WO2023051788A1 - 一种终端感知方法及装置 - Google Patents

一种终端感知方法及装置 Download PDF

Info

Publication number
WO2023051788A1
WO2023051788A1 PCT/CN2022/123280 CN2022123280W WO2023051788A1 WO 2023051788 A1 WO2023051788 A1 WO 2023051788A1 CN 2022123280 W CN2022123280 W CN 2022123280W WO 2023051788 A1 WO2023051788 A1 WO 2023051788A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensing
terminal device
signal
angle measurement
information
Prior art date
Application number
PCT/CN2022/123280
Other languages
English (en)
French (fr)
Inventor
许胜锋
应江威
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2023051788A1 publication Critical patent/WO2023051788A1/zh

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
    • H04W48/10—Access restriction or access information delivery, e.g. discovery data delivery using broadcasted information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

Definitions

  • the present application relates to the field of communication technologies, and in particular to a terminal sensing method and device.
  • D2D communication allows direct communication between user equipment (UE) without going through a base station.
  • UEs can directly communicate through the PC5 interface, such as for information transmission on the data plane and the control plane.
  • UEs can not only communicate through the PC5 interface, but also perform perception through the PC5, such as intrusion detection, or surrounding environment perception, to complete the UE's perception service.
  • perception such as intrusion detection, or surrounding environment perception
  • Embodiments of the present application provide a terminal sensing method and device for completing UE sensing services.
  • the present application provides a terminal sensing method, including: a first terminal device sends a first message to a second terminal device, the first message is used to request to complete a sensing service through a first sensing mode, and the first The sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends a sensing signal, or a mode in which the first terminal device receives a sensing signal and the second terminal device sends the sensing signal.
  • the first terminal device receives a first signal, and the first signal is the sensing signal sent by the second terminal device or a response to the sensing signal sent by the second terminal device wave signal; the first terminal device acquires the sensing data of the sensing service according to the first signal.
  • the first terminal device sends a first message to the second terminal device, requesting the second terminal device to assist the first terminal device to complete the sensing service through the first sensing mode; thus the first terminal device can receive the second
  • the terminal device responds to the sensing signal sent by the first message or the echo signal of the sensing signal, and obtains the sensing data of the sensing service according to the sensing signal or the echo signal of the sensing signal, and then completes the sensing service of the first terminal device .
  • the first message includes information about the first perception mode.
  • the first terminal device can inform the second terminal device of the mode of completing the sensing service, so that the first terminal device and the second terminal device can cooperate with each other to complete the sensing task.
  • the method may further include: the first terminal device determining the first sensing mode according to at least one of the first sensing capability information and the first sensing authorization information; wherein, the first The sensing capability information is used to indicate that the first terminal device does not support sending the sensing signal, and the first sensing authorization information is used to indicate that the first terminal device is not authorized to send the sensing signal. And/or, the first terminal device determines the first sensing mode according to at least one of the second sensing capability information and the second sensing authorization information; wherein the second sensing capability information is used to indicate the first The second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.
  • the first terminal device can determine the mode for completing the sensing service through various information, and the flexibility is high. For example, the first terminal device may determine that the mode for completing the sensing service is the first sensing mode according to its own sensing capability information and/or its own sensing authorization information. For example, the first terminal device may determine a mode for completing the sensing service according to the sensing capability information and/or sensing authorization information of the second terminal device. For another example, the first terminal device may also determine that the mode for completing the sensing service is the first sensing mode according to its own sensing capability information of the second terminal device and/or its own sensing authorization information.
  • the method may further include: the first terminal device receiving a second message from the second terminal device, the second message including the second perception capability information and the first At least one of two sense authorization information.
  • the first terminal device can obtain the sensing capability information and/or authorization information of the second terminal device, so as to determine whether the second terminal device can send and/or receive sensing signals, and then more reasonably determine the first sensing mode , to request the second terminal device to assist itself in completing the sensing service.
  • the method may further include: the first terminal device sending a third message, and the third message is used to discover a terminal device supporting the first sensing mode, or discover a terminal device supporting the sensing capability Terminal Equipment.
  • the first terminal device can discover a terminal device that can assist itself in completing the sensing service during the discovery process, and establish a connection with the terminal device, so as to subsequently request the terminal device to assist itself in completing the sensing service.
  • the method may further include: the first terminal device sending the sensing data to the second terminal device.
  • the method may further include: the first terminal device receiving a first transmission instruction from the second terminal device, where the first transmission instruction is used to instruct the first terminal device to send The second terminal device sending the sensing data; the first terminal device sending the sensing data to the second terminal device may be: the first terminal device sends the sensing data to the The second terminal device sends the sensing data.
