposable time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time), and each group of periodic time resources sends a target in the same direction signal, the beam directions on the periodic time resources of different groups are different;
  • the frequency resource of the sensing signal includes the center frequency point, bandwidth, RB and/or subcarrier of the target signal, etc.;
  • the quasi-co-location QCL relationship of the sensing signal for example, the target signal includes multiple resources, each resource is associated with an SSB QCL, and the QCL includes Type A, B, C or D.
  • the determining the configuration information of the sensing signal includes:
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the fourth indication information includes at least one of sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information.
  • the first configuration information is the configuration information of the sensing signal determined by the first network device, and the first configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal.
  • the second configuration information is the configuration information of the sensing signal determined by the second network device, and the second configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal; the above fourth The configuration information is the configuration information of the sensing signal determined by the first terminal, and the fourth configuration information may include all configuration information of the sensing signal, or may include part of the configuration information of the sensing signal.
  • the perception requirement includes at least one of the perception result and the perception index.
  • the perception results include at least one of the following:
  • Characteristic information of the target object the existence, distance, position, speed, acceleration, material, shape, category, radar cross-sectional area RCS of the target object, polarization scattering characteristics, etc.;
  • Information about target events fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip recognition, gait recognition, expression recognition, breathing monitoring, heart rate monitoring, etc.;
  • Relevant information of the target environment humidity, brightness, temperature, atmospheric pressure, air quality, weather conditions, topography, building/vegetation distribution, population statistics, crowd density, vehicle density, etc.
  • the perception index includes at least one of the following:
  • Perceptual accuracy including distance resolution or imaging resolution or moving speed resolution or angular resolution
  • Perception errors including distance errors or imaging errors or movement speed errors
  • the above-mentioned first network device may be a core network device, specifically, may include a mobility and access management function AMF entity or a perception function entity.
  • the foregoing first network device is a perception network function or a perception network element.
  • the foregoing second network device may specifically be a base station.
  • the sensing network function or sensing network element of the above-mentioned core network satisfies at least one of the following:
  • AMF can select one or more sensing network functions or sensing network elements after receiving sensing requirements, and the factors considered in the selection include at least: the requested Quality of Service (Quality of Service, QoS) (such as sensing Accuracy, response time, perceived QoS level), access type (3rd Generation Partnership Project (3rd Generation Partnership Project, 3GPP) access or non-3GPP access), target UE's access network (Access Network, AN) type (e.g. 5G NR or eLTE) and serving AN nodes (e.g.
  • QoS Quality of Service
  • QoS Quality of Service
  • access type 3rd Generation Partnership Project (3rd Generation Partnership Project, 3GPP) access or non-3GPP access
  • target UE's access network Access Network, AN type (e.g. 5G NR or eLTE)
  • serving AN nodes e.g.
  • gNodeB or NG-eNodeB RAN configuration information, network function-aware/NE capability-aware, network function-aware or NE load-aware, network function-aware or NE location-aware , Indication of single event reporting or multiple event reporting, event reporting duration, network slicing information, etc.;
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Send and receive the sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal;
  • sensing network function/sensing network element located on the base station side, compared with the core network, all the processes of sensing services can be completed in the RAN (for base station trigger sensing services, or UE trigger sensing business situation).
  • the foregoing first network node and the second network node may specifically be base stations.
  • the sensing network function or sensing network element of the core network also has at least one of the following features:
  • target information includes processing sensing requests, interactive sensing capabilities, interactive sensing auxiliary data, interactive sensing measurements or sensing results) to obtain target sensing results or perception measurements (uplink measurements or downlink measurements);
  • the sensing network function or sensing network element directly interacts with the application server (such as the operator's application server) for sensing requests and sensing results; or, the sensing network function or sensing network element interacts with the AMF for sensing requests and sensing results, and the AMF can directly or indirectly ( Interact perception requests and perception results with application servers (such as third-party application servers) through GMLC and NEF;
  • the application server such as the operator's application server
  • the sensing network function or sensing network element interacts with the AMF for sensing requests and sensing results
  • the AMF can directly or indirectly ( Interact perception requests and perception results with application servers (such as third-party application servers) through GMLC and NEF;
  • the sensing network function or sensing network element may be a new network element; or it may be an existing network function/network element such as a location management function (Location Management Function, LMF), but a new sensing-related function is added.
  • LMF Location Management Function
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the second terminal determines the third configuration information through at least one of the following;
  • the recommended configuration information of the first network device
  • the first terminal recommends configuration information.
  • the configuration information of the sensing signal includes at least one of the following methods:
  • the other two parties may send the capability or recommended configuration to the decision party;
  • the configuration is jointly determined by at least two of the first network device, the second network device, and the UE.
  • the first network device determines 5 of the 10 parameters
  • the UE determines the other 5 parameters.
  • the deciding parties can also report the capability or recommended configuration
  • the non-deciding parties can also report the capability or recommended configuration to the deciding party.
  • the second network device may also send capabilities or recommended configurations to at least one of the first network device or the UE;
  • the configuration information of the sensing signal is agreed in advance and is associated with the sensing requirement (the mapping table from the sensing requirement to the related configuration of the sensing signal is established in advance). For example, after the first terminal receives the sensing requirement sent by the first network device, it automatically Select the configuration information of the corresponding sensing signal.
  • the UE includes at least one of the first terminal and the second terminal.
  • the second network device may be at least one of the access base station of the first terminal and the access base station of the second terminal, and the access base station of the first terminal and the access base station of the second terminal may be the same or may different.
  • the method further includes:
  • Sensing demand response information where the third sensing demand response information is used to indicate that the second terminal agrees to participate in the sensing service
  • the item sends fourth perception demand response information, where the fourth perception demand response information is used to instruct the second terminal to refuse to participate in the perception service.
  • the second terminal may agree or refuse to participate in the perception service, and the specific method includes at least one of the following:
  • Method 1 After the first network device sends the sensing requirement to the UE, the UE agrees or rejects it, and selects UEs that participate in the sensing service from the UEs that agree to provide the sensing requirement.
  • Method 2 After the first network device or the second network device screens the UEs participating in the sensing service, it sends the sensing requirement to the associated UE, and the UE agrees or rejects it.
  • Method 3 Whether the UE can participate in the sensing service is agreed in advance and stored in the relevant storage node of the core network, such as UDR. After the first network device receives the sensing demand and screens the UEs participating in the sensing service, access and store whether the UE can participate The storage node of the related sensing service acquires the information of whether the UE can participate in the related sensing service.
  • the method of the embodiment of the present application further includes:
  • the second terminal acquires the first measurement quantity sent by the first network device, the second network device, or the first terminal;
  • the first measurement quantity is determined according to a perception requirement.
  • the method further includes:
  • the measurement result is a measurement result corresponding to a first measurement quantity obtained by the first terminal according to the sensing signal, and the first measurement quantity is a measurement result corresponding to the sensing signal related measurements;
  • the perception result after determining the perception result according to the measurement result, it further includes:
  • the second terminal before the second terminal sends the sensing signal to the first terminal, it further includes:
  • the third indication information includes sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information At least one of the .
  • the method of the embodiment of the present application further includes:
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the sensing service may be sent by the second terminal, and the second terminal sends third indication information to the first network device, the second terminal, or the second network device, and obtains a corresponding target sensing result.
  • the perception results include at least one of the following:
  • the characteristic information of the target object is understood as: information that can reflect the attribute or state of the target object, which can be at least one of the following: the position of the target object, the speed of the target object, the acceleration of the target object, the target The material of the object, the shape of the target object, the category of the target object, the RCS (Radar Cross Section, RCS) of the target object, etc.
  • the relevant information of the target event can be understood as: information related to the target event, that is, the information that can be detected/perceived when the target event occurs, which can be: fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip language Recognition, gait recognition, expression recognition, breathing monitoring, heart rate monitoring, etc.
  • the relevant information of the target environment may be at least one of the following: humidity, brightness, temperature, atmospheric pressure, air quality, weather conditions, topography, building/vegetation distribution, population statistics, crowd density, vehicle density, etc.
  • the perception result may be obtained directly based on the above-mentioned first measurement quantity, or further calculation and processing may be performed on the above-mentioned first measurement quantity to convert it into a desired perception result.
  • the second terminal sends a sensing signal to the first terminal, so that the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is the same as the sensing signal Relevant measurement quantities, and then achieve the purpose of communication perception through the terminal sending and receiving sensing signals.
  • the embodiment of the present application also provides a communication sensing method, including:
  • Step 301 The first network device sends first indication information to the first terminal and/or the second terminal, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication The information is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal includes At least one terminal.
  • the above-mentioned first measurement quantity is the same as the first measurement quantity in the above-mentioned terminal-side method embodiment, and details are not repeated here.
  • the first indication information includes at least one of the following:
  • the first network device recommends configuration information.
  • the first network device sends the first indication information to the first terminal and/or the second terminal, the first terminal sends a sensing signal according to the first indication information, and the second terminal receives the sensing signal and obtains the first measurement quantity Corresponding to the measurement result, the first measurement quantity is a measurement quantity related to the sensing signal, so as to achieve the purpose of performing communication sensing by sending and receiving the sensing signal by the terminal.
  • the first network device after the first network device sends the first indication information to the target terminal, it further includes:
  • the perceived need response information includes fifth perceived need response information or sixth perceived need response information;
  • the fifth sensing demand response information is used to indicate that the first terminal or the second terminal agrees to participate in the sensing service
  • the sixth sensing demand response information is used to indicate that the first terminal or the second terminal refuses to participate in the sensing service.
  • the first terminal and/or the second terminal may agree or refuse to participate in the perception service, and the specific method includes at least one of the following:
  • Method 1 After the first network device sends the sensing requirement to the UE, the UE agrees or rejects it, and selects UEs that participate in the sensing service from the UEs that agree to provide the sensing requirement.
  • Method 2 After the first network device or the second network device screens the UEs participating in the sensing service, it sends a sensing request to the associated UE, and the UE agrees or rejects it.
  • Method 3 Whether the UE can participate in the sensing service is agreed in advance and stored in the relevant storage node of the core network, such as UDR. After the first network device receives the sensing demand and screens the UEs participating in the sensing service, access and store whether the UE can participate The storage node of the related sensing service acquires the information of whether the UE can participate in the related sensing service.
  • the first network device before sending the first indication information to the first terminal and/or the second terminal, the first network device further includes:
  • first target indication information where the first target indication information includes second indication information sent by the second network device, third indication information sent by the second terminal, fourth indication information sent by the first terminal, and At least one item of fifth indication information
  • the second indication information includes at least one item of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information
  • the third indication information includes at least one of perception requirements, third configuration information of perception information, second terminal capability information, and second terminal recommended configuration information, and the fourth indication information perception requirements, fourth configuration information of perception signals At least one of configuration information, first terminal capability information, and first terminal recommended configuration information
  • the fifth indication information includes perception requirements;
  • determining the first configuration information according to the first target indication information includes:
  • the first configuration information is determined by at least one of the following;
  • the second terminal recommends configuration information.
  • the method of the embodiment of the present application further includes:
  • Determining a terminal associated with the perceived demand as a target terminal Determining a terminal associated with the perceived demand as a target terminal, where the target terminal includes the first terminal and/or the second terminal.
  • the method further includes:
  • target perception results are determined.
  • the method of the embodiment of the present application further includes:
  • the first terminal and/or the second terminal are determined by at least one of the following:
  • Whether the terminal sends a perception requirement for example, if the terminal sends a perception requirement, then determine the terminal as the target terminal;
  • the information of agreeing or refusing to participate in the sensing service fed back by the terminal to the first network device is, for example, determining the terminal that feeds back agreeing to participate in the sensing service as the target terminal;
  • the terminal participating in the sensing service feeds back the sensing response information corresponding to the sensing demand within the specified time, for example, if the sensing response information is not received, the terminal will not be determined as the target terminal;
  • Prior information of the terminal where the prior information of the terminal includes at least one of a location of the terminal and an area where the terminal is located;
  • the method of the embodiment of the present application further includes:
  • the target second network device is determined by at least one of the following:
  • Prior information of the second network device where the prior information of the second network device includes at least one of the location of the base station and the area where the base station is located.
  • the method of the embodiment of the present application further includes:
  • the method of the embodiment of the present application further includes:
  • the first configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the first network device includes: a mobility and access management function (AMF) entity or a perception function entity.
  • AMF mobility and access management function
  • the perception function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the perceived client type, perceived QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the first network device sends first indication information to the first terminal and/or the second terminal, the first terminal sends a sensing signal according to the first indication information, and the second terminal receives the sensing signal and obtains the corresponding A measurement result corresponding to a first measurement quantity, where the first measurement quantity is a measurement quantity related to the sensing signal, so as to achieve the purpose of performing communication sensing by sending and receiving the sensing signal through the terminal.
  • the embodiment of the present application also provides a communication sensing method, including:
  • Step 401 The second network device receives first indication information, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to instruct the first terminal to receive a sensing signal , and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • the second network device may specifically be a base station.
  • the second network device receives the first indication information, forwards the first indication information to the first terminal and/or the second terminal, or determines the second configuration information of the sensing signal according to the first indication information And send it to the first terminal and/or the second terminal, so that the second terminal sends the sensing signal, the first terminal receives the sensing signal, and obtains the measurement result corresponding to the first measurement quantity according to the sensing signal, so as to realize sending and receiving through the terminal
  • the perception signal realizes the purpose of communication perception.
  • the first indication information includes at least one of the following:
  • the first network device recommends configuration information.
  • the method of the embodiment of the present application further includes:
  • the perceived demand response information includes the fifth perceived demand response information or the sixth perceived demand response information
  • the fifth sensing demand response information is used to indicate that the first terminal or the second terminal agrees to participate in the sensing service
  • the sixth sensing demand response information is used to indicate that the first terminal or the second terminal refuses to participate in the sensing service.
  • the method of the embodiment of the present application further includes:
  • the second target indication information includes the first indication information, third indication information sent by the second terminal, and fourth indication information sent by the first terminal at least one of the
  • the third indication information includes at least one of sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information;
  • the fourth indication information includes at least one of sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information.
  • the method before determining the second configuration information of the sensing signal according to the second target indication information, the method further includes:
  • At least one item of the third indication information and the fourth indication information is received.
  • determining the second configuration information of the sensing signal includes:
  • the recommended configuration information of the first network device
  • the second terminal recommends configuration information.
  • the second configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the second network device before the second network device receives the first indication information, it further includes:
  • the method also includes:
  • the method further includes:
  • target perception results are determined.
  • the method of this embodiment also includes:
  • the first network device includes: a mobility and access management function (AMF) entity or a perception function entity.
  • AMF mobility and access management function
  • the perception function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the second network device receives the first indication information, forwards the first indication information to the first terminal and/or the second terminal, or determines the second configuration information of the sensing signal according to the first indication information And send it to the first terminal and/or the second terminal, so that the second terminal sends the sensing signal, the first terminal receives the sensing signal, and obtains the measurement result corresponding to the first measurement quantity according to the sensing signal, so as to realize sending and receiving through the terminal
  • the perception signal realizes the purpose of communication perception.
  • Embodiment 1 UE A sends a sensing signal, UE B receives the sensing signal, and a third-party application initiates a sensing service.
  • This example includes:
  • the application server receives the perception requirements of the third-party application, and the perception requirements include expected perception results and/or perception indicators;
  • Application servers including on-network servers such as IP Multimedia Subsystem (IMS) or off-network servers
  • IMS IP Multimedia Subsystem
  • off-network servers send the sensing requirements to the core network (such as AMF) or the sensing network function or sensing network element of the core network
  • the application server sends the perception requirement to the AMF
  • the AMF sends the requirement to the perception network function or the perception network element.
  • Core network network functions or network elements determine the associated sending UE (ie UE A) and receiving UE (ie UE B) according to the sensing requirements, and send the sensing requirements to the associated UE A and/or UE B (if the related configuration and measurement quantity of the sensing signal are completely determined by the core network and/or base station, there is no need to send sensing requirements to UE A and/or UE B).
  • core network network functions or network elements determine the associated base station according to the sensing requirements, and send the sensing requirements to the associated base stations (if the configuration and measurement of sensing signals are completely determined by at least one of the core network, UE A, and UE B , then there is no need to send sensing requirements to the base station).
  • the method of sending the perception requirement to UE A and/or UE B includes at least:
  • Core network network functions or network elements (such as sensing network functions or sensing network elements) send sensing requirements to UE A;
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing demand to UE A, and UE A sends the sensing demand to UE B;
  • Core network network functions or network elements (such as sensory network functions/sensory network elements) send sensory requirements to UE A and UE B.
  • Method 1 One of the base station, the core network or the UE decides the configuration.
  • the other two parties can send the capability or recommended configuration to the decision party, where the UE includes at least one of UE A and UE B;
  • Method 2 At least two of the base station, the core network or the UE (at least one of UE A and UE B) decide on the configuration together. For example, the core network decides 5 of the 10 parameters, and UE A decides the other 5 .
  • the decision parties can also report capabilities or recommended configurations, and non-decision parties can also report capabilities or recommended configurations to the decision party.
  • the core network and UE A jointly decide the configuration, then the core network and UE A can notify each other Capabilities or recommended configurations, the base station and/or UE B can also send capabilities or recommended configurations to at least one of the core network or UE A;
  • Mode 3 The relevant configuration of the sensing signal is agreed in advance and is associated with the sensing requirement (the mapping table from the sensing requirement to the related configuration of the sensing signal is established in advance). For example, after receiving the sensing requirement sent by the core network, UE A autonomously Select the corresponding sensing signal configuration.
  • the decision party of the sensing signal-related configuration information sends the sensing signal-related configuration information to other parties. For example, if the decision party of the sensing signal-related configuration information is the core network, the core network sends the sensing signal-related configuration information to the UE A and UE B (the core network will send the configuration to UE A, and UE A will send the configuration to UE B), and the base station (if necessary); if the configuration information related to the sensing signal is jointly determined by the core network and UE A, the two mutually Notify the part of the sensing signal-related configuration information decided by itself, and then at least one of the two will send the sensing signal-related configuration information to UE B and the base station (if necessary);
  • the relevant configuration information of the sensing signal does not need to be indicated.
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing signal-related measurement quantity that needs to be measured or reported by the sensing signal receiving end to UE A and UE B (or the core network sends the measurement quantity Send it to UE A, UE A sends the measured quantity to UE B), and the base station (if necessary).
  • the measurement quantity is determined according to the sensing requirement, and no separate signaling indication is required (establishing a mapping table from the sensing requirement to the measurement quantity).
  • UE A sends the sensing signal according to the configuration information related to the sensing signal.
  • UE B receives the sensing signal and obtains a measurement result (also described as a measurement result).
  • this embodiment also includes:
  • UE B sends the measurement result to the core network network function or network element (such as the sensing network function or sensing network element); or UE B sends the measurement result to UE A, and UE A sends the measurement result to the core Network function or network element (such as network function awareness or network element awareness);
  • the core network network function or network element such as the sensing network function or sensing network element
  • UE B sends the measurement result to UE A
  • UE A sends the measurement result to the core Network function or network element (such as network function awareness or network element awareness);
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the measurement result to the application server, and the application server determines the sensing result according to the measurement;
  • the core network network function or network element determines the sensing result according to the measurement result, and sends the sensing result to the application server
  • the application server sends the sensing result to the third-party application.
  • this embodiment also includes:
  • UE B sends the measurement result to the base station, or UE B sends the measurement result to UE A, and UE A sends the measurement result to the base station;
  • the base station determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element);
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing result to the application server;
  • the application server sends the sensing result to the third-party application.
  • this embodiment also includes:
  • UE B determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element); or, UE B sends the measurement result to UE A, UE A determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element);
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the application server;
  • the application server sends the sensing result to the third-party application.
  • Embodiment 2 UE A sends the sensing signal, UE B receives the sensing signal, and the core network (network management system or base station) initiates the sensing service.
  • the core network network management system or base station
  • This example includes:
  • the AMF of the core network sends the sensing requirement to the sensing network function or sensing network element
  • the AMF receives the sensing requirements sent by the network management system and forwards them to the sensing network function or sensing network element
  • the AMF receives the perception requirement sent by the base station, and forwards it to the perception network function or the perception network element.
  • the core network network function or network element determines the associated UE according to the sensing requirement, and sends the sensing requirement to the associated UE (if the configuration and measurement of the sensing signal are completely controlled by the core network and/or or the base station decides, there is no need to send the sensing requirement to the associated UE).
  • the associated UE includes UE A and/or UE B.
  • the core network network function or network element determines the associated base station according to the sensing requirement, and sends the sensing requirement to the associated base station (if the related configuration and measurement quantity of the sensing signal are completely determined by the core network and/or the associated UE, there is no need to send the sensing signal to the base station need).
  • the decision party of the sensing signal-related configuration information sends the sensing signal-related configuration information to other parties. If the sensing signal-related configuration is agreed in advance and is associated with sensing needs, there is no need to indicate the sensing signal-related configuration information .
  • the description of the configuration information related to the sensing signal and the specific sending method are the same as those in the first embodiment.
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing signal-related measurement quantity that needs to be measured or reported by the sensing signal receiving end to UE A and UE B (the core network sends the measurement quantity To UE A, UE A sends the measurement to UE B), and the base station (if necessary).
  • the measurement quantity is determined according to the sensing requirement, and no separate signaling indication is required (establishing a mapping table from the sensing requirement to the measurement quantity).
  • UE A sends the sensing signal according to the configuration information related to the sensing signal.
  • UE B receives the echo signal of the sensing signal and obtains the measurement result (ie, the above measurement result).
  • this embodiment also includes:
  • UE B sends the measurement result to the core network network function or network element (such as the sensing network function or sensing network element); or UE B sends the measurement result to UE A, and UE A sends the measurement result to the core Network function or network element (such as network function awareness or network element awareness);
  • the core network network function or network element such as the sensing network function or sensing network element
  • UE B sends the measurement result to UE A
  • UE A sends the measurement result to the core Network function or network element (such as network function awareness or network element awareness);
  • the core network network function or network element (such as the sensing network function/sensing network element) converts the measurement result into a sensing result and sends it to the network management system;
  • the core network network function or network element (such as the sensing network function/sensing network element) converts the measurement result into a sensing result and sends it to the base station.
  • this embodiment also includes:
  • UE B sends the measurement result to the base station; or, UE B sends the measurement result to UE A, and UE A sends the measurement result to the base station;
  • the base station determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element);
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the network management system.
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the base station.
  • this embodiment also includes:
  • UE B determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element); or, UE B sends the measurement result to UE A, UE A determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element);
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the network management system;
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the base station.
  • Embodiment 3 UE A sends the sensing signal, UE B receives the sensing signal, and UE initiates the sensing service.
  • This example includes:
  • the UE (which can be UE A, UE B or other UE) sends the configuration information related to the sensing requirement or sensing signal to the core network AMF through NAS signaling;
  • the core network AMF sends the sensing requirement to the sensing network function or sensing network element.
  • the core network network function or network element determines the associated UE (UE A and UE B) according to the sensing requirement, and sends the sensing requirement to the associated UE (if the sensing signal is related to configuration and measurement The amount is completely determined by the core network and/or the base station, and there is no need to send a sensing requirement to the associated UE).
  • the core network network function or network element determines the associated base station according to the sensing requirement, and sends the sensing requirement to the associated base station (if the related configuration and measurement quantity of the sensing signal are completely determined by the core network and/or the associated UE, there is no need to send the sensing signal to the base station need).
  • the decision party of the sensing signal-related configuration information sends the sensing signal-related configuration information to other parties. If the sensing signal-related configuration is agreed in advance and is associated with sensing needs, there is no need to indicate the sensing signal-related configuration information .
  • the description of the configuration information related to the sensing signal and the specific sending method are the same as those in the first embodiment.
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing signal-related measurement quantity that needs to be measured or reported by the sensing signal receiving end to UE A and UE B (or the core network sends the measurement quantity Send it to UE A, UE A sends the measured quantity to UE B), and the base station (if necessary).
  • the measurement quantity is determined according to the sensing requirement, and no separate signaling indication is required (establishing a mapping table from the sensing requirement to the measurement quantity).
  • UE A sends the sensing signal according to the configuration information related to the sensing signal.
  • UE B receives the sensing signal and obtains the measurement result (that is, the above measurement result).
  • this embodiment also includes:
  • UE B sends the measurement result to the core network network function or network element (such as the sensing network function or sensing network element); or UE B sends the measurement result to UE A, and UE A sends the measurement result to the core Network function or network element (such as network function awareness or network element awareness);
  • the core network network function or network element (such as the perception network function/awareness network element) converts the measurement result into a perception result
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the UE (the UE that initiates the sensing demand can be UE A, UE B or other UE), such as through NAS signaling Send the sensing result to the UE.
  • this embodiment also includes:
  • UE B sends the measurement result to the base station, or UE B sends the measurement result to UE A, and UE A sends the measurement result to the base station;
  • the base station determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element) or directly sends it to the UE that initiates the sensing service;
  • the core network network function or network element (such as the sensing network function or sensing network element) sends the sensing result to the UE that initiates the sensing service, for example, sends the sensing result to the UE that initiates the sensing service through NAS signaling.
  • this embodiment also includes:
  • UE B determines the sensing result according to the measurement amount, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element); or, UE B sends the measurement amount result to UE A, UE A determines the sensing result according to the measurement result, and sends the sensing result to the core network network function or network element (such as the sensing network function or sensing network element);
  • the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing result to the UE that initiates the sensing service.
  • the message interaction between the core network network function or network element (such as the sensory network function or sensory network element) and other nodes can be the core network network function or network element (such as Awareness network function/awareness network element) can be sent directly, or it can be a core network network function or network element (such as a perception network function/awareness network element) to perform message interaction through AMF;
  • the billing function is completed in the core network or application server;
  • the sensing signal in the above process may be sent and received by multiple UEs and/or the sensing signal sent by one or more UEs may be received by multiple UEs;
  • the core network/base station needs to determine the set of UEs that send the sensing signal and the set of UEs that receive the sensing signal, and send the relevant configuration information of one or more sensing signals to the corresponding multiple base stations and multiple UEs, and The measurement quantities related to the sensing signals that need to be received and measured by the UE are respectively sent to the corresponding multiple UEs.
  • multiple UEs UEs that send sensing signals and/or UEs that receive sensing signals
  • multiple UEs UEs that send sensing signals and/or UEs that receive sensing signals
  • Signal UEs need to interact with each other to perceive the measurement results of the signal;
  • the message interaction between the core network network function or network element (such as the sensing network function/sensing network element) and the UE can be through the base station, and the message is transparent to the base station, such as NAS signaling;
  • the UE can choose to agree or refuse to participate in the sensing process, and the method can be:
  • the UE After the core network network function or network element (such as the sensing network function/sensing network element) sends the sensing demand to the UE, the UE agrees or refuses, and selects the UE participating in the sensing service from the UEs that agree to provide the sensing demand (corresponding to the above-mentioned determination of the associated UE). content);
  • the base station or the core network After the base station or the core network screens the UEs participating in the sensing service, it sends a participation sensing request message to the associated UE, and the UE agrees or refuses;
  • Whether the UE can participate in relevant sensing services is agreed in advance and stored in relevant storage nodes of the core network, for example, a unified database (Unified Data Repository, UDR), core network network functions or network elements (such as sensing network functions/sensing network elements)
  • a unified database Unified Data Repository, UDR
  • core network network functions or network elements such as sensing network functions/sensing network elements
  • the supervision process is completed by the core network network function or network element (such as the sensory network function/sensory network element) or the application server or other nodes.
  • the communication sensing method provided in the embodiment of the present application may be executed by a communication sensing device, or a control module in the communication sensing device for executing the communication sensing method.
  • the communication sensing device provided in the embodiment of the present application is described by taking the communication sensing device executing the communication sensing method as an example.
  • the embodiment of the present application provides a communication sensing device 500, including:
  • the first obtaining module 501 is configured to obtain the sensing signal sent by the second terminal;
  • the second acquiring module 502 is configured to obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • the first acquisition module includes:
  • a first determining submodule configured to determine configuration information of the sensing signal
  • the first acquiring submodule is configured to acquire the sensing signal according to the configuration information of the sensing signal.
  • the first determining submodule includes:
  • the first receiving subunit is configured to receive at least one of the first indication information sent by the first network device, the second indication information sent by the second network device, and the third indication information sent by the second terminal;
  • a first determining unit configured to determine configuration information of the sensing signal according to at least one of the first indication information, the second indication information, and the third indication information;
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the third indication information includes at least one of sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information.
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the fourth configuration information is determined by at least one of the following;
  • the recommended configuration information of the first network device
  • the second terminal recommends configuration information.
  • the first determiner also includes:
  • the first sending unit is configured to after the first receiving subunit receives at least one of the first indication information sent by the first network device, the second indication information sent by the second network device, and the third indication information sent by the second terminal , when it is determined to participate in the sensing service according to at least one of the first indication information, the second indication information, and the third indication information, sending to at least one of the first network device, the second network device, and the second terminal First sensing demand response information, where the first sensing demand response information is used to indicate that the first terminal agrees to participate in the sensing service;
  • the item sends second perception demand response information, where the second perception demand response information is used to indicate that the first terminal refuses to participate in the perception service.
  • the configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • a third obtaining module configured to obtain the first measurement quantity sent by the first network device, the second network device or the second terminal;
  • the first measurement quantity is determined according to a perception requirement.
  • the device of the embodiment of the present application further includes:
  • the third sending module is configured to send the measurement result to the first network device, the second network device or the second terminal after the second obtaining module obtains the measurement result corresponding to the first measurement quantity according to the sensing signal.
  • the device of the embodiment of the present application further includes:
  • the first determination module is used for determining the perception result according to the measurement result after the second acquisition module obtains the measurement result corresponding to the first measurement quantity according to the sensing signal;
  • a fourth sending module configured to send the sensing result to the first network device, the second network device or the second terminal.
  • the device of the embodiment of the present application further includes:
  • the fifth sending module is configured to send fourth indication information to the first network device, the second network device or the second terminal before the first acquisition module acquires the sensing signal sent by the second terminal, where the fourth indication information includes the sensing demand , at least one item of fourth configuration information of the sensing signal, first terminal capability information, and first terminal recommended configuration information.
  • the device of the embodiment of the present application further includes:
  • the fourth obtaining module is used to obtain the first network device, the second network device or the second terminal according to the fourth instruction after the second obtaining module obtains the measurement result corresponding to the first measurement quantity according to the sensing signal.
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the first measurement quantity includes at least one of the following:
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the perception result includes at least one of the following:
  • the first network device includes: a mobility and access management function AMF entity or a perception function entity.
  • the sensing function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the embodiment of the present application provides a communication sensing device 600, including:
  • the first sending module 601 is configured to send a sensing signal to the first terminal.
  • the device of the embodiment of the present application further includes:
  • a target determination module for determining a sensory signal.
  • the first sending module includes:
  • the second determining submodule is used to determine configuration information of the sensing signal
  • the first sending submodule is configured to send the sensing signal according to the configuration information of the sensing signal.
  • the second determining submodule includes:
  • the second receiving unit is configured to receive at least one of the first indication information sent by the first network device, the second indication information sent by the second network device, and the fourth indication information sent by the first terminal;
  • a third determining unit configured to determine configuration information of the sensing signal according to at least one of the first indication information, the second indication information, and the fourth indication information;
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the fourth indication information includes at least one of sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information.
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the third configuration information is determined by at least one of the following;
  • the recommended configuration information of the first network device
  • the first terminal recommends configuration information.
  • the second determining submodule also includes:
  • the third receiving unit after receiving at least one of the first indication information sent by the first network device, the second indication information sent by the second network device, and the fourth indication information sent by the first terminal, further includes:
  • the second sending unit is configured to send the first network device, the second network device and the first terminal to the first network device, the second network device and the first terminal when it is determined to participate in the sensing service according to at least one of the first indication information, the second indication information, and the fourth indication information. At least one of them sends third perception requirement response information, where the third perception requirement response information is used to indicate that the second terminal agrees to participate in the perception service;
  • the item sends fourth perception demand response information, where the fourth perception demand response information is used to instruct the second terminal to refuse to participate in the perception service.
  • the configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the device of the embodiment of the present application further includes:
  • a fifth obtaining module configured to obtain the first measurement quantity sent by the first network device, the second network device or the first terminal;
  • the first measurement quantity is determined according to a perception requirement.
  • the device of the embodiment of the present application further includes:
  • the sixth obtaining module is configured to obtain the measurement result sent by the first terminal after the first sending module sends the sensing signal to the first terminal, and the measurement result is obtained by the first terminal according to the sensing signal and the second a measurement result corresponding to a measurement quantity, the first measurement quantity is a measurement quantity related to the sensing signal;
  • the first processing module is configured to determine a sensing result according to the measurement result, or send the measurement result to the second terminal, the first network device or the second network device.
  • the device of the embodiment of the present application further includes:
  • the sixth sending module after the first processing module determines the sensing result according to the measurement result, sends the sensing result to the first network device, the second network device or the first terminal.
  • the device of the embodiment of the present application further includes:
  • the seventh sending module is configured to send third indication information to the first network device, the second network device or the first terminal before the first sending module sends the sensing signal to the first terminal, where the third indication information includes sensing needs, At least one of the third configuration information of the sensing signal, the capability information of the second terminal, and the recommended configuration information of the second terminal.
  • the device of the embodiment of the present application further includes:
  • a seventh obtaining module configured to obtain target perception results fed back by the first network device, the second network device or the first terminal according to the third indication information;
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the first measurement quantity includes at least one of the following:
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the perception result includes at least one of the following:
  • the first network device includes: a mobility and access management function AMF entity or a perception function entity.
  • the sensing function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • a sensing signal is sent to the first terminal, so that the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is a measurement related to the sensing signal Quantities, and then achieve the purpose of communication perception through the terminal to send and receive sensing signals.
  • the communication sensing device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or may be a component, an integrated circuit, or a chip in a terminal.
  • the apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal.
  • the mobile terminal may include but not limited to the types of terminals 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television ( television, TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.
  • the device provided by the embodiment of the present application can realize the various processes realized by the method embodiment in Fig. 1, and achieve the same technical effect. In order to avoid repetition, details are not repeated here.
  • the embodiment of the present application further provides a communication device 700, including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701,
  • a communication device 700 including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701
  • the communication device 700 is a terminal
  • the program or instruction is executed by the processor 701
  • each process of the above embodiment of the communication sensing method applied to the first terminal or the second terminal can be implemented, and the same technical effect can be achieved.
  • the communication device 700 is a network-side device (first network device or second network device)
  • the program or instruction is executed by the processor 701
  • the above embodiment of the communication awareness method applied to the first network device or the second network device is implemented.
  • the embodiment of the present application also provides a terminal, including a processor and a communication interface, the communication interface is used to: acquire the sensing signal sent by the second terminal; the processor is used to: obtain the measurement result corresponding to the first measurement quantity according to the sensing signal , the first measurement quantity is a measurement quantity related to the sensing signal.
  • the communication interface is used to send a sensing signal to the first terminal.
  • FIG. 8 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.
  • the terminal 800 includes, but is not limited to: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, and a display unit. 806, at least some components in the user input unit 807, the interface unit 808, the memory 809, and the processor 810, etc.