  • the second terminal device can send the first transmission instruction to the first terminal device, so that after the first terminal device receives the first transmission instruction, it can send the acquired sensing data to the second terminal device, realizing data sensing Shared between different terminal devices.
  • the receiving the first signal by the first terminal device may be: the first terminal device receives the first signal according to the first sensing mode.
  • the first message further includes first configuration information, where the first configuration information includes one or more of the following information: identification information of the sensing service, Temporal information, or signal characteristics of the perceptual signal.
  • the first terminal device may carry the first configuration information in the first message and send it to the second terminal device, so that the second terminal device sends a sensing signal based on the first configuration information.
  • the method may further include: the first terminal device determining the first configuration information according to the first correspondence; wherein the first correspondence includes one of the following correspondences or more:
  • the first terminal device can perceive the corresponding relationship between the identification information of the sensing service and the first, and determine the first configuration information.
  • the first terminal device receiving the first signal may be: the first terminal device receives the first signal according to second configuration information, and the second configuration information includes the following information One or more items of: the time information of the sensing service, the signal characteristics of the sensing signal, and the processing mode of the sensing signal.
  • the method may further include: the first terminal device determining the second configuration information according to the second correspondence; wherein the second correspondence includes one of the following correspondences or more:
  • the present application provides a terminal sensing method, including: the second terminal device receives a first message from the first terminal device, the first message is used to request to complete the sensing service through the first sensing mode, and the first A sensing mode is a mode in which the first terminal device receives a sensing signal, or a mode in which the second terminal device sends a sensing signal, or a mode in which the first terminal device receives a sensing signal and the second terminal device sends the sensing signal.
  • a mode of the sensing signal the second terminal device sends the sensing signal according to the first sensing mode.
  • the first message includes information about the first perception mode.
  • the method may further include: the second terminal device determines to send the sensing signal according to the first sensing mode according to at least one of the second sensing capability information and the second sensing authorization information. , wherein the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal.
  • the method may further include: the second terminal device sending a second message to the first terminal device, where the second message includes the second sensing capability information and the second sensing authorization information. At least one of the above, wherein the second sensing capability information is used to indicate that the second terminal device supports sending the sensing signal, and the second sensing authorization information is used to indicate that the second terminal device is authorized to send the sensing signal. sense signal.
  • the method may further include: the second terminal device receiving a third message from the first terminal device, where the third message is used to discover a terminal supporting the first sensing mode devices, or discover terminal devices that support perception capabilities.
  • the method may further include: the second terminal device receiving sensing data of the sensing service from the first terminal device.
  • the second terminal device sending the sensing signal according to the first sensing mode may be: the second terminal device sending the sensing signal according to the first sensing mode and first configuration information.
  • the first message includes the first configuration information.
  • the method may further include: the second terminal device determining the first configuration information according to the first correspondence; wherein the first correspondence includes one of the following correspondences or more:
  • the present application provides a terminal sensing method, including: the first terminal device sends a fourth message to the second terminal device, the fourth message is used to request to complete the sensing service through the second sensing mode, and the second The sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives a sensing signal, or a mode in which the first terminal device sends a sensing signal and the second terminal device receives the sensing signal.
  • a sensing signal mode the first terminal device sends the sensing signal according to the second sensing mode.
  • the first terminal device sends a fourth message to the second terminal device, requesting the second terminal device to assist the first terminal device to complete the sensing service through the second sensing mode; thus the first terminal device can send a sensing signal, Make the second terminal device receive the sensing signal sent by the first terminal device or the echo signal of the sensing signal in response to the fourth message, and obtain the sensing data of the sensing service according to the sensing signal or the echo signal of the sensing signal, and then complete A perception service of the first terminal device.
  • the fourth message includes information about the second sensing mode.
  • the first terminal device can perceive the mode of completing the sensing service to the second terminal device, so that the first terminal device and the second terminal device can cooperate with each other to complete the sensing service.
  • the method may further include: the first terminal device determining the second sensing mode according to at least one of third sensing capability information and third sensing authorization information; wherein, the first The third sensing capability information is used to indicate that the first terminal device supports sending the sensing signal, and the third sensing authorization information is used to indicate that the first terminal device is authorized to send the sensing signal. And/or, the first terminal device determines the second sensing mode according to at least one of fourth sensing capability information and fourth sensing authorization information; where the fourth sensing capability information is used to indicate that the first The second terminal device supports receiving the sensing signal, and the fourth sensing authorization information is used to indicate that the second terminal device is authorized to receive the sensing signal.
  • the first terminal device can determine the mode for completing the sensing service through various information, and the flexibility is high.
  • the method may further include: the first terminal device receiving a fifth message from the second terminal device, the fifth message including the fourth perception capability information and the first At least one of four sense authorization information.