  • the terminal 800 may also include a power supply (such as a battery) for supplying power to various components, and the power supply may be logically connected to the processor 810 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 8 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.
  • the input unit 804 may include a graphics processor (Graphics Processing Unit, GPU) 8041 and a microphone 8042, and the graphics processor 8041 is used for the image capture device (such as the image data of the still picture or video obtained by the camera) for processing.
  • the display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 807 includes a touch panel 8071 and other input devices 8072 .
  • the touch panel 8071 is also called a touch screen.
  • the touch panel 8071 may include two parts, a touch detection device and a touch controller.
  • Other input devices 8072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.
  • the radio frequency unit 801 receives the downlink data from the network side device, and processes it to the processor 810; in addition, sends the uplink data to the network side device.
  • the radio frequency unit 801 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the memory 809 can be used to store software programs or instructions as well as various data.
  • the memory 809 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playback function, an image playback function, etc.) and the like.
  • the memory 809 may include a high-speed random access memory, and may also include a nonvolatile memory, wherein the nonvolatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • PROM erasable programmable read-only memory
  • Erasable PROM Erasable PROM
  • EPROM electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory for example at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the processor 810 may include one or more processing units; optionally, the processor 810 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 810 .
  • the radio frequency unit 801 is configured to obtain a sensing signal sent by the second terminal; the processor 810 is configured to obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first A measured quantity is a measured quantity related to said sensory signal.
  • the radio frequency unit 801 is also used for:
  • the radio frequency unit 801 is also used for:
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the third indication information includes at least one of sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information.
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the fourth configuration information is determined by at least one of the following;
  • the recommended configuration information of the first network device
  • the second terminal recommends configuration information.
  • the radio frequency unit 801 is also used for:
  • the first sensing demand response information is sent to at least one of the first network device, the second network device, and the second terminal, and the first sensing The demand response information is used to indicate that the first terminal agrees to participate in the sensing service;
  • the item sends second perception demand response information, where the second perception demand response information is used to indicate that the first terminal refuses to participate in the perception service.
  • the configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the radio frequency unit 801 is also used for:
  • the first measurement quantity is determined according to a perception requirement.
  • the radio frequency unit 801 is also used for:
  • the processor After the processor obtains a measurement result corresponding to the first measurement quantity according to the sensing signal, the processor sends the measurement result to the first network device, the second network device or the second terminal.
  • processor 810 is further configured to:
  • the radio frequency unit 801 is further configured to: send the sensing result to the first network device, the second network device or the second terminal.
  • the radio frequency unit 801 acquires the sensing signal sent by the second terminal, it is also used to:
  • the radio frequency unit 801 is further configured to:
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the first measured quantity includes at least one of the following:
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the perception results include at least one of the following:
  • the first network device includes: a mobility and access management function (AMF) entity or a perception function entity.
  • AMF mobility and access management function
  • the perception function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the radio frequency unit 801 is configured to: send a sensing signal to the first terminal.
  • the radio frequency unit 801 is also used for:
  • the radio frequency unit 801 is also used for:
  • the first indication information includes at least one of sensing requirements, first configuration information of sensing signals, first network device capability information, and first network device recommended configuration information;
  • the second indication information includes at least one of sensing requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information;
  • the fourth indication information includes at least one of sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information.
  • the configuration information of the sensing signal includes at least one of the following:
  • first configuration information where the first configuration information is configuration information of sensing signals determined by the first network device
  • the second configuration information is configuration information of the sensing signal determined by the second network device
  • the third configuration information is configuration information of the sensing signal determined by the second terminal
  • Fourth configuration information where the fourth configuration information is configuration information of the sensing signal determined by the first terminal.
  • the third configuration information is determined by at least one of the following;
  • the recommended configuration information of the first network device
  • the first terminal recommends configuration information.
  • the radio frequency unit 801 further uses In: when it is determined to participate in the sensing service according to at least one of the first indication information, the second indication information, and the fourth indication information, to at least one of the first network device, the second network device, and the first terminal sending third perception requirement response information, where the third perception requirement response information is used to indicate that the second terminal agrees to participate in the perception service;
  • the item sends fourth perception demand response information, where the fourth perception demand response information is used to instruct the second terminal to refuse to participate in the perception service.
  • the configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the radio frequency unit 801 is also used for:
  • the first measurement quantity is determined according to a perception requirement.
  • the radio frequency unit 801 after the radio frequency unit 801 sends the sensing signal to the first terminal, it is further configured to:
  • the measurement result is a measurement result corresponding to a first measurement quantity obtained by the first terminal according to the sensing signal, and the first measurement quantity is a measurement result corresponding to the sensing signal related measurements;
  • the radio frequency unit 801 is further configured to:
  • the radio frequency unit 801 before sending the sensing signal to the first terminal, the radio frequency unit 801 is further configured to:
  • the third indication information includes sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information At least one of the .
  • the radio frequency unit 801 is also used for:
  • the target sensing result includes: a sensing result obtained according to at least one measurement result of the first terminal.
  • the first measured quantity includes at least one of the following:
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • the perception results include at least one of the following:
  • the first network device includes: a mobility and access management function (AMF) entity or a perception function entity.
  • AMF mobility and access management function
  • the perception function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the first terminal obtains the sensing signal sent by the second terminal; the first terminal obtains a measurement result corresponding to a first measurement quantity according to the sensing signal, and the first measurement quantity is related to the sensing signal Signal-related measurement quantities, so as to achieve the purpose of communication perception through the terminal sending and receiving sensing signals.
  • the embodiment of the present application also provides a communication sensing device 900, including:
  • the second sending module 901 is configured to send first indication information to the first terminal and/or the second terminal, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first The indication information is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal Include at least one terminal.
  • the device of the embodiment of the present application further includes:
  • a determining module configured to determine the first indication information.
  • the first indication information includes at least one of the following:
  • the first network device recommends configuration information.
  • the device of the embodiment of the present application further includes:
  • the second receiving module is configured to receive the perceived demand response information sent by the first terminal, the second terminal or the second network device after the second sending module sends the first indication information to the target terminal;
  • the perceived need response information includes fifth perceived need response information or sixth perceived need response information;
  • the fifth sensing demand response information is used to indicate that the first terminal or the second terminal agrees to participate in the sensing service
  • the sixth sensing demand response information is used to indicate that the first terminal or the second terminal refuses to participate in the sensing service.
  • the device of the embodiment of the present application further includes:
  • the third receiving module is configured to receive the first target indication information before the second sending module sends the first indication information to the first terminal and/or the second terminal, and the first target indication information includes the information sent by the second network device.
  • the second indication information includes perception At least one of requirements, second configuration information of sensing signals, second network device capability information, and second network device recommended configuration information
  • the third indication information includes sensing requirements, third configuration information of sensing information, second At least one item of terminal capability information and second terminal recommended configuration information, at least one item of the fourth indication information sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information
  • the fifth indication information includes perceived needs;
  • the second determining module is configured to determine the first configuration information according to the first target indication information.
  • the second determining module determines the first configuration information through at least one of the following;
  • the second terminal recommends configuration information.
  • the device of the embodiment of the present application further includes:
  • the third determining module is configured to determine a terminal associated with the perceived demand as a target terminal, where the target terminal includes the first terminal and/or the second terminal.
  • the device of the embodiment of the present application further includes:
  • the eighth obtaining module is used for the third determining module to determine the terminal associated with the perceived demand as the target terminal, and obtain the measurement result sent by the target terminal or the target second network device, the target second
  • the network device is a second network device associated with the second perceived requirement
  • the fourth determination module is configured to determine a target perception result according to the measurement result.
  • the device of the embodiment of the present application further includes:
  • a ninth obtaining module configured to obtain a target sensing result sent by the first terminal, the second terminal or the target second network device, where the target sensing result is obtained according to the measurement result.
  • the first terminal and/or the second terminal are determined by at least one of the following:
  • Prior information of the terminal where the prior information of the terminal includes at least one of a location of the terminal and an area where the terminal is located;
  • the device of the embodiment of the present application further includes:
  • a seventh sending module configured to send the first indication information to the target second network device associated with the perceived demand.
  • the target second network device is determined by at least one of the following:
  • Prior information of the second network device where the prior information of the second network device includes at least one of the location of the base station and the area where the base station is located.
  • the device of the embodiment of the present application further includes:
  • An eighth sending module configured to send the first measurement amount to the target second network device.
  • the device of the embodiment of the present application further includes:
  • a ninth sending module configured to send the first measurement amount to the first terminal and/or the second terminal.
  • the first configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the first network device includes: a mobility and access management function (AMF) entity or a perception function entity.
  • AMF mobility and access management function
  • the perception function entity satisfies at least one of the following:
  • the sensing method is determined according to at least one of the sensing client type, sensing QoS, terminal sensing capabilities, and network device sensing capabilities; wherein the sensing method includes at least one of the following: the first network node sends a sensing signal, and the second network The node receives the sensing signal; the first network node sends and receives the sensing signal; the first network node sends the sensing signal, and the terminal device associated with the first network node receives the sensing signal; the terminal device sends the sensing signal, and the second terminal receives the sensing signal; the terminal device Sending and receiving a sensing signal; the terminal device sends the sensing signal, and the first network node receives the sensing signal.
  • the first indication information is sent to the first terminal and/or the second terminal, the first terminal sends a sensing signal according to the first indication information, and the second terminal receives the sensing signal and obtains the first measurement quantity Corresponding to the measurement result, the first measurement quantity is a measurement quantity related to the sensing signal, so as to achieve the purpose of performing communication sensing by sending and receiving the sensing signal by the terminal.
  • the embodiment of the present application also provides a communication sensing device 1000, including:
  • the first receiving module 1001 is configured to receive first indication information, the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to indicate the first terminal to receive a sensing signal signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • the first indication information includes at least one of the following:
  • the first network device recommends configuration information.
  • the device of the embodiment of the present application further includes:
  • a fourth receiving module configured to receive the perceived demand response information sent by the first terminal or the second terminal;
  • a tenth sending module configured to send the perceived demand response information to the first network device
  • the perceived demand response information includes the fifth perceived demand response information or the sixth perceived demand response information
  • the fifth sensing demand response information is used to indicate that the first terminal or the second terminal agrees to participate in the sensing service
  • the sixth sensing demand response information is used to indicate that the first terminal or the second terminal refuses to participate in the sensing service.
  • the device of the embodiment of the present application further includes:
  • a fifth determining module configured to determine second configuration information of the sensing signal according to second target indication information, where the second target indication information includes the first indication information, third indication information sent by the second terminal, and the first At least one item in the fourth indication information sent by the terminal;
  • the third indication information includes at least one of sensing requirements, third configuration information of sensing signals, second terminal capability information, and second terminal recommended configuration information;
  • the fourth indication information includes at least one of sensing requirements, fourth configuration information of sensing signals, first terminal capability information, and first terminal recommended configuration information.
  • the device of the embodiment of the present application further includes:
  • the fifth receiving module receives at least one of the third indication information and the fourth indication information before the fifth determination module determines the second configuration information of the sensing signal according to the second target indication information.
  • the fifth determining module determines the second configuration information of the sensing signal according to at least one of the following;
  • the recommended configuration information of the first network device
  • the second terminal recommends configuration information.
  • the device of the embodiment of the present application further includes:
  • An eleventh sending module configured to send the second configuration information of the sensing signal to at least one of the first terminal, the second terminal, and the first network device.
  • the second configuration information of the sensing signal includes at least one of the following:
  • the subcarrier spacing of the sensing signal is the subcarrier spacing of the sensing signal
  • the sending signal power of the sensing signal
  • the device of the embodiment of the present application further includes:
  • a twelfth sending module configured to send second indication information to the first network device, the first terminal or the second terminal before the first receiving module receives the first indication information, the second indication information including the capability of the second network device At least one item of information, sensing requirements, second configuration information of sensing signals, and second network recommended configuration information.
  • the device of the embodiment of the present application further includes:
  • a tenth obtaining module configured to obtain a target sensing result fed back by the first network device, the first terminal or the second terminal according to the second indication information, where the target sensing result is obtained according to the measurement result.
  • the device of the embodiment of the present application further includes:
  • an eleventh acquiring module configured to acquire the measurement result
  • the third determining module is configured to determine a target perception result according to the measurement result.
  • the device of the embodiment of the present application further includes:
  • a thirteenth sending module configured to send the target perception result to the first network device, the first terminal or the second terminal.
  • the first indication information is received, and the first indication information is forwarded to the first terminal and/or the second terminal, or according to the first indication information, the second configuration information of the sensing signal is determined and sent to the second terminal.
  • a terminal and/or a second terminal so that the second terminal sends a sensing signal, the first terminal receives the sensing signal, and obtains a measurement result corresponding to the first measurement quantity according to the sensing signal, so as to realize communication by sending and receiving the sensing signal through the terminal purpose of perception.
  • the embodiment of the present application also provides a network device, the network device may be the above-mentioned first network device or the second network device, the network device includes a processor and a communication interface, when the network device is the above-mentioned first network device , the communication interface is used to send first indication information to the first terminal and/or the second terminal, the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information is used to Instructing the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, the first measurement quantity is a measurement quantity related to the sensing signal, and the target terminal includes at least one terminal.
  • the network device may be the above-mentioned first network device or the second network device
  • the network device includes a processor and a communication interface, when the network device is the above-mentioned first network device , the communication interface is used to send first indication information to the first terminal and/or the second terminal, the first indication information
  • the communication interface is used to receive first indication information, where the first indication information is used to instruct the second terminal to send a sensing signal; and/or, the first indication information It is used to instruct the first terminal to receive the sensing signal, and obtain a measurement result corresponding to a first measurement quantity according to the sensing signal, where the first measurement quantity is a measurement quantity related to the sensing signal.
  • the network device embodiment corresponds to the network device method embodiment above, and each implementation process and implementation mode of the above method embodiment can be applied to the network device embodiment, and can achieve the same technical effect.
  • the embodiment of the present application also provides a network device.
  • the network device is the above-mentioned first network device.
  • the network device 1100 includes: an antenna 1101 , a radio frequency device 1102 , and a baseband device 1103 .
  • the antenna 1101 is connected to the radio frequency device 1102 .
  • the radio frequency device 1102 receives information through the antenna 1101, and sends the received information to the baseband device 1103 for processing.
  • the baseband device 1103 processes the information to be sent and sends it to the radio frequency device 1102
  • the radio frequency device 1102 processes the received information and sends it out through the antenna 1101 .
  • the foregoing frequency band processing apparatus may be located in the baseband apparatus 1103 , and the method performed by the network device in the above embodiments may be implemented in the baseband apparatus 1103 , and the baseband apparatus 1103 includes a processor 1104 and a memory 1105 .
  • the baseband device 1103 may include, for example, at least one baseband board, and the baseband board is provided with a plurality of chips, as shown in FIG. Operations of the first network device shown in the above method embodiments.
  • the baseband device 1103 may also include a network interface 1106 for exchanging information with the radio frequency device 1102, such as a common public radio interface (CPRI for short).
  • a network interface 1106 for exchanging information with the radio frequency device 1102, such as a common public radio interface (CPRI for short).
  • CPRI common public radio interface
  • the network device in the embodiment of the present application further includes: instructions or programs stored in the memory 1105 and operable on the processor 1104, and the processor 1104 calls the instructions or programs in the memory 1105 to execute the graph
  • the method executed by each module shown in 9 achieves the same technical effect. In order to avoid repetition, it is not repeated here.
  • the embodiment of the present application also provides a network device, which may be specifically the above-mentioned second network device.
  • the network side device includes a baseband device 1203 .
  • the baseband device 1203 processes the information to be transmitted.
  • the frequency band processing device may be located in the baseband device 1203 , and the method performed by the network side device in the above embodiments may be implemented in the baseband device 1203 , and the baseband device 1203 includes a processor 1204 and a memory 1205 .
  • the baseband device 1203 may include, for example, at least one baseband board, and the baseband board is provided with a plurality of chips, as shown in FIG. The operations of the second network device shown in the above method embodiments.
  • the baseband device 1203 may also include a network interface 1206 for exchanging information with the radio frequency device 1202, such as a common public radio interface (CPRI for short).
  • a network interface 1206 for exchanging information with the radio frequency device 1202, such as a common public radio interface (CPRI for short).
  • CPRI common public radio interface
  • the network device (second network device) in the embodiment of the present application further includes: instructions or programs stored in the memory 1205 and executable on the processor 1204, and the processor 1204 calls the instructions or programs in the memory 1205 to execute the graph
  • the method executed by each module shown in 10 achieves the same technical effect. In order to avoid repetition, it is not repeated here.
  • the embodiment of the present application also provides a readable storage medium, the readable storage medium stores a program or an instruction, and when the program or instruction is executed by a processor, each process of the above-mentioned communication sensing method embodiment is realized, and the same To avoid repetition, the technical effects will not be repeated here.
  • the processor is the processor in the terminal described in the foregoing embodiments.
  • the readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above communication sensing method embodiment Each process can achieve the same technical effect, so in order to avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.