  • the first terminal device can obtain the sensing capability information and/or authorization information of the second terminal device, so as to determine whether the second terminal device can send and/or receive sensing signals, and then more reasonably determine the first sensing mode , to request the second terminal device to assist itself in completing the sensing service.
  • the method may further include: the first terminal device sending a sixth message, where the sixth message is used to discover a terminal device supporting the second sensing mode, or discover a terminal device supporting the sensing capability Terminal Equipment.
  • the first terminal device can discover a terminal device that can assist itself in completing the sensing service during the discovery process, and establish a connection with the terminal device, so as to subsequently request the terminal device to assist itself in completing the sensing service.
  • the method may further include: the first terminal device receiving sensing data of the sensing service from the second terminal device.
  • the method may further include: the first terminal device sending a second transmission instruction to the second terminal device, where the second transmission instruction is used to instruct the second terminal device to send the The first terminal device sends the sensing data.
  • the first terminal device can send the second transmission instruction to the second terminal device, so that after the second terminal device obtains the sensing data of the sensing service, it can send the sensing data to the first terminal device, so that the sensing data can Sharing between different end devices.
  • the fourth message further includes third configuration information
  • the third configuration information includes one or more of the following information: identification information of the sensing service, Time information, signal features of the perceptual signal, or a processing manner of the perceptual signal.
  • the first terminal device can carry the third configuration information in the fourth message and send it to the second terminal device, so that the second terminal device can receive the sensing signal sent by the first terminal device based on the third configuration information or the The echo signal of the sensing signal is processed, and the sensing signal or the echo signal of the sensing signal is processed to obtain sensing data and complete the sensing service.
  • the method may further include: the first terminal device determining the third configuration information according to the second correspondence, and the second correspondence includes one or more of the following correspondences: item:
  • the method may further include: the first terminal device determining the fourth configuration information according to the first correspondence, wherein the first correspondence includes one of the following correspondences or more:
  • the present application provides a terminal sensing method, including: the second terminal device receives a fourth message from the first terminal device, the fourth message is used to request to complete the sensing service through the second sensing mode, the first The second sensing mode is a mode in which the first terminal device sends a sensing signal, or a mode in which the second terminal device receives a sensing signal, or a mode in which the first terminal device sends a sensing signal and the second terminal device receives the sensing signal. Describe the pattern of sensory signals;
  • the second terminal device receives a second signal, and the second signal is a sensing signal sent by the first terminal device, or an echo signal of the sensing signal sent by the first terminal device;
  • the second terminal device determines the sensing data of the sensing service according to the second information.
  • the fourth message includes information about the second perception mode.
  • the method further includes: the second terminal device determines to receive the second signal according to at least one of fourth perception capability information and fourth perception authorization information; wherein, the first The fourth sensing capability information is used to indicate that the second terminal device supports receiving the sensing signal or the echo signal of the sensing signal, and the fourth sensing authorization information is used to indicate that the first terminal device has been authorized to send the The sensing signal or an echo signal of the sensing signal.
  • the method further includes: the second terminal device sending a fifth message to the first terminal device, where the fifth message includes the fourth perception capability information and the fourth Perceive at least one of the authorization information.
  • the method further includes: the second terminal device receiving a sixth message from the first terminal device, where the sixth message is used to discover a terminal supporting the second sensing mode devices, or discover terminal devices that support perception capabilities.
  • the method further includes: the second terminal device sending the sensing data to the first terminal device.
  • the method further includes: the second terminal device receiving a second transmission instruction from the first terminal device, where the second transmission instruction is used to instruct the second terminal device to send The first terminal device sending the sensing data; the second terminal device sending the sensing data to the first terminal device may be: the second terminal device sends the sensing data to the The first terminal device sends the sensing data.
  • the second terminal device receiving the second signal may be: the second terminal device receives the second signal according to third configuration information, where the third configuration information includes One or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, or a processing manner of the sensing signal.
  • the fourth message includes the third configuration information.
  • the method further includes: the second terminal device determines the third configuration information according to the second correspondence, the second correspondence includes one or more of the following correspondences item:
  • the present application provides a terminal measurement method, including: the first terminal device sends a ninth message to the second terminal device, and the ninth message is used to request to complete the ranging service through the first ranging mode, wherein,
  • the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device sends a ranging signal and the The mode in which the second terminal device receives the ranging signal; the first terminal device sends the ranging signal according to the first ranging mode; the first terminal device receives the ranging signal from the second terminal device A feedback signal of the ranging signal; the first terminal device acquires ranging data of the ranging service according to the ranging signal and the feedback signal.