  • the embodiment of the present application also provides a computer program product, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement each of the communication awareness method embodiments above. process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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Abstract

本申请公开了一种通信感知方法、装置及设备，本申请实施例的通信感知方法包括：第一终端获取第二终端发送的感知信号；所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。

Description

通信感知方法、装置及设备
相关申请的交叉引用
本申请主张在2021年7月23日在中国提交的中国专利申请No.202110838222.0的优先权，其全部内容通过引用包含于此。
技术领域
本申请涉及通信技术领域，特别涉及一种通信感知方法、装置及设备。
背景技术
未来移动通信系统，除了具备通信能力外，还将具备感知能力。感知能力，即具备感知能力的一个或多个设备，能够通过无线信号的发送和接收，来感知目标物体的方位、距离、速度等信息，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像等。未来随着毫米波、太赫兹等具备高频段大带宽能力的小基站在第六代移动通信技术(6th Generation Mobile Communication Technology，6G)网络的部署，感知的分辨率相比厘米波将明显提升，从而使得6G网络能够提供更精细的感知服务。但相关技术中，如何通过终端收发感知信号进行通信感知还没有相关方案。
发明内容
本申请实施例提供了一种通信感知方法、装置及设备，能够解决如何通过终端收发感知信号进行通信感知的问题。
第一方面，提供了一种通信感知方法，包括：
第一终端获取第二终端发送的感知信号；
所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
第二方面，提供了一种通信感知方法，包括：
第二终端向第一终端发送感知信号。
第三方面，提供了一种通信感知方法，包括：
第一网络设备向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
第四方面，提供了一种通信感知方法，包括：
第二网络设备接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
第五方面，提供了一种通信感知装置，包括：
第一获取模块，用于获取第二终端发送的感知信号；
第二获取模块，用于根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
第六方面，提供了一种通信感知装置，包括：
第一发送模块，用于向第一终端发送感知信号。
第七方面，提供了一种通信感知装置，包括：
第二发送模块，用于向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
第八方面，提供了一种通信感知装置，包括：
第一接收模块，用于接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第 一测量量为与所述感知信号相关的测量量。
第九方面，提供了一种终端，该终端包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面或第二方面所述的方法的步骤。
第十方面，提供了一种终端，包括处理器及通信接口，其中，所述通信接口用于获取第二终端发送的感知信号；所述通信接口用于根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量；或者，所述通信接口用于向第一终端发送感知信号。
第十一方面，提供了一种网络设备，该网络侧设备包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第三方面或第四方面所述的方法的步骤。
第十二方面，提供了一种网络设备，包括处理器及通信接口，其中，所述通信接口用于向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端；或者，所述通信接口用于接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
第十三方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤，或者实现如第三方面所述的方法的步骤，或者实现如第四方面所述的方法的步骤。
第十四方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第二方面所述的方法，或实现如第三方面所述的 方法，或者实现如第四方面所述的方法。
第十五方面，提供了一种计算机程序产品，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如第一方面、第二方面或第三方面或第四方面所述的方法的步骤。
在本申请实施例中，第一终端获取第二终端发送的感知信号；所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现了通过终端收发感知信号进行通信感知的目的。
附图说明
图1表示本申请实施例的通信感知方法的流程示意图之一；
图2表示本申请实施例的通信感知方法的流程示意图之二；
图3表示本申请实施例的通信感知方法的流程示意图之三；
图4表示本申请实施例的通信感知方法的流程示意图之四；
图5表示本申请实施例的通信感知装置的模块示意图之一；
图6表示本申请实施例的通信感知装置的模块示意图之二；
图7表示本申请实施例的通信设备的结构框图；
图8表示本申请实施例的终端的结构框图；
图9表示本申请实施例中通信感知装置的模块示意图之三；
图10表示本申请实施例中通信感知装置的模块示意图之四；
图11表示本申请实施例的第一网络设备的结构框图；
图12表示本申请实施例的第二网络设备的结构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，这些技术也可应用于NR系统应用以外的应用，如第6代(6 th Generation，6G)通信系统。
为使本领域技术人员能够更好地理解本申请实施例，先进行如下说明。
未来移动通信系统例如未来第五代移动通信(Beyond 5th Generation，B5G)系统或6G系统除了具备通信能力外，还将具备感知能力。感知能力，即具备感知能力的一个或多个设备，能够通过无线信号的发送和接收，来感知目标物体的方位、距离、速度等信息，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像等。未来随着毫米波、太赫兹等具备高频段大带宽能力的小基站在6G网络的部署，感知的分辨率相比厘米波将明显提升，从而使得6G网络能够提供更精细的感知服务。
通信与雷达的一体化属于典型的通信感知融合应用，在过去，雷达系统与通信系统由于研究对象与关注重点不同而被严格地区分，大部分场景下两系统被分发研究。事实上，雷达与通信系统同样作为信息发送、获取、处理和交换的典型方式，不论工作原理还是系统架构以及频段上存在着不少相似之处。通信与雷达一体化的设计具有较大的可行性，主要体现在以下几个方面：首先，通信系统与感知系统均基于电磁波理论，利用电磁波的发射和接收来完成信息的获取和传递；其次，通信系统与感知系统均具备天线、发送端、接收端、信号处理器等结构，在硬件资源上有很大重叠；随着技术的发展，两者在工作频段上也有越来越多的重合；另外，在信号调制与接收检测、波形设计等关键技术上存在相似性。通信与雷达系统融合能够带来许多优势，例如节约成本、减小尺寸、降低功耗、提升频谱效率、减小互干扰等，从而提升系统整体性能。
在进行感知时，可以是基于单站模式的感知，即收发共址，发送端发射感知信号，然后自己接收回波信号并进行分析，提取感知参数，例如，基站作为感知信号的发送端与接收端，终端或其他物体作为感知目标；也可以是基于双站/多站模式的感知，即收发不共址，发送端发射感知信号，其他接收端进行接收并分析，提取感知参数，例如，基站1作为感知信号发送端，终端或者基站2作为感知信号接收端。同样地，单站或多站模式感知的发射端也可以是终端。但相关技术中通过同一个终端进行通信感知的流程尚不明确。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的通信感知方法进行详细地说明。
如图1所示，本申请实施例提供了一种通信感知方法，包括：
步骤101：第一终端获取第二终端发送的感知信号。
本步骤中，上述感知信号可具体为用于获取目标物体的方位、距离、速度等信息的信号，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像的信号。
步骤102：所述第一终端根据所述感知信号得到与第一测量量对应的测 量结果，所述第一测量量为与所述感知信号相关的测量量。
可选地，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示(Received Signal Strength Indication，RSSI)；
参考信号接收功率(Reference Signal Received Power，RSRP)；
信道状态信息(Channel State Information，CSI)；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别，例如，I路信号和Q路信号之间的相位差或幅度差或其他等；
角度相关信息。
本申请实施例中，第一终端获取第二终端发送的感知信号；所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现了通过终端收发感知信号进行通信感知的目的。
可选地，所述第一终端获取第二终端发送的感知信号，包括：
确定感知信号的配置信息；
根据所述感知信号的配置信息，获取所述感知信号。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形，例如，OFDM，单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)，正交时频空(Orthogonal Time Frequency Space，OTFS)，调频连续波(Frequency Modulated Continuous Wave，FMCW)，脉冲信号等；
所述感知信号的子载波间隔，例如，OFDM系统的子载波间隔30KHz；
所述感知信号的保护间隔,从信号结束发送时刻到该信号的最迟回波信号被接收的时刻之间的时间间隔；该参数正比于最大感知距离；例如，可以通过2dmax/c计算得到，其中，dmax是最大感知距离，例如对于自发自收的感知信号，dmax代表感知信号收发点到信号发射点的最大距离；在某些情况下，OFDM信号循环前缀CP可以起到最小保护间隔的作用；c是光速；
所述感知信号的带宽，该参数反比于距离分辨率，可以通过c/(2*delta_d)得到，其中delta_d是距离分辨率(属于感知需求)；
所述感知信号的突发burst持续时间，该参数反比于速率分辨率(属于感知需求)，该参数是感知信号的时间跨度，主要为了计算多普勒频偏；该参数可通过c/(2*delta_v*fc)计算得到；其中，delta_v是速度分辨率；fc是信号的中心频点；
所述感知信号的时域间隔，该参数可通过c/(2*fc*v_range)计算得到；其中，v_range是最大速率减去最小速度(属于感知需求)；该参数是相邻的两个感知信号之间的时间间隔；fc是信号的载频；
所述感知信号的发送信号功率，例如，从-20dBm到23dBm中，每隔2dBm取一个值；
所述感知信号的信号格式，例如是探测参考信号(Sounding Reference Signal，SRS)，解调参考信号(Demodulation Reference Signal，DMRS)，定位参考信号(Positioning Reference Signal，PRS)等，或者其他预定义的信号，以及相关的序列格式等信息；
所述感知信号的信号方向，例如，感知信号的方向或波束信息；
所述感知信号的时间资源，例如，感知信号所在的时隙索引或者时隙的符号索引；其中，时间资源分为两种，一种是一次性的时间资源，例如一个符号发送一个全向的第一信号；一种是非一次性的时间资源，例如多组周期性的时间资源或者不连续的时间资源(可包含开始时间和结束时间)，每一组周期性的时间资源发送同一方向的目标信号，不同组的周期性时间资源上的波束方向不同；
所述感知信号的频率资源，包括目标信号的中心频点、带宽、RB和/或子载波等；
所述感知信号的准共址(Quasi CoLoacted，QCL)关系，例如，目标信号包括多个资源，每个资源与一个同步信号和物理广播信道块(Synchronization Signal and PBCH block，SSB)QCL，QCL包括Type A，B，C或者D。
可选地，所述确定感知信号的配置信息，包括：
接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项；
根据第一指示信息、第二指示信息和第三指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
这里，第一配置信息为第一网络设备确定的所述感知信号的配置信息，该第一配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息，上述第二配置信息为第二网络设备确定的所述感知信号的配置信息，该第二配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息；上述第三配置信息为第二终端确定的感知信号的配置信息，该第三配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息。
需要说明的是，本申请实施例中感知需求至少包括感知结果和感知指标中的至少一项。
其中，感知结果包括以下至少一项：
目标物体的特征信息：目标物体的存在、距离、位置、速度、加速度、材料、形状、类别、雷达散射截面积RCS，极化散射特性等；
目标事件的相关信息：跌倒检测、入侵检测、数量统计、室内定位、手势识别、唇语识别、步态识别、表情识别、呼吸监测、心率监测等；
目标环境的相关信息：湿度、亮度、温度、大气压强、空气质量、天气情况、地形地貌、建筑/植被分布、人数统计、人群密度、车辆密度等。
其中，感知指标包括以下至少一项：
感知精度，包括距离分辨率或者成像分辨率或者移动速度分辨率或者角度分辨率；
感知误差，包括距离误差或者成像误差或者移动速度误差；
感知范围；
感知时延；
检测概率；
虚警概率。
本申请实施例中，上述第一网络设备可为核心网设备，具体地，可包括移动和接入管理功能(Authentication Management Function，AMF)实体或感知功能实体。例如，上述第一网络设备为感知网络功能或感知网元。上述第二网络设备可具体为基站。
上述核心网的感知网络功能或感知网元满足以下至少一项：
管理感知所需资源的整体协调和调度，如基站和/或UE的感知资源；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体，其中，AMF收到感知需求后可以选择一个或 多个感知网络功能或感知网元，选择时考虑的因素至少包括：请求的服务质量(Quality of Service，QoS)(如感知精度、响应时间、感知QoS等级)、接入类型(3GPP接入或非3GPP接入)、目标UE的接入网(Access Network，AN)类型(例如5G NR或eLTE)以及服务AN节点(例如gNodeB或NG-eNodeB)、居民接入网(Residential Access Network，RAN)配置信息、感知网络功能/感知网元能力、感知网络功能或感知网元负载、感知网络功能或感知网元位置、单次事件上报还是多次事件上报的指示、事件上报持续时间、网络切片信息等；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号；
位于核心网侧或接入网侧，若感知网络功能/感知网元位于基站侧，则相比位于核心网，则可以感知业务的所有流程在RAN完成(针对基站触发感知业务，或者UE触发感知业务的情况)。
上述第一网络节点和第二网络节点可具体为基站。
可选地，上述核心网的感知网络功能或感知网元还具有以下至少一项特征：
与目标UE或者目标UE的服务基站或者目标区域关联的基站进行目标信息交互(目标信息包括处理感知请求，交互感知能力，交互感知辅助数据，交互感知测量量或感知结果)，以获得目标感知结果或感知测量量(上行测量量或下行测量量)；
感知网络功能或感知网元直接与应用服务器(例如运营商的应用服务器)交互感知请求和感知结果；或者，感知网络功能或感知网元与AMF交互感知 请求和感知结果，AMF可以直接或间接(通过网关移动位置中心(Gateway Mobile Location Center，GMLC)和网络开放功能(Network Exposure Function，NEF))与应用服务器(例如第三方的应用服务器)交互感知请求和感知结果；
感知网络功能或感知网元可以是一个新的网元；或者是已有网络功能/网元如位置管理功能(Location Management Function，LMF)，但是增加新的感知相关的功能。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第一终端通过以下至少一项确定所述第四配置信息；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
本申请实施例中，感知信号的配置信息包括以下至少一种方式：
由第一网络设备、第二网络设备和UE中的一方决定，可选地，另外两方可将能力或推荐配置发送给决定方；
由第一网络设备、第二网络设备和UE中的至少两方共同决定配置，例 如，第一网络设备决定10个参数中的5个，UE决定另外5个。可选的，决定方之间也可以上报能力或推荐配置，非决定方也可以向决定方上报能力或推荐配置，例如，第一网络设备和UE共同决定配置，则第一网络设备和UE可以互相通知能力或推荐配置，第二网络设备也可以向第一网络设备或UE中至少一方发送能力或推荐配置；
感知信号的配置信息是事先约定好的，与感知需求相关联(提前建立感知需求到感知信号的相关配置的映射表)，例如，第一终端收到第一网络设备发送的感知需求后，自主选择对应的感知信号的配置信息。
其中，UE包括第一终端和第二终端中的至少一项。第二网络设备(基站)可以是第一终端的接入基站和第二终端的接入基站中的至少一项，且第一终端的接入基站和第二终端的接入基站可以相同也可以不同。
可选地，接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项之后，还包括：
在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第一感知需求响应信息，所述第一感知需求响应信息用于指示所述第一终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第二感知需求响应信息，所述第二感知需求响应信息用于指示所述第一终端拒绝参与感知服务。
本申请的具体实施例中，第一终端可以同意或拒绝参与感知服务，具体方法包括以下至少一项：
方法1：第一网络设备向UE发送感知需求后，UE同意或拒绝，在同意提供感知需求的UE中筛选参与感知服务的UE。
方法2：第一网络设备或第二网络设备筛选参与感知服务的UE后，向关联UE发送感知需求，UE同意或拒绝。
方法3：UE是否可以参:感知服务是事先约定好的，存储在核心网相关存储节点，例如UDR，第一网络设备收到感知需求并筛选参与感知服务的UE后，访问存储关联UE是否可以参与相关感知服务的存储节点，获取UE是否可以参与相关感知服务的信息。
可选地，本申请实施例的方法，还包括：
所述第一终端获取第一网络设备、第二网络设备或第二终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
作为一种可选地实现方式，所述根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
所述第一终端将所述测量结果发送给第一网络设备、第二网络设备或第二终端。
这里，将测量结果发送给第一网络设备、第二网络设备或第二终端，由第一网络设备、第二网络设备或第二终端确定相应的感知结果。
作为第二种可选地实现方式，所述根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
所述第一终端根据所述测量结果，确定感知结果；
将所述感知结果发送给第一网络设备、第二网络设备或第二终端。
该实现方式中，由第一终端根据测量结果确定感知结果，并发送给第一网络设备、第二网络设备或第二终端。
作为第三种可选地实现方式，所述第一终端获取第二终端发送的感知信号之前，还包括：
向第一网络设备、第二网络设备或第二终端发送第四指示信息，所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
所述第一终端根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
获取所述第一网络设备、第二网络设备或第二终端根据所述第四指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
该实现方式中，可以由第一终端发起感知业务，第一终端向第一网络设备、第二终端或第二网络设备发送第四指示信息，并获取相应的目标感知结果。
可选地，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
本申请实施例中，目标物体的特征信息理解为：能够反映目标物体的属性或所处状态的信息，可以为以下至少一项：目标物体的位置、目标物体的速度、目标物体的加速度、目标物体的材料、目标物体的形状、目标物体的类别、目标物体的雷达散射截面积(Radar Cross Section，RCS)等。
目标事件的相关信息可以理解为：与目标事件有关的信息，即在目标事件发生时能够检测/感知到的信息，可以为：跌倒检测、入侵检测、数量统计、室内定位、手势识别、唇语识别、步态识别、表情识别、呼吸监测、心率监测等。
目标环境的相关信息可以为以下至少一项：湿度、亮度、温度、大气压强、空气质量、天气情况、地形地貌、建筑/植被分布、人数统计、人群密度、车辆密度等。
需要说明的是，本申请实施例中，可以基于上述第一测量量直接得到感知结果，也可对上述第一测量量进行进一步计算加工，转换为期望的感知结果。
本申请实施例中，第一终端获取第二终端发送的感知信号；所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为 与所述感知信号相关的测量量，从而实现了通过终端收发感知信号进行通信感知的目的。
如图2所示，本申请实施例还提供了一种通信感知方法，包括：
步骤201：第二终端向第一终端发送感知信号。
本步骤中，上述感知信号可具体为用于获取目标物体的方位、距离、速度等信息的信号，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像的信号。
这里，第二终端向第一终端发送感知信号，以使第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，进而实现了通过终端收发感知信号进行通信感知的目的。
可选地，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示(Received Signal Strength Indication，RSSI)；
参考信号接收功率(Reference Signal Received Power，RSRP)；
信道状态信息(Channel State Information，CSI)；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别，例如，I路信号和Q路信号之间的相位差或幅度差或其他等；
角度相关信息。
可选地，所述第二终端向第一终端发送感知信号，包括：
确定感知信号的配置信息；
根据所述感知信号的配置信息，发送所述感知信号。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形，例如，OFDM，单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)，正交时频空(Orthogonal Time Frequency Space，OTFS)，调频连续波(Frequency Modulated Continuous Wave，FMCW)，脉冲信号等；
所述感知信号的子载波间隔，例如，OFDM系统的子载波间隔30KHz；
所述感知信号的保护间隔,从信号结束发送时刻到该信号的最迟回波信号被接收的时刻之间的时间间隔；该参数正比于最大感知距离；例如，可以通过2dmax/c计算得到，其中，dmax是最大感知距离，例如对于自发自收的感知信号，dmax代表感知信号收发点到信号发射点的最大距离；在某些情况下，OFDM信号循环前缀CP可以起到最小保护间隔的作用；c是光速；
所述感知信号的带宽，该参数反比于距离分辨率，可以通过c/(2*delta_d)得到，其中delta_d是距离分辨率(属于感知需求)；
所述感知信号的突发burst持续时间，该参数反比于速率分辨率(属于感知需求)，该参数是感知信号的时间跨度，主要为了计算多普勒频偏；该参数可通过c/(2*delta_v*fc)计算得到；其中，delta_v是速度分辨率；fc是信号的中心频点；
所述感知信号的时域间隔，该参数可通过c/(2*fc*v_range)计算得到；其中，v_range是最大速率减去最小速度(属于感知需求)；该参数是相邻的两个感知信号之间的时间间隔；fc是信号的载频；
所述感知信号的发送信号功率，例如，从-20dBm到23dBm中，每隔2dBm取一个值；
所述感知信号的信号格式，例如是探测参考信号(Sounding Reference Signal，SRS)，DMRS，PRS等，或者其他预定义的信号，以及相关的序列格式等信息；
所述感知信号的信号方向，例如，感知信号的方向或波束信息；
所述感知信号的时间资源，例如，感知信号所在的时隙索引或者时隙的符号索引；其中，时间资源分为两种，一种是一次性的时间资源，例如一个 符号发送一个全向的第一信号；一种是非一次性的时间资源，例如多组周期性的时间资源或者不连续的时间资源(可包含开始时间和结束时间)，每一组周期性的时间资源发送同一方向的目标信号，不同组的周期性时间资源上的波束方向不同；
所述感知信号的频率资源，包括目标信号的中心频点、带宽、RB和/或子载波等；
所述感知信号的准共址QCL关系，例如，目标信号包括多个资源，每个资源与一个SSB QCL，QCL包括Type A，B，C或者D。
可选地，所述确定感知信号的配置信息，包括：
接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项；
根据第一指示信息、第二指示信息和第四指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
这里，第一配置信息为第一网络设备确定的所述感知信号的配置信息，该第一配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息，上述第二配置信息为第二网络设备确定的所述感知信号的配置信息，该第二配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息；上述第四配置信息为第一终端确定的感知信号的配置信息，该第四配置信息可包括所述感知信号的全部配置信息，也可包括所述感知信号的部分配置信息。
需要说明的是，本申请实施例中感知需求至少包括感知结果和感知指标 中的至少一项。
其中，感知结果包括以下至少一项：
目标物体的特征信息：目标物体的存在、距离、位置、速度、加速度、材料、形状、类别、雷达散射截面积RCS，极化散射特性等；
目标事件的相关信息：跌倒检测、入侵检测、数量统计、室内定位、手势识别、唇语识别、步态识别、表情识别、呼吸监测、心率监测等；
目标环境的相关信息：湿度、亮度、温度、大气压强、空气质量、天气情况、地形地貌、建筑/植被分布、人数统计、人群密度、车辆密度等。
其中，感知指标包括以下至少一项：
感知精度，包括距离分辨率或者成像分辨率或者移动速度分辨率或者角度分辨率；
感知误差，包括距离误差或者成像误差或者移动速度误差；
感知范围；
感知时延；
检测概率；
虚警概率。
本申请实施例中，上述第一网络设备可为核心网设备，具体地，可包括移动和接入管理功能AMF实体或感知功能实体。例如，上述第一网络设备为感知网络功能或感知网元。上述第二网络设备可具体为基站。
上述核心网的感知网络功能或感知网元满足以下至少一项：
管理感知所需资源的整体协调和调度，如基站和/或UE的感知资源；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体，其中，AMF收到感知需求后可以选择一个或多个感知网络功能或感知网元，选择时考虑的因素至少包括：请求的服务质量(Quality of Service，QoS)(如感知精度、响应时间、感知QoS等级)、接入类型(第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)接入或非3GPP接入)、目标UE的接入网(Access Network，AN)类型(例如5G NR或eLTE)以及服务AN节点(例如gNodeB或NG-eNodeB)、RAN配置信息、感知网络功能/感知网元能力、感知网络功能或感知网元负载、感知网络功能或感知网元位置、单次事件上报还是多次事件上报的指示、事件上报持续时间、网络切片信息等；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号；
位于核心网侧或接入网侧，若感知网络功能/感知网元位于基站侧，则相比位于核心网，则可以感知业务的所有流程在RAN完成(针对基站触发感知业务，或者UE触发感知业务的情况)。
上述第一网络节点和第二网络节点可具体为基站。
可选地，上述核心网的感知网络功能或感知网元还具有以下至少一项特征：
与目标UE或者目标UE的服务基站或者目标区域关联的基站进行目标信息交互(目标信息包括处理感知请求,交互感知能力，交互感知辅助数据，交互感知测量量或感知结果)，以获得目标感知结果或感知测量量(上行测量量或下行测量量)；
感知网络功能或感知网元直接与应用服务器(例如运营商的应用服务器) 交互感知请求和感知结果；或者，感知网络功能或感知网元与AMF交互感知请求和感知结果，AMF可以直接或间接(通过GMLC和NEF)与应用服务器(例如第三方的应用服务器)交互感知请求和感知结果；
感知网络功能或感知网元可以是一个新的网元；或者是已有网络功能/网元如位置管理功能(Location Management Function，LMF)，但是增加新的感知相关的功能。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第二终端通过以下至少一项确定所述第三配置信息；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第一终端能力信息；
第一终端推荐配置信息。
本申请实施例中，感知信号的配置信息包括以下至少一种方式：
由第一网络设备、第二网络设备和UE中的一方决定，可选地，另外两方可将能力或推荐配置发送给决定方；
由第一网络设备、第二网络设备和UE中的至少两方共同决定配置，例 如，第一网络设备决定10个参数中的5个，UE决定另外5个。可选的，决定方之间也可以上报能力或推荐配置，非决定方也可以向决定方上报能力或推荐配置，例如，第一网络设备和UE共同决定配置，则第一网络设备和UE可以互相通知能力或推荐配置，第二网络设备也可以向第一网络设备或UE中至少一方发送能力或推荐配置；
感知信号的配置信息是事先约定好的，与感知需求相关联(提前建立感知需求到感知信号的相关配置的映射表)，例如，第一终端收到第一网络设备发送的感知需求后，自主选择对应的感知信号的配置信息。
其中，UE包括第一终端和第二终端中的至少一项。第二网络设备(基站)可以是第一终端的接入基站和第二终端的接入基站中的至少一项，且第一终端的接入基站和第二终端的接入基站可以相同也可以不同。
可选地，接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项之后，还包括：
在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第三感知需求响应信息，所述第三感知需求响应信息用于指示所述第二终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第四感知需求响应信息，所述第四感知需求响应信息用于指示所述第二终端拒绝参与感知服务。
本申请的具体实施例中，第二终端可以同意或拒绝参与感知服务，具体方法包括以下至少一项：
方法1：第一网络设备向UE发送感知需求后，UE同意或拒绝，在同意提供感知需求的UE中筛选参与感知服务的UE。
方法2：第一网络设备或第二网络设备筛选参与感知服务的UE后，向关联UE发送感知需求，UE同意或拒绝。
方法3：UE是否可以参与感知服务是事先约定好的，存储在核心网相关存储节点，例如UDR，第一网络设备收到感知需求并筛选参与感知服务的UE后，访问存储关联UE是否可以参与相关感知服务的存储节点，获取UE是否可以参与相关感知服务的信息。
可选地，本申请实施例的方法，还包括：
所述第二终端获取第一网络设备、第二网络设备或第一终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
作为一种可选地实现方式，所述第二终端向第一终端发送感知信号之后，还包括：
获取所述第一终端发送的测量结果，所述测量结果是所述第一终端根据所述感知信号得到的与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量；
根据所述测量结果确定感知结果，或者，将所述测量结果发送给第二终端、第一网络设备或第二网络设备。
可选地，所述根据所述测量结果确定感知结果之后，还包括：
将所述感知结果发送给第一网络设备、第二网络设备或第一终端。
作为第二种可选地实现方式，所述第二终端向第一终端发送感知信号之前，还包括：
向第一网络设备、第二网络设备或第一终端发送第三指示信息，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
可选地，本申请实施例的方法，还包括：
获取所述第一网络设备、第二网络设备或第一终端根据所述第三指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
该实现方式中，可由第二终端发送感知业务，第二终端向第一网络设备、第二终端或第二网络设备发送第三指示信息，并获取相应的目标感知结果。
可选地，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
本申请实施例中，目标物体的特征信息理解为：能够反映目标物体的属性或所处状态的信息，可以为以下至少一项：目标物体的位置、目标物体的速度、目标物体的加速度、目标物体的材料、目标物体的形状、目标物体的类别、目标物体的雷达散射截面积RCS(Radar Cross Section，RCS)等。
目标事件的相关信息可以理解为：与目标事件有关的信息，即在目标事件发生时能够检测/感知到的信息，可以为：跌倒检测、入侵检测、数量统计、室内定位、手势识别、唇语识别、步态识别、表情识别、呼吸监测、心率监测等。
目标环境的相关信息可以为以下至少一项：湿度、亮度、温度、大气压强、空气质量、天气情况、地形地貌、建筑/植被分布、人数统计、人群密度、车辆密度等。
需要说明的是，本申请实施例中，可以基于上述第一测量量直接得到感知结果，也可对上述第一测量量进行进一步计算加工，转换为期望的感知结果。
本申请实施例中，第二终端向第一终端发送感知信号，以使第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，进而实现了通过终端收发感知信号进行通信感知的目的。
如图3所示，本申请实施例还提供了一种通信感知方法，包括：
步骤301：第一网络设备向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指 示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
本步骤中，上述第一测量量与上述终端侧方法实施例中的第一测量量相同，此处不再赘述。
可选地，所述第一指示信息包括以下至少一项：
感知需求；
所述感知信号的第一配置信息；
第一网络设备能力信息；
第一网络设备推荐配置信息。
这里，第一网络设备向第一终端和/或第二终端发送第一指示信息，第一终端根据该第一指示信息发送感知信号，第二终端接收所述感知信号并获取与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现通过终端收发感知信号进行通信感知的目的。
可选地，所述第一网络设备向目标终端发送第一指示信息之后，还包括：
接收第一终端、第二终端或第二网络设备发送的感知需求响应信息；
所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
其中，所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
本申请的具体实施例中，第一终端和/或第二终端可以同意或拒绝参与感知服务，具体方法包括以下至少一项：
方法1：第一网络设备向UE发送感知需求后，UE同意或拒绝，在同意提供感知需求的UE中筛选参与感知服务的UE。
方法2：第一网络设备或第二网络设备筛选参与感知服务的UE后，向关 联UE发送感知需求，UE同意或拒绝。
方法3：UE是否可以参与感知服务是事先约定好的，存储在核心网相关存储节点，例如UDR，第一网络设备收到感知需求并筛选参与感知服务的UE后，访问存储关联UE是否可以参与相关感知服务的存储节点，获取UE是否可以参与相关感知服务的信息。
可选地，所述第一网络设备向第一终端和/或第二终端发送第一指示信息之前，还包括：
接收第一目标指示信息，所述第一目标指示信息包括第二网络设备发送的第二指示信息、第二终端发送的第三指示信息、第一终端发送的第四指示信息和应用服务器发送的第五指示信息中的至少一项，其中，所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项，所述第三指示信息包括感知需求、感知信息的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项，所述第四指示信息感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项；所述第五指示信息包括感知需求；
根据所述第一目标指示信息，确定第一配置信息。
具体的，根据所述第一目标指示信息，确定第一配置信息，包括：
通过以下至少一项，确定第一配置信息；
感知需求；
第一终端能力信息；
第二网络设备能力信息；
第一终端推荐配置信息；
第二网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，本申请实施例的方法，还包括：
将与所述感知需求关联的终端，确定为目标终端，所述目标终端包括第一终端和/或第二终端。
可选地，所述将与所述感知需求关联的终端，确定为所述目标终端之后，还包括：
获取目标终端或目标第二网络设备发送的所述测量结果，所述目标第二网络设备为与所述第二感知需求关联的第二网络设备；
根据所述测量结果，确定目标感知结果。
可选地，本申请实施例的方法，还包括：
获取第一终端、第二终端或目标第二网络设备发送的目标感知结果，所述目标感知结果是根据所述测量结果得到。
可选地，所述第一终端和/或第二终端通过以下至少一项确定：
终端是否发送感知需求，例如，终端发送了感知需求，则将该终端确定为目标终端；
终端向第一网络设备上报的能力相关信息；
终端向第一网络设备反馈的同意或拒绝参与感知服务信息例如，将反馈同意参加感知服务的终端确定为目标终端；
事先约定的终端是否参与感知服务的信息；
参与感知服务的终端，在规定时间内是否反馈感知需求对应的感知响应信息，例如，未收到感知响应信息，则不将该终端确定为目标终端；
终端的先验信息，所述终端的先验信息包括终端的位置和终端所处区域中的至少一项；
终端接入的基站信息。
可选地，本申请实施例的方法，还包括：
向与所述感知需求关联的目标第二网络设备，发送第一指示信息。
可选地，所述目标第二网络设备通过以下至少一项确定：
第二网络设备是否发起第二感知需求；
第二网络设备所连接的终端的信息；
第二网络设备向核心网上报的能力相关信息；
第二网络设备的先验信息，所述第二网络设备的先验信息包括基站的位置和基站所处区域中的至少一项。
可选地，本申请实施例的方法，还包括：
向所述目标第二网络设备发送第一测量量。
可选地，本申请实施例的方法，还包括：
向第一终端和/或第二终端发送第一测量量。
所述感知信号的第一配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
该第一配置信息中的具体参数已在终端侧的方法实施例中进行详细说明，此处不再赘述。
可选地，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
本申请实施例中，第一网络设备向第一终端和/或第二终端发送第一指示信息，第一终端根据该第一指示信息发送感知信号，第二终端接收所述感知信号并获取与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现通过终端收发感知信号进行通信感知的目的。
如图4所示，本申请实施例还提供了一种通信感知方法，包括：
步骤401：第二网络设备接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
该第二网络设备可具体为基站。
本申请实施例中，第二网络设备接收第一指示信息，将该第一指示信息转发给第一终端和/或第二终端，或根据该第一指示信息，确定感知信号的第二配置信息并发送给第一终端和/或第二终端，使得第二终端发送感知信号，第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量 结果，从而实现通过终端收发感知信号实现通信感知的目的。
可选地，所述第一指示信息包括以下至少一项：
感知需求；
所述感知信号的第一配置信息；
第一网络设备能力信息；
第一网络设备推荐配置信息。
上述第一指示信息已在上述实施例中进行详细说明，此处不再赘述。
可选地，本申请实施例的方法，还包括：
接收第一终端或第二终端发送的感知需求响应信息；
将所述感知需求响应信息发送第一网络设备；
其中，所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
可选地，本申请实施例的方法，还包括：
根据第二目标指示信息，确定感知信号的第二配置信息，所述第二目标指示信息包括所述第一指示信息、第二终端发送的第三指示信息和第一终端发送的第四指示信息中的至少一项；
其中，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项；
所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，根据第二目标指示信息，确定感知信号的第二配置信息之前，还包括：
接收第三指示信息和第四指示信息中的至少一项。
可选地，根据第二目标指示信息，确定感知信号的第二配置信息，包括：
根据以下至少一项确定感知信号的第二配置信息；
其中，第一终端能力信息；
第一网络设备能力信息；
第一终端推荐配置信息；
第一网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，本申请实施例中，还包括：
将所述感知信号的第二配置信息发送给第一终端、第二终端和第一网络设备中的至少一项。
可选地，所述感知信号的第二配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
该第二配置信息中的相关参数已在终端侧的实施例中进行详细说明，此处不再赘述。
可选地，在本申请一实施例中，第二网络设备接收第一指示信息之前， 还包括：
向第一网络设备、第一终端或第二终端发送第二指示信息，所述第二指示信息包括第二网络设备能力信息、感知需求、感知信号的第二配置信息和第二网络推荐配置信息中的至少一项。
该实施例中，所述方法还包括：
获取第一网络设备、第一终端或第二终端根据所述第二指示信息反馈的目标感知结果，所述目标感知结果是根据所述测量结果得到的。
可选地，在本申请另一实施例中，所述方法还包括：
获取所述测量结果；
根据所述测量结果，确定目标感知结果。
可选地，该实施例的方法还包括：
将所述目标感知结果发送给第一网络设备、第一终端或第二终端。
可选地，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设 备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
本申请实施例中，第二网络设备接收第一指示信息，将该第一指示信息转发给第一终端和/或第二终端，或根据该第一指示信息，确定感知信号的第二配置信息并发送给第一终端和/或第二终端，使得第二终端发送感知信号，第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，从而实现通过终端收发感知信号实现通信感知的目的。
下面结合具体实施例对本申请的通信感知方法进行详细说明。
实施例1：UE A发送感知信号，UE B接收感知信号，且由第三方应用发起感知业务。
该实施例包括：
(1)应用服务器收到第三方应用的感知需求，感知需求包括期望的感知结果和/或感知指标；
(2)应用服务器(包括网内服务器如IP多媒体子系统(IP Multimedia Subsystem，IMS)或网外服务器)将感知需求发送给核心网(例如AMF)或核心网的感知网络功能或感知网元，或者应用服务器将感知需求发送给AMF，AMF将该需求发给感知网络功能或感知网元。
(3)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关联发送UE(即UE A)与接收UE(即UE B)，并将感知需求发给关联UE A和/或UE B(若感知信号相关配置与测量量完全由核心网和/或基站决定，则不需要向UE A和/或UE B发送感知需求)。
可选的，(对于基站调度UE A发送感知信号的情况，或基站参与决定UE A发送感知信号的配置的情况，或基站负责测量量到感知结果的转换的情况)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关联基站，并将感知需求发给关联基站(若感知信号相关配置与测量量完全由核心网、UE A和UE B中的至少一项决定，则不需要向基站发送感知需 求)。
这里，确定关联UE或关联基站的方法已在上面描述中进行详细描述，此处不再赘述。
其中，向UE A和/或UE B发送感知需求的方法至少包括：
核心网网络功能或网元(如感知网络功能或感知网元)向UE A发送感知需求；
核心网网络功能或网元(如感知网络功能或感知网元)向UE A发送感知需求，UE A向UE B发送感知需求；
核心网网络功能或网元(如感知网络功能/感知网元)向UE A和UE B发送感知需求。
(4)根据感知需求确定感知信号相关配置信息(例如根据感知分辨率需求确定感知信号的带宽大小等)，包括以下方式；
方式1：由基站、核心网或UE中的一方决定配置，可选的，另外两方可以将能力或推荐配置发送给决定方，这里的UE包括UE A和UE B中的至少一项；
方式2：由基站、核心网或UE(UE A和UE B中的至少一项)中的至少两方共同决定配置，例如，核心网决定10个参数中的5个，UE A决定另外5个。可选的，决定方之间也可以上报能力或推荐配置，非决定方也可以向决定方上报能力或推荐配置，例如，核心网和UE A共同决定配置，则核心网和UE A可以互相通知能力或推荐配置，基站和/或UE B也可以向核心网或UE A中至少一方发送能力或推荐配置；
方式3：感知信号的相关配置是事先约定好的，与感知需求相关联(提前建立感知需求到感知信号的相关配置的映射表)，例如，UE A收到核心网发送的感知需求后，自主选择对应的感知信号配置。
(5)感知信号相关配置信息的决定方将感知信号相关配置信息发送给其余方，例如，若感知信号相关配置信息的决定方是核心网，则由核心网将感知信号相关配置信息发送给UE A和UE B(核心网将配置发给UE A，UE A 将配置发给UE B)，和基站(若需要)；若感知信号相关配置信息由核心网和UE A共同决定，则两者相互通知自己决定的部分感知信号相关配置信息，然后由两者中的至少一者将感知信号相关配置信息发送给UE B，和基站(若需要)；
若感知信号的相关配置是事先约定好的，与感知需求相关联，则不需要指示感知信号的相关配置信息。
(6)核心网网络功能或网元(如感知网络功能或感知网元)将感知信号接收端需要测量或上报的感知信号相关的测量量发送给UE A和UE B(或核心网将测量量发给UE A，UE A将测量量发给UE B)，和基站(若需要)。
可选的，测量量根据感知需求确定，不需要单独信令指示(建立感知需求到测量量的映射表)。
(7)UE A根据感知信号相关配置信息发送感知信号。
(8)UE B接收感知信号并得到测量量结果(也可描述为测量结果)。
若测量量结果到感知结果的转换在核心网网络功能或网元(如感知网络功能或感知网元)完成，则该实施例还包括：
(9a)UE B把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者UE B把测量量结果发送给UE A，UE A把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(9b)核心网网络功能或网元(如感知网络功能/感知网元)将测量量结果发送给应用服务器，应用服务器根据测量量确定感知结果；
或者，核心网网络功能或网元(如感知网络功能或感知网元)根据测量量结果确定感知结果，并把感知结果发送给应用服务器
(9c)应用服务器将感知结果发送给第三方应用。
若测量量结果到感知结果的转换在基站完成，则该实施例还包括：
(10a)UE B把测量量结果发送给基站，或者，UE B把测量量结果发送给UE A，UE A把测量量结果发送给基站；
(10b)基站根据测量量结果确定感知结果，并把感知结果发送给核心网 网络功能或网元(如感知网络功能或感知网元)；
(10c)核心网网络功能或网元(如感知网络功能或感知网元)将感知结果发送给应用服务器；
(10d)应用服务器将感知结果发送给第三方应用。
若测量量结果到感知结果的转换在UE完成，则该实施例还包括：
(11a)UE B根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者，UE B把测量量结果发送给UE A，UE A根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(11b)核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给应用服务器；
(11c)应用服务器将感知结果发送给第三方应用。
实施例2：UE A发送感知信号，UE B接收感知信号，且由核心网(网管系统或基站)发起感知业务。
该实施例包括：
(1)核心网AMF将感知需求发送给感知网络功能或感知网元；
或者，AMF接收网管系统发送的感知需求，并转发给感知网络功能或感知网元
或者，AMF接收基站发送的感知需求，并转发给感知网络功能或感知网元。
(2)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关联UE，并将感知需求发给关联UE(若感知信号相关配置与测量量完全由核心网和/或基站决定，则不需要向关联UE发送感知需求)。这里，关联UE包括UE A和/或UE B。
可选的，(对于基站调度UE发送感知信号的情况，或基站参与决定UE发送感知信号的配置的情况，或基站负责测量量到感知结果的转换的情况)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关 联基站，并将感知需求发给关联基站(若感知信号相关配置与测量量完全由核心网和/或关联UE决定，则不需要向基站发送感知需求)。
这里，确定关联UE或关联基站的方法已在上面描述中进行详细描述，此处不再赘述。
(3)感知信号相关配置信息的决定方将感知信号相关配置信息发送给其余方，若感知信号的相关配置是事先约定好的，与感知需求相关联，则不需要指示感知信号的相关配置信息。
这里，感知信号相关配置信息描述与具体发送方式同实施例一。
(4)核心网网络功能或网元(如感知网络功能或感知网元)将感知信号接收端需要测量或上报的感知信号相关的测量量发送给UE A和UE B(核心网将测量量发送给UE A，UE A将测量量发送给UE B)，和基站(若需要)。
可选的，测量量根据感知需求确定，不需要单独信令指示(建立感知需求到测量量的映射表)。
(5)UE A根据感知信号相关配置信息发送感知信号。
(6)UE B接收感知信号的回波信号并得到测量量结果(即上述测量结果)。
若测量量结果到感知结果的转换在核心网网络功能或网元(如感知网络功能或感知网元)完成，则该实施例还包括：
(7a)UE B把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者UE B把测量量结果发送给UE A，UE A把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(7b)如果感知需求来自网络系统，则核心网网络功能或网元(如感知网络功能/感知网元)将测量量结果转换为感知结果，并发送给网管系统；
(7d)如果感知需求来自基站，则核心网网络功能或网元(如感知网络功能/感知网元)将测量量结果转换为感知结果，并发送给基站。
若测量量结果到感知结果的转换在基站完成，则该实施例还包括：
(8a)UE B把测量量结果发送给基站；或者，UE B把测量量结果发送 给UE A，UE A把测量量结果发送给基站；
(8b)基站根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(8c)如果感知需求来自网络系统，则核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给网管系统。
(8d)如果感知需求来自基站，则核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给基站。
若测量量结果到感知结果的转换在UE完成，则该实施例还包括：
(9a)UE B根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者，UE B把测量量结果发送给UE A，UE A根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(9b)如果感知需求来自网络系统，则核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给网管系统；
(9c)如果感知需求来自基站，则核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给基站。
实施例3：UE A发送感知信号，UE B接收感知信号，且由UE发起感知业务。
该实施例包括：
(1)UE(可以是UE A、UE B或其他UE)通过NAS信令发送感知需求或感知信号相关配置信息给核心网AMF；
(2)核心网AMF将感知需求发送给感知网络功能或感知网元。
(3)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关联UE(UE A和UE B)，并将感知需求发给关联UE(若感知信号相关配置与测量量完全由核心网和/或基站决定，则不需要向关联UE发送感知需求)。
可选的，(对于基站调度UE发送感知信号的情况，或基站参与决定UE 发送感知信号的配置的情况，或基站负责测量量到感知结果的转换的情况)核心网网络功能或网元(如感知网络功能或感知网元)根据感知需求确定关联基站，并将感知需求发给关联基站(若感知信号相关配置与测量量完全由核心网和/或关联UE决定，则不需要向基站发送感知需求)。
这里，确定关联UE或关联基站的方法已在上面描述中进行详细描述，此处不再赘述。
(4)感知信号相关配置信息的决定方将感知信号相关配置信息发送给其余方，若感知信号的相关配置是事先约定好的，与感知需求相关联，则不需要指示感知信号的相关配置信息。
这里，感知信号相关配置信息描述与具体发送方式同实施例一。
(5)核心网网络功能或网元(如感知网络功能或感知网元)将感知信号接收端需要测量或上报的感知信号相关的测量量发送给UE A和UE B(或核心网将测量量发给UE A，UE A将测量量发给UE B)，和基站(若需要)。
可选的，测量量根据感知需求确定，不需要单独信令指示(建立感知需求到测量量的映射表)。
(6)UE A根据感知信号相关配置信息发送感知信号。
(7)UE B接收感知信号并得到测量量结果(即上述测量结果)。
若测量量结果到感知结果的转换在核心网网络功能或网元(如感知网络功能或感知网元)完成，则该实施例还包括：
(8a)UE B把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者UE B把测量量结果发送给UE A，UE A把测量量结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(8b)核心网网络功能或网元(如感知网络功能/感知网元)将测量量结果转换为感知结果；
(8c)核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给UE(发起感知需求的UE，可以是UE A、UE B或其他UE)，如通过NAS信令将感知结果发送给UE。
若测量量结果到感知结果的转换在基站完成，则该实施例还包括：
(9a)UE B把测量量结果发送给基站，或者UE B把测量量结果发送给UE A，UE A把测量量结果发送基站；
(9b)基站根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)或者直接发给发起感知业务的UE；
(9c)核心网网络功能或网元(如感知网络功能或感知网元)将感知结果发送给发起感知业务的UE，如通过NAS信令把感知结果发送给发起感知业务的UE。
若测量量结果到感知结果的转换在UE完成，则该实施例还包括：
(10a)UE B根据测量量确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；或者，UE B把测量量结果发送给UE A，UE A根据测量量结果确定感知结果，并把感知结果发送给核心网网络功能或网元(如感知网络功能或感知网元)；
(10b)核心网网络功能或网元(如感知网络功能/感知网元)将感知结果发送给发起感知业务的UE。
需要说明的是：以上实施例中，核心网网络功能或网元(如感知网络功能或感知网元)与其他节点的消息交互(发送/接收消息)可以是核心网网络功能或网元(如感知网络功能/感知网元)直接发送，也可以是核心网网络功能或网元(如感知网络功能/感知网元)通过AMF进行消息交互；
计费功能在核心网或应用服务器完成；
以上流程中的感知信号可以由多个UE发送接收信号和/或由多个UE接收一个或者多个UE发送的感知信号；
此时，核心网/基站需要决定发送感知信号的UE集合，以及接收感知信号的UE集合，并把一个或者多个感知信号的相关配置信息分别发给对应的多个基站以及多个UE，并把需要接收UE测量的感知信号相关的测量量分别发给对应的多个UE。可选的，多个UE(发送感知信号的UE和/或接收感知 信号的UE)之间需要交互感知信号相关配置信息；可选的，多个UE(发送感知信号的UE和/或接收感知信号的UE)之间需要交互感知信号的测量量结果；
上述流程中核心网网络功能或网元(如感知网络功能/感知网元)与UE之间的消息交互可以是通过基站，消息对基站是透明的，例如NAS信令；
UE可以选择同意或拒绝参与感知流程，方法可以是：
核心网网络功能或网元(如感知网络功能/感知网元)向UE发送感知需求后，UE同意或拒绝，在同意提供感知需求的UE中筛选参与感知服务的UE(对应上述确定关联UE的内容)；
基站或核心网筛选参与感知服务的UE后，向关联UE发送参与感知请求消息，UE同意或拒绝；
UE是否可以参与相关感知服务是事先约定好的，存储在核心网相关存储节点，例如，统一数据库(Unified Data Repository，UDR)，核心网网络功能或网元(如感知网络功能/感知网元)收到感知需求并筛选参与感知服务的UE后，访问存储关联UE是否可以参与相关感知服务的存储节点，获取UE是否可以参与相关感知服务的信息。
另外，上述实施例中，由核心网网络功能或网元(如感知网络功能/感知网元)或者应用服务器或者其他节点完成监管流程。
需要说明的是，本申请实施例提供的通信感知方法，执行主体可以为通信感知装置，或者，该通信感知装置中的用于执行通信感知方法的控制模块。本申请实施例中以通信感知装置执行通信感知方法为例，说明本申请实施例提供的通信感知装置。
如图5所示，本申请实施例提供了一种通信感知装置500，包括：
第一获取模块501，用于获取第二终端发送的感知信号；
第二获取模块502，用于根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
可选地，所述第一获取模块包括：
第一确定子模块，用于确定感知信号的配置信息；
第一获取子模块，用于根据所述感知信号的配置信息，获取所述感知信号。
可选地，所述第一确定子模块包括：
第一接收子单元，用于接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项；
第一确定单元，用于根据第一指示信息、第二指示信息和第三指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第四配置信息通过以下至少一项确定；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，所述第一确定子还包括：
第一发送单元，用于第一接收子单元接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项之后，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第一感知需求响应信息，所述第一感知需求响应信息用于指示所述第一终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第二感知需求响应信息，所述第二感知需求响应信息用于指示所述第一终端拒绝参与感知服务。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，还包括：
第三获取模块，用于获取第一网络设备、第二网络设备或第二终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
可选地，本申请实施例的装置，还包括：
第三发送模块，用于第二获取模块根据所述感知信号得到与第一测量量对应的测量结果之后，将所述测量结果发送给第一网络设备、第二网络设备或第二终端。
可选地，本申请实施例的装置，还包括：
第一确定模块，用于第二获取模块根据所述感知信号得到与第一测量量对应的测量结果之后，根据所述测量结果，确定感知结果；
第四发送模块，用于将所述感知结果发送给第一网络设备、第二网络设备或第二终端。
可选地，本申请实施例的装置，还包括：
第五发送模块，用于第一获取模块获取第二终端发送的感知信号之前，向第一网络设备、第二网络设备或第二终端发送第四指示信息，所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，本申请实施例的装置，还包括：
第四获取模块，用于第二获取模块根据所述感知信号得到与第一测量量对应的测量结果之后，获取所述第一网络设备、第二网络设备或第二终端根据所述第四指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
可选地，本申请实施例的装置，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示RSSI；
参考信号接收功率RSRP；
信道状态信息CSI；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别；
角度相关信息。
可选地，本申请实施例的装置，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
可选地，本申请实施例的装置，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，本申请实施例的装置，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第 一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
如图6所示，本申请实施例提供了一种通信感知装置600，包括：
第一发送模块601，用于向第一终端发送感知信号。
可选地，本申请实施例的装置，还包括：
目标确定模块，用于确定感知信号。
可选地，所述第一发送模块包括：
第二确定子模块，用于确定感知信号的配置信息；
第一发送子模块，用于根据所述感知信号的配置信息，发送所述感知信号。
可选地，所述第二确定子模块包括：
第二接收单元，用于接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项；
第三确定单元，用于在根据第一指示信息、第二指示信息和第四指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第三配置信息通过以下至少一项确定；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第一终端能力信息；
第一终端推荐配置信息。
可选地，第二确定子模块还包括：
第三接收单元，用于接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项之后，还包括：
第二发送单元，用于在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第三感知需求响应信息，所述第三感知需求响应信息用于指示所述第二终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第四感知需求响应信息，所述第四感知需求响应信息用于指示所述第二终端拒绝参与感知服务。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，本申请实施例的装置，还包括：
第五获取模块，用于获取第一网络设备、第二网络设备或第一终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
可选地，本申请实施例的装置，还包括：
第六获取模块，用于第一发送模块向第一终端发送感知信号之后，获取所述第一终端发送的测量结果，所述测量结果是所述第一终端根据所述感知信号得到的与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量；
第一处理模块，用于根据所述测量结果确定感知结果，或者，将所述测量结果发送给第二终端、第一网络设备或第二网络设备。
可选地，本申请实施例的装置，还包括：
第六发送模块，第一处理模块根据所述测量结果确定感知结果之后，将所述感知结果发送给第一网络设备、第二网络设备或第一终端。
可选地，本申请实施例的装置，还包括：
第七发送模块，用于第一发送模块向第一终端发送感知信号之前，向第一网络设备、第二网络设备或第一终端发送第三指示信息，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
可选地，本申请实施例的装置，还包括：
第七获取模块，用于获取所述第一网络设备、第二网络设备或第一终端根据所述第三指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
可选地，本申请实施例的装置，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示RSSI；
参考信号接收功率RSRP；
信道状态信息CSI；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别；
角度相关信息。
可选地，本申请实施例的装置，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
可选地，本申请实施例的装置，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，本申请实施例的装置，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
本申请实施例中，向第一终端发送感知信号，以使第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，进而实现了通过终端收发感知信号进行通信感知的目的。
本申请实施例中的通信感知装置可以是装置，具有操作系统的装置或电子设备，也可以是终端中的部件、集成电路、或芯片。该装置或电子设备可以是移动终端，也可以为非移动终端。示例性的，移动终端可以包括但不限于上述所列举的终端11的类型，非移动终端可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例提供的装置能够实现图1方法实施例实现的各个过程，并 达到相同的技术效果，为避免重复，这里不再赘述。
可选的，如图7所示，本申请实施例还提供一种通信设备700，包括处理器701，存储器702，存储在存储器702上并可在所述处理器701上运行的程序或指令，例如，该通信设备700为终端时，该程序或指令被处理器701执行时实现上述应用于第一终端或第二终端的通信感知方法实施例的各个过程，且能达到相同的技术效果。该通信设备700为网络侧设备(第一网络设备或第二网络设备)时，该程序或指令被处理器701执行时实现上述应用于第一网络设备或第二网络设备的通信感知方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，通信接口用于：获取第二终端发送的感知信号；处理器用于：根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
或者，所述通信接口用于向第一终端发送感知信号。
该终端实施例是与上述终端侧方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图8为实现本申请实施例的一种终端的硬件结构示意图，该终端800包括但不限于：射频单元801、网络模块802、音频输出单元803、输入单元804、传感器805、显示单元806、用户输入单元807、接口单元808、存储器809、以及处理器810等中的至少部分部件。
本领域技术人员可以理解，终端800还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器810逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图8中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元804可以包括图形处理器(Graphics Processing Unit，GPU)8041和麦克风8042，图形处理器8041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态 图片或视频的图像数据进行处理。显示单元806可包括显示面板8061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板8061。用户输入单元807包括触控面板8071以及其他输入设备8072。触控面板8071，也称为触摸屏。触控面板8071可包括触摸检测装置和触摸控制器两个部分。其他输入设备8072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元801将来自网络侧设备的下行数据接收后，给处理器810处理；另外，将上行的数据发送给网络侧设备。通常，射频单元801包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器809可用于存储软件程序或指令以及各种数据。存储器809可主要包括存储程序或指令区和存储数据区，其中，存储程序或指令区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器809可以包括高速随机存取存储器，还可以包括非易失性存储器，其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。
处理器810可包括一个或多个处理单元；可选的，处理器810可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序或指令等，调制解调处理器主要处理无线通信，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器810中。
在一实施例中，所述射频单元801，用于获取第二终端发送的感知信号；所述处理器810用于根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
可选地，所述射频单元801还用于：
确定感知信号的配置信息；
根据所述感知信号的配置信息，获取所述感知信号。
可选地，所述射频单元801还用于：
接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项；
根据第一指示信息、第二指示信息和第三指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第四配置信息通过以下至少一项确定；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，所述射频单元801还用于：
接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项之后，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第一感知需求响应信息，所述第一感知需求响应信息用于指示所述第一终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第二感知需求响应信息，所述第二感知需求响应信息用于指示所述第一终端拒绝参与感知服务。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，所述射频单元801还用于：
获取第一网络设备、第二网络设备或第二终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
可选地，所述射频单元801还用于：
在所述处理器根据所述感知信号得到与第一测量量对应的测量结果之后，将所述测量结果发送给第一网络设备、第二网络设备或第二终端。
可选地，所述处理器810还用于：
根据所述感知信号得到与第一测量量对应的测量结果之后，根据所述测量结果，确定感知结果；
所述射频单元801还用于：将所述感知结果发送给第一网络设备、第二网络设备或第二终端。
可选地，所述射频单元801获取第二终端发送的感知信号之前，还用于：
向第一网络设备、第二网络设备或第二终端发送第四指示信息，所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，所述射频单元801在所述处理器810根据所述感知信号得到与第一测量量对应的测量结果之后，还用于：
获取所述第一网络设备、第二网络设备或第二终端根据所述第四指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
可选地，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示RSSI；
参考信号接收功率RSRP；
信道状态信息CSI；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别；
角度相关信息。
可选地，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
可选地，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信 号。
在另一实施例中，所述射频单元801用于：向第一终端发送感知信号。
可选地，所述射频单元801还用于：
确定感知信号的配置信息；
根据所述感知信号的配置信息，发送所述感知信号。
可选地，所述射频单元801还用于：
接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项；
在根据第一指示信息、第二指示信息和第四指示信息中的至少一项，确定感知信号的配置信息；
其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，所述感知信号的配置信息包括以下至少一项：
第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
可选地，所述第三配置信息通过以下至少一项确定；
感知需求；
第一网络设备能力信息；
第二网络设备能力信息；
第一网络设备推荐配置信息；
第二网络设备推荐配置信息；
第一终端能力信息；
第一终端推荐配置信息。
可选地，所述射频单元801接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项之后，还用于：在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第三感知需求响应信息，所述第三感知需求响应信息用于指示所述第二终端同意参与感知服务；
或者，在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第四感知需求响应信息，所述第四感知需求响应信息用于指示所述第二终端拒绝参与感知服务。
可选地，所述感知信号的配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，所述射频单元801还用于：
获取第一网络设备、第二网络设备或第一终端发送的第一测量量；
或者，根据感知需求，确定所述第一测量量。
可选地，所述射频单元801向第一终端发送感知信号之后，还用于：
获取所述第一终端发送的测量结果，所述测量结果是所述第一终端根据所述感知信号得到的与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量；
根据所述测量结果确定感知结果，或者，将所述测量结果发送给第二终端、第一网络设备或第二网络设备。
可选地，所述射频单元801在处理器根据所述测量结果确定感知结果之后，还用于：
将所述感知结果发送给第一网络设备、第二网络设备或第一终端。
可选地，所述射频单元801向第一终端发送感知信号之前，还用于：
向第一网络设备、第二网络设备或第一终端发送第三指示信息，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
可选地，所述射频单元801还用于：
获取所述第一网络设备、第二网络设备或第一终端根据所述第三指示信息反馈的目标感知结果；
所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
可选地，所述第一测量量包括以下至少一项：
信道矩阵H；
接收的信号强度指示RSSI；
参考信号接收功率RSRP；
信道状态信息CSI；
多径信道中每条径的功率、时延和/或角度信息；
多普勒扩展；
多普勒频移；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
I路信号和Q路信号之间的特征差别；
角度相关信息。
可选地，所述感知结果包括以下至少一项：
目标物体的特征信息；
目标事件的相关信息；
目标环境的相关信息。
可选地，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设 备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
本申请实施例中，第一终端获取第二终端发送的感知信号；所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现了通过终端收发感知信号进行通信感知的目的。
如图9所示，本申请实施例还提供了一种通信感知装置900，包括：
第二发送模块901，用于向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
可选地，本申请实施例的装置还包括：
确定模块，用于确定第一指示信息。
可选地，所述第一指示信息包括以下至少一项：
感知需求；
所述感知信号的第一配置信息；
第一网络设备能力信息；
第一网络设备推荐配置信息。
可选地，本申请实施例的装置，还包括：
第二接收模块，用于第二发送模块向目标终端发送第一指示信息之后，接收第一终端、第二终端或第二网络设备发送的感知需求响应信息；
所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
其中，所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
可选地，本申请实施例的装置，还包括：
第三接收模块，用于所述第二发送模块向第一终端和/或第二终端发送第一指示信息之前，接收第一目标指示信息，所述第一目标指示信息包括第二网络设备发送的第二指示信息、第二终端发送的第三指示信息、第一终端发送的第四指示信息和应用服务器发送的第五指示信息中的至少一项，其中，所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项，所述第三指示信息包括感知需求、感知信息的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项，所述第四指示信息感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项；所述第五指示信息包括感知需求；
第二确定模块，用于根据所述第一目标指示信息，确定第一配置信息。
可选地，所述第二确定模块通过以下至少一项，确定第一配置信息；
感知需求；
第一终端能力信息；
第二网络设备能力信息；
第一终端推荐配置信息；
第二网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，本申请实施例的装置，还包括：
第三确定模块，用于将与所述感知需求关联的终端，确定为目标终端，所述目标终端包括第一终端和/或第二终端。
可选地，本申请实施例的装置，还包括：
第八获取模块，用于第三确定模块将与所述感知需求关联的终端，确定 为所述目标终端之后，获取目标终端或目标第二网络设备发送的所述测量结果，所述目标第二网络设备为与所述第二感知需求关联的第二网络设备；
第四确定模块，用于根据所述测量结果，确定目标感知结果。
可选地，本申请实施例的装置，还包括：
第九获取模块，用于获取第一终端、第二终端或目标第二网络设备发送的目标感知结果，所述目标感知结果是根据所述测量结果得到。
可选地，所述第一终端和/或第二终端通过以下至少一项确定：
终端是否发送感知需求；
终端向第一网络设备上报的能力相关信息；
终端向第一网络设备反馈的同意或拒绝参与感知服务信息；
事先约定的终端是否参与感知服务的信息；
参与感知服务的终端，在规定时间内是否反馈感知需求对应的感知响应信息；
终端的先验信息，所述终端的先验信息包括终端的位置和终端所处区域中的至少一项；
终端接入的基站信息。
可选地，本申请实施例的装置，还包括：
第七发送模块，用于向与所述感知需求关联的目标第二网络设备，发送第一指示信息。
可选地，所述目标第二网络设备通过以下至少一项确定：
第二网络设备是否发起第二感知需求；
第二网络设备所连接的终端的信息；
第二网络设备向核心网上报的能力相关信息；
第二网络设备的先验信息，所述第二网络设备的先验信息包括基站的位置和基站所处区域中的至少一项。
可选地，本申请实施例的装置，还包括：
第八发送模块，用于向所述目标第二网络设备发送第一测量量。
可选地，本申请实施例的装置，还包括：
第九发送模块，用于向第一终端和/或第二终端发送第一测量量。
可选地，所述感知信号的第一配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
可选地，所述感知功能实体满足以下至少一项：
管理感知所需资源的整体协调和调度；
计算感知结果以及估计感知精度；
验证感知结果以及估计感知精度；
支持立即感知请求；
支持延迟感知请求；
支持周期性或事件触发感知请求；
支持取消周期或触发性的感知行为；
对应至少一个AMF实体；
根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知 能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
本申请实施例中，向第一终端和/或第二终端发送第一指示信息，第一终端根据该第一指示信息发送感知信号，第二终端接收所述感知信号并获取与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，从而实现通过终端收发感知信号进行通信感知的目的。
如图10所示，本申请实施例还提供了一种通信感知装置1000，包括：
第一接收模块1001，用于接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
可选地，所述第一指示信息包括以下至少一项：
感知需求；
所述感知信号的第一配置信息；
第一网络设备能力信息；
第一网络设备推荐配置信息。
可选地，本申请实施例的装置，还包括：
第四接收模块，用于接收第一终端或第二终端发送的感知需求响应信息；
第十发送模块，用于将所述感知需求响应信息发送第一网络设备；
其中，所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
可选地，本申请实施例的装置，还包括：
第五确定模块，用于根据第二目标指示信息，确定感知信号的第二配置信息，所述第二目标指示信息包括所述第一指示信息、第二终端发送的第三指示信息和第一终端发送的第四指示信息中的至少一项；
其中，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项；
所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
可选地，本申请实施例的装置，还包括：
第五接收模块，在第五确定模块根据第二目标指示信息，确定感知信号的第二配置信息之前，接收第三指示信息和第四指示信息中的至少一项。
可选地，第五确定模块根据以下至少一项确定感知信号的第二配置信息；
第一终端能力信息；
第一网络设备能力信息；
第一终端推荐配置信息；
第一网络设备推荐配置信息；
第二终端能力信息；
第二终端推荐配置信息。
可选地，本申请实施例的装置，还包括：
第十一发送模块，用于将所述感知信号的第二配置信息发送给第一终端、第二终端和第一网络设备中的至少一项。
可选地，所述感知信号的第二配置信息包括以下至少一项：
所述感知信号的波形；
所述感知信号的子载波间隔；
所述感知信号的保护间隔；
所述感知信号的带宽；
所述感知信号的突发burst持续时间；
所述感知信号的时域间隔；
所述感知信号的发送信号功率；
所述感知信号的信号格式；
所述感知信号的信号方向；
所述感知信号的时间资源；
所述感知信号的频率资源；
所述感知信号的准共址QCL关系。
可选地，本申请实施例的装置，还包括：
第十二发送模块，用于第一接收模块接收第一指示信息之前，向第一网络设备、第一终端或第二终端发送第二指示信息，所述第二指示信息包括第二网络设备能力信息、感知需求、感知信号的第二配置信息和第二网络推荐配置信息中的至少一项。
可选地，本申请实施例的装置，还包括：
第十获取模块，用于获取第一网络设备、第一终端或第二终端根据所述第二指示信息反馈的目标感知结果，所述目标感知结果是根据所述测量结果得到的。
可选地，本申请实施例的装置，还包括：
第十一获取模块，用于获取所述测量结果；
第三确定模块，用于根据所述测量结果，确定目标感知结果。
可选地，本申请实施例的装置，还包括：
第十三发送模块，用于将所述目标感知结果发送给第一网络设备、第一终端或第二终端。
本申请实施例中，接收第一指示信息，将该第一指示信息转发给第一终端和/或第二终端，或根据该第一指示信息，确定感知信号的第二配置信息并发送给第一终端和/或第二终端，使得第二终端发送感知信号，第一终端接收 感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，从而实现通过终端收发感知信号实现通信感知的目的。
本申请实施例还提供了一种网络设备，该网络设备可以为上述第一网络设备或第二网络设备，该网络设备包括处理器和通信接口，在所述网络设备为上述第一网络设备时，通信接口用于向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。在所述网络设备为第二网络设备时，通信接口用于接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。该网络设备实施例是与上述网络设备方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该网络设备实施例中，且能达到相同的技术效果。
具体地，本申请实施例还提供了一种网络设备。可选地，该网络设备为上述第一网络设备，如图11所示，该网络设备1100包括：天线1101、射频装置1102、基带装置1103。天线1101与射频装置1102连接。在上行方向上，射频装置1102通过天线1101接收信息，将接收的信息发送给基带装置1103进行处理。在下行方向上，基带装置1103对要发送的信息进行处理，并发送给射频装置1102，射频装置1102对收到的信息进行处理后经过天线1101发送出去。
上述频带处理装置可以位于基带装置1103中，以上实施例中网络设备执行的方法可以在基带装置1103中实现，该基带装置1103包括处理器1104和存储器1105。
基带装置1103例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图11所示，其中一个芯片例如为处理器1104，与存储器1105连接， 以调用存储器1105中的程序，执行以上方法实施例中所示的第一网络设备的操作。
该基带装置1103还可以包括网络接口1106，用于与射频装置1102交互信息，该接口例如为通用公共无线接口(common public radio interface，简称CPRI)。
具体地，本申请实施例的网络设备(第一网络设备)还包括：存储在存储器1105上并可在处理器1104上运行的指令或程序，处理器1104调用存储器1105中的指令或程序执行图9所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供了一种网络设备，该网络设备可具体为上述第二网络设备，如图12所示，该网络侧设备包括基带装置1203。基带装置1203对要发送的信息进行处理。
频带处理装置可以位于基带装置1203中，以上实施例中网络侧设备执行的方法可以在基带装置1203中实现，该基带装置1203包括处理器1204和存储器1205。
基带装置1203例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图12所示，其中一个芯片例如为处理器1204，与存储器1205连接，以调用存储器1205中的程序，执行以上方法实施例中所示的第二网络设备的操作。
该基带装置1203还可以包括网络接口1206，用于与射频装置1202交互信息，该接口例如为通用公共无线接口(common public radio interface，简称CPRI)。
具体地，本申请实施例的网络设备(第二网络设备)还包括：存储在存储器1205上并可在处理器1204上运行的指令或程序，处理器1204调用存储器1205中的指令或程序执行图10所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程 序或指令，该程序或指令被处理器执行时实现上述通信感知方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述通信感知方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现上述通信感知方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述 实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (70)

  1. 一种通信感知方法，包括：
    第一终端获取第二终端发送的感知信号；
    所述第一终端根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
  2. 根据权利要求1所述的方法，其中，所述第一终端获取第二终端发送的感知信号，包括：
    确定感知信号的配置信息；
    根据所述感知信号的配置信息，获取所述感知信号。
  3. 根据权利要求2所述的方法，其中，确定感知信号的配置信息，包括：
    接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项；
    根据第一指示信息、第二指示信息和第三指示信息中的至少一项，确定感知信号的配置信息；
    其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
    所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
    所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
  4. 根据权利要求3所述的方法，其中，所述感知信号的配置信息包括以下至少一项：
    第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
    第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
    第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
    第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
  5. 根据权利要求4所述的方法，其中，所述第一终端通过以下至少一项确定所述第四配置信息；
    感知需求；
    第一网络设备能力信息；
    第二网络设备能力信息；
    第一网络设备推荐配置信息；
    第二网络设备推荐配置信息；
    第二终端能力信息；
    第二终端推荐配置信息。
  6. 根据权利要求3所述的方法，其中，接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第二终端发送的第三指示信息中的至少一项之后，还包括：
    在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第一感知需求响应信息，所述第一感知需求响应信息用于指示所述第一终端同意参与感知服务；
    或者，在根据第一指示信息、第二指示信息和第三指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第二终端中的至少一项发送第二感知需求响应信息，所述第二感知需求响应信息用于指示所述第一终端拒绝参与感知服务。
  7. 根据权利要求2所述的方法，其中，所述感知信号的配置信息包括以下至少一项：
    所述感知信号的波形；
    所述感知信号的子载波间隔；
    所述感知信号的保护间隔；
    所述感知信号的带宽；
    所述感知信号的突发burst持续时间；
    所述感知信号的时域间隔；
    所述感知信号的发送信号功率；
    所述感知信号的信号格式；
    所述感知信号的信号方向；
    所述感知信号的时间资源；
    所述感知信号的频率资源；
    所述感知信号的准共址QCL关系。
  8. 根据权利要求1所述的方法，其中，还包括：
    所述第一终端获取第一网络设备、第二网络设备或第二终端发送的第一测量量；
    或者，根据感知需求，确定所述第一测量量。
  9. 根据权利要求1所述的方法，其中，所述根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
    所述第一终端将所述测量结果发送给第一网络设备、第二网络设备或第二终端。
  10. 根据权利要求1所述的方法，其中，所述根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
    所述第一终端根据所述测量结果，确定感知结果；
    将所述感知结果发送给第一网络设备、第二网络设备或第二终端。
  11. 根据权利要求1所述的方法，其中，所述第一终端获取第二终端发送的感知信号之前，还包括：
    向第一网络设备、第二网络设备或第二终端发送第四指示信息，所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和 第一终端推荐配置信息中的至少一项。
  12. 根据权利要求11所述的方法，其中，所述第一终端根据所述感知信号得到与第一测量量对应的测量结果之后，还包括：
    获取所述第一网络设备、第二网络设备或第二终端根据所述第四指示信息反馈的目标感知结果；
    所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
  13. 根据权利要求1所述的方法，其中，所述第一测量量包括以下至少一项：
    信道矩阵H；
    接收的信号强度指示RSSI；
    参考信号接收功率RSRP；
    信道状态信息CSI；
    多径信道中每条径的功率、时延和/或角度信息；
    多普勒扩展；
    多普勒频移；
    第一天线与第二天线的相位差；
    第一天线与第二天线的时延差；
    I路信号和Q路信号之间的特征差别；
    角度相关信息。
  14. 根据权利要求10或12所述的方法，其中，所述感知结果包括以下至少一项：
    目标物体的特征信息；
    目标事件的相关信息；
    目标环境的相关信息。
  15. 根据权利要求3、4、5、6、8、9、10、11或12所述的方法，其中，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
  16. 根据权利要求15所述的方法，其中，所述感知功能实体满足以下至少一项：
    管理感知所需资源的整体协调和调度；
    计算感知结果以及估计感知精度；
    验证感知结果以及估计感知精度；
    支持立即感知请求；
    支持延迟感知请求；
    支持周期性或事件触发感知请求；
    支持取消周期或触发性的感知行为；
    对应至少一个AMF实体；
    根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
  17. 一种通信感知方法，包括：
    第二终端向第一终端发送感知信号。
  18. 根据权利要求17所述的方法，其中，所述第二终端向第一终端发送感知信号，包括：
    确定感知信号的配置信息；
    根据所述感知信号的配置信息，发送所述感知信号。
  19. 根据权利要求18所述的方法，其中，所述确定感知信号的配置信息，包括：
    接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和/或第一终端发送的第四指示信息；
    在根据第一指示信息、第二指示信息和/或第四指示信息确定参与感知服务的情况下，确定感知信号的配置信息；
    其中，所述第一指示信息包括感知需求、感知信号的第一配置信息、第一网络设备能力信息和第一网络设备推荐配置信息中的至少一项；
    所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项；
    所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
  20. 根据权利要求19所述的方法，其中，所述感知信号的配置信息包括以下至少一项：
    第一配置信息，所述第一配置信息为第一网络设备确定的感知信号的配置信息；
    第二配置信息，所述第二配置信息为第二网络设备确定的感知信号的配置信息；
    第三配置信息，所述第三配置信息为所述第二终端确定的感知信号的配置信息；
    第四配置信息，所述第四配置信息为所述第一终端确定的感知信号的配置信息。
  21. 根据权利要求20所述的方法，其中，所述第二终端通过以下至少一项确定所述第三配置信息；
    感知需求；
    第一网络设备能力信息；
    第二网络设备能力信息；
    第一网络设备推荐配置信息；
    第二网络设备推荐配置信息；
    第一终端能力信息；
    第一终端推荐配置信息。
  22. 根据权利要求19所述的方法，其中，接收第一网络设备发送的第一指示信息、第二网络设备发送的第二指示信息和第一终端发送的第四指示信息中的至少一项之后，还包括：
    在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第三感知需求响应信息，所述第三感知需求响应信息用于指示所述第二终端同意参与感知服务；
    或者，在根据第一指示信息、第二指示信息和第四指示信息中的至少一项确定不参与感知服务的情况下，向第一网络设备、第二网络设备和第一终端中的至少一项发送第四感知需求响应信息，所述第四感知需求响应信息用于指示所述第二终端拒绝参与感知服务。
  23. 根据权利要求18所述的方法，其中，所述感知信号的配置信息包括以下至少一项：
    所述感知信号的波形；
    所述感知信号的子载波间隔；
    所述感知信号的保护间隔；
    所述感知信号的带宽；
    所述感知信号的突发burst持续时间；
    所述感知信号的时域间隔；
    所述感知信号的发送信号功率；
    所述感知信号的信号格式；
    所述感知信号的信号方向；
    所述感知信号的时间资源；
    所述感知信号的频率资源；
    所述感知信号的准共址QCL关系。
  24. 根据权利要求17所述的方法，其中，还包括：
    所述第二终端获取第一网络设备、第二网络设备或第一终端发送的第一 测量量；
    或者，根据感知需求，确定所述第一测量量。
  25. 根据权利要求17所述的方法，其中，所述第二终端向第一终端发送感知信号之后，还包括：
    获取所述第一终端发送的测量结果，所述测量结果是所述第一终端根据所述感知信号得到的与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量；
    根据所述测量结果确定感知结果，或者，将所述测量结果发送给第二终端、第一网络设备或第二网络设备。
  26. 根据权利要求25所述的方法，其中，所述根据所述测量结果确定感知结果之后，还包括：
    将所述感知结果发送给第一网络设备、第二网络设备或第一终端。
  27. 根据权利要求17所述的方法，其中，所述第二终端向第一终端发送感知信号之前，还包括：
    向第一网络设备、第二网络设备或第一终端发送第三指示信息，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项。
  28. 根据权利要求27所述的方法，其中，还包括：
    获取所述第一网络设备、第二网络设备或第一终端根据所述第三指示信息反馈的目标感知结果；
    所述目标感知结果包括：根据至少一个所述第一终端的测量结果得到的感知结果。
  29. 根据权利要求17所述的方法，其中，所述第一测量量包括以下至少一项：
    信道矩阵H；
    接收的信号强度指示RSSI；
    参考信号接收功率RSRP；
    信道状态信息CSI；
    多径信道中每条径的功率、时延和/或角度信息；
    多普勒扩展；
    多普勒频移；
    第一天线与第二天线的相位差；
    第一天线与第二天线的时延差；
    I路信号和Q路信号之间的特征差别；
    角度相关信息。
  30. 根据权利要求25、26或28所述的方法，其中，所述感知结果包括以下至少一项：
    目标物体的特征信息；
    目标事件的相关信息；
    目标环境的相关信息。
  31. 根据权利要求19、20、21、22、24、25、26、27或28所述的方法，其中，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
  32. 根据权利要求31所述的方法，其中，所述感知功能实体满足以下至少一项：
    管理感知所需资源的整体协调和调度；
    计算感知结果以及估计感知精度；
    验证感知结果以及估计感知精度；
    支持立即感知请求；
    支持延迟感知请求；
    支持周期性或事件触发感知请求；
    支持取消周期或触发性的感知行为；
    对应至少一个AMF实体；
    根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知 能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
  33. 一种通信感知方法，包括：
    第一网络设备向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
  34. 根据权利要求33所述的方法，其中，所述第一指示信息包括以下至少一项：
    感知需求；
    所述感知信号的第一配置信息；
    第一网络设备能力信息；
    第一网络设备推荐配置信息。
  35. 根据权利要求33所述的方法，其中，所述第一网络设备向目标终端发送第一指示信息之后，还包括：
    接收第一终端、第二终端或第二网络设备发送的感知需求响应信息；
    所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
    其中，所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
    所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
  36. 根据权利要求34所述的方法，其中，所述第一网络设备向第一终端和/或第二终端发送第一指示信息之前，还包括：
    接收第一目标指示信息，所述第一目标指示信息包括第二网络设备发送的第二指示信息、第二终端发送的第三指示信息、第一终端发送的第四指示信息和应用服务器发送的第五指示信息中的至少一项，其中，所述第二指示信息包括感知需求、感知信号的第二配置信息、第二网络设备能力信息和第二网络设备推荐配置信息中的至少一项，所述第三指示信息包括感知需求、感知信息的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项，所述第四指示信息感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项；所述第五指示信息包括感知需求；
    根据所述第一目标指示信息，确定第一配置信息。
  37. 根据权利要求36所述的方法，其中，根据所述第一目标指示信息，确定第一配置信息，包括：
    通过以下至少一项，确定第一配置信息；
    感知需求；
    第一终端能力信息；
    第二网络设备能力信息；
    第一终端推荐配置信息；
    第二网络设备推荐配置信息；
    第二终端能力信息；
    第二终端推荐配置信息。
  38. 根据权利要求34、36或37所述的方法，其中，还包括：
    将与所述感知需求关联的终端，确定为目标终端，所述目标终端包括第一终端和/或第二终端。
  39. 根据权利要求38所述的方法，其中，所述将与所述感知需求关联的终端，确定为所述目标终端之后，还包括：
    获取目标终端或目标第二网络设备发送的所述测量结果，所述目标第二网络设备为与所述第二感知需求关联的第二网络设备；
    根据所述测量结果，确定目标感知结果。
  40. 根据权利要求33所述的方法，其中，还包括：
    获取第一终端、第二终端或目标第二网络设备发送的目标感知结果，所述目标感知结果是根据所述测量结果得到。
  41. 根据权利要求33至40任一项所述的方法，其中，所述第一终端和/或第二终端通过以下至少一项确定：
    终端是否发送感知需求；
    终端向第一网络设备上报的能力相关信息；
    终端向第一网络设备反馈的同意或拒绝参与感知服务信息；
    事先约定的终端是否参与感知服务的信息；
    参与感知服务的终端，在规定时间内是否反馈感知需求对应的感知响应信息；
    终端的先验信息，所述终端的先验信息包括终端的位置和终端所处区域中的至少一项；
    终端接入的基站信息。
  42. 根据权利要求33所述的方法，其中，还包括：
    向与所述感知需求关联的目标第二网络设备，发送第一指示信息。
  43. 根据权利要求39或42所述的方法，其中，所述目标第二网络设备通过以下至少一项确定：
    第二网络设备是否发起第二感知需求；
    第二网络设备所连接的终端的信息；
    第二网络设备向核心网上报的能力相关信息；
    第二网络设备的先验信息，所述第二网络设备的先验信息包括基站的位置和基站所处区域中的至少一项。
  44. 根据权利要求42所述的方法，其中，还包括：
    向所述目标第二网络设备发送第一测量量。
  45. 根据权利要求33所述的方法，其中，还包括：
    向第一终端和/或第二终端发送第一测量量。
  46. 根据权利要求33所述的方法，其中，所述感知信号的第一配置信息包括以下至少一项：
    所述感知信号的波形；
    所述感知信号的子载波间隔；
    所述感知信号的保护间隔；
    所述感知信号的带宽；
    所述感知信号的突发burst持续时间；
    所述感知信号的时域间隔；
    所述感知信号的发送信号功率；
    所述感知信号的信号格式；
    所述感知信号的信号方向；
    所述感知信号的时间资源；
    所述感知信号的频率资源；
    所述感知信号的准共址QCL关系。
  47. 根据权利要求33所述的方法，其中，所述第一网络设备包括：移动和接入管理功能AMF实体或感知功能实体。
  48. 根据权利要求47所述的方法，其中，所述感知功能实体满足以下至少一项：
    管理感知所需资源的整体协调和调度；
    计算感知结果以及估计感知精度；
    验证感知结果以及估计感知精度；
    支持立即感知请求；
    支持延迟感知请求；
    支持周期性或事件触发感知请求；
    支持取消周期或触发性的感知行为；
    对应至少一个AMF实体；
    根据感知客户端的类型、感知QoS、终端的感知能力、网络设备的感知能力的至少一项确定感知方法；其中，所述感知方法包括以下至少一项：第一网络节点发送感知信号，第二网络节点接收感知信号；第一网络节点发送并接收感知信号；第一网络节点发送感知信号，第一网络节点关联的终端设备接收感知信号；终端设备发送感知信号，第二终端接收感知信号；终端设备发送并接收感知信号；终端设备发送感知信号，第一网络节点接收感知信号。
  49. 一种通信感知方法，包括：
    第二网络设备接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
  50. 根据权利要求49所述的方法，其中，所述第一指示信息包括以下至少一项：
    感知需求；
    所述感知信号的第一配置信息；
    第一网络设备能力信息；
    第一网络设备推荐配置信息。
  51. 根据权利要求49所述的方法，其中，还包括：
    接收第一终端或第二终端发送的感知需求响应信息；
    将所述感知需求响应信息发送第一网络设备；
    其中，所述感知需求响应信息包括第五感知需求响应信息或第六感知需求响应信息；
    所述第五感知需求响应信息用于指示所述第一终端或第二终端同意参与感知服务；
    所述第六感知需求响应信息用于指示第一终端或第二终端拒绝参与感知服务。
  52. 根据权利要求50所述的方法，其中，还包括：
    根据第二目标指示信息，确定感知信号的第二配置信息，所述第二目标指示信息包括所述第一指示信息、第二终端发送的第三指示信息和第一终端发送的第四指示信息中的至少一项；
    其中，所述第三指示信息包括感知需求、感知信号的第三配置信息、第二终端能力信息和第二终端推荐配置信息中的至少一项；
    所述第四指示信息包括感知需求、感知信号的第四配置信息、第一终端能力信息和第一终端推荐配置信息中的至少一项。
  53. 根据权利要求50所述的方法，其中，根据第二目标指示信息，确定感知信号的第二配置信息之前，还包括：
    接收第三指示信息和第四指示信息中的至少一项。
  54. 根据权利要求52所述的方法，其中，根据第二目标指示信息，确定感知信号的第二配置信息，包括：
    根据以下至少一项确定感知信号的第二配置信息；
    第一终端能力信息；
    第一网络设备能力信息；
    第一终端推荐配置信息；
    第一网络设备推荐配置信息；
    第二终端能力信息；
    第二终端推荐配置信息。
  55. 根据权利要求54所述的方法，其中，还包括：
    将所述感知信号的第二配置信息发送给第一终端、第二终端和第一网络设备中的至少一项。
  56. 根据权利要求52所述的方法，其中，所述感知信号的第二配置信息包括以下至少一项：
    所述感知信号的波形；
    所述感知信号的子载波间隔；
    所述感知信号的保护间隔；
    所述感知信号的带宽；
    所述感知信号的突发burst持续时间；
    所述感知信号的时域间隔；
    所述感知信号的发送信号功率；
    所述感知信号的信号格式；
    所述感知信号的信号方向；
    所述感知信号的时间资源；
    所述感知信号的频率资源；
    所述感知信号的准共址QCL关系。
  57. 根据权利要求49所述的方法，其中，第二网络设备接收第一指示信息之前，还包括：
    向第一网络设备、第一终端或第二终端发送第二指示信息，所述第二指示信息包括第二网络设备能力信息、感知需求、感知信号的第二配置信息和第二网络推荐配置信息中的至少一项。
  58. 根据权利要求56所述的方法，其中，还包括：
    获取第一网络设备、第一终端或第二终端根据所述第二指示信息反馈的目标感知结果，所述目标感知结果是根据所述测量结果得到的。
  59. 根据权利要求49所述的方法，其中，还包括：
    获取所述测量结果；
    根据所述测量结果，确定目标感知结果。
  60. 根据权利要求59所述的方法，其中，还包括：
    将所述目标感知结果发送给第一网络设备、第一终端或第二终端。
  61. 一种通信感知装置，包括：
    第一获取模块，用于获取第二终端发送的感知信号；
    第二获取模块，用于根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
  62. 一种通信感知装置，包括：
    第一发送模块，用于向第一终端发送感知信号。
  63. 一种通信感知装置，包括：
    第二发送模块，用于向第一终端和/或第二终端发送第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量，所述目标终端包括至少一个终端。
  64. 一种通信感知装置，包括：
    第一接收模块，用于接收第一指示信息，所述第一指示信息用于指示所述第二终端发送感知信号；和/或，所述第一指示信息用于指示第一终端接收感知信号，并根据所述感知信号得到与第一测量量对应的测量结果，所述第一测量量为与所述感知信号相关的测量量。
  65. 一种终端，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至16任一项所述的通信感知方法的步骤，或者，实现如权利要求17至32任一项所述的通信感知方法的步骤。
  66. 一种网络设备，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求33至48任一项所述的通信感知方法的步骤，或者，实现如权利要求49至60任一项所述的通信感知方法的步骤。
  67. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至16任一项所述的通信感知方法的步骤，或者，实现如权利要求17至32任一项所述的通信感知方法的步骤，或者，实现如权利要求33至48任一项所述的通信感知方法的步骤，或者，实现如权利要求49至60任一项所述的通信感知方法的步骤。
  68. 一种芯片，包括处理器和通信接口，其中，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求1-16中任一项所述的通信感知方法的步骤，或者实现如权利要求17-32中任一项所述的通信感知方法的步骤，或者实现如权利要求33-48中任一项所述的通信感知方法的步骤，或者，实现如权利要求49-60中任一项所述的通信感知方法的步骤。
  69. 一种计算机程序产品，其中，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如权利要求1-16中任一项所述的通信感知方法的步骤，或者实现如权利要求17-32中任一项所述的通信感知方法的步骤，或者实现如权利要求33-48中任一项所述的通信感知方法的步骤，或者，实现如权利要求49-60中任一项所述的通信感知方法的步骤。
  70. 一种通信设备，被配置为执行如权利要求1至16中任一项所述的通信感知方法的步骤，或者执行如权利要求17-32中任一项所述的通信感知方法的步骤，或者执行如权利要求33-48中任一项所述的通信感知方法的步骤，或者，执行如权利要求49-60中任一项所述的通信感知方法的步骤。
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