  • the first terminal device sends a ninth message to the second terminal device, requesting the second terminal device to assist the first terminal device in completing the ranging service through the first ranging mode; in this way, the first terminal device can send a measurement
  • the second terminal device can receive the ranging signal in response to the ninth message and send the feedback signal of the ranging signal to the first terminal device, so that the first terminal device can obtain the ranging signal according to the ranging signal and the feedback signal
  • the ranging data of the service and then complete the ranging service of the first terminal device.
  • the ninth message may include information about the first ranging mode.
  • the method may further include: the first terminal device determining the first ranging mode according to at least one of the first ranging capability information and the first ranging authorization information; wherein, The first ranging capability information is used to indicate that the first terminal device supports sending the ranging signal, and the first ranging authorization information is used to indicate that the first terminal device is authorized to send the ranging signal.
  • the method may further include: the first terminal device determining the first ranging mode according to at least one of the second ranging capability information and the second ranging authorization information; wherein, The second ranging capability information is used to indicate that the second terminal device does not support sending the ranging signal, and the second ranging authorization information is used to indicate that the second terminal device is not authorized to send the ranging signal. Signal.
  • the method may further include: the first terminal device receiving a tenth message from the second terminal device, the tenth message including the second ranging capability information and the At least one of the second ranging authorization information.
  • the method may further include: the first terminal device sends an eleventh message, and the eleventh message is used to discover a terminal device that supports the first ranging mode, or to discover a terminal device that supports the first ranging mode. Terminal equipment with ranging capability.
  • the method may further include: the first terminal device sending the ranging data to the second terminal device.
  • the method may further include: the first terminal device receiving a third transmission instruction from the second terminal device, where the third transmission instruction is used to instruct the first terminal device to send The second terminal device sending the ranging data; the first terminal device sending the ranging data to the second terminal device includes: the first terminal device sending the distance measurement data to the second terminal device according to the third transmission instruction The second terminal device sends the ranging data.
  • the ninth message may further include fifth configuration information, and the fifth configuration information includes one or more of the following information: identification information of the ranging service, the The time information of the distance service, the signal characteristics of the distance measurement signal, or the processing mode of the distance measurement signal.
  • the method may further include: the first terminal device determining the fifth configuration information according to a third correspondence; wherein the third correspondence includes one of the following correspondences or more:
  • the first terminal device sends the ranging signal according to the first ranging mode, which may be: the first terminal device transmits the ranging signal according to the first ranging mode and the sixth configuration information, to send the ranging signal, and the sixth configuration information includes one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, and the ranging signal processing method.
  • the method may further include: the first terminal device determining the sixth configuration information according to a fourth correspondence; wherein the fourth correspondence includes one of the following correspondences or more:
  • the present application provides a terminal measurement method, including: the second terminal device receives a ninth message from the first terminal device, and the ninth message is used to request to complete the ranging service through the first ranging mode, wherein , the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device sends a ranging signal and The mode in which the second terminal device receives the ranging signal; the second terminal device receives the ranging signal according to the first ranging mode; the second terminal device sends the ranging signal to the first terminal device A feedback signal of the ranging signal.
  • the first ranging mode is a mode in which the first terminal device sends a ranging signal, or a mode in which the second terminal device receives a ranging signal, or a mode in which the first terminal device sends a ranging signal and The mode in which the second terminal device receives the ranging signal; the second terminal device receives the ranging
  • the ninth message may include information about the first ranging mode.
  • the method may further include: the second terminal device sending a tenth message to the first terminal device, where the tenth message includes the second ranging capability information and the first At least one of the two ranging authorization information.
  • the method may further include: the second terminal device receiving an eleventh message from the first terminal device, where the eleventh message is used to discover mode, or discover terminal devices that support ranging capabilities.
  • the method may further include: the second terminal device sending a third transmission instruction to the first terminal device, where the third transmission instruction is used to instruct the first terminal device to send The second terminal device sends the ranging data; the second terminal device receives the ranging data of the ranging service from the first terminal device, including: the second terminal device according to the third The transmission indicates receipt of the ranging data.
  • the second terminal device receiving the ranging signal according to the first ranging mode may be: the second terminal device receiving the ranging signal according to the first ranging mode and the first ranging mode Five configuration information to receive the ranging signal, wherein the fifth configuration information includes one or more of the following information: identification information of the ranging service, time information of the ranging service, the The signal feature of the ranging signal, or the processing manner of the ranging signal.
  • the ninth message includes the fifth configuration information.
  • the method may further include: the second terminal device determining the fifth configuration information according to a third correspondence; wherein the third correspondence includes one of the following correspondences or more:
  • the present application provides a terminal measurement method, where the first terminal device sends a twelfth message to the second terminal device, and the twelfth message is used to request to complete the ranging service through the second ranging mode, wherein,
  • the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal, or a mode in which the second terminal device sends a ranging signal and the The mode in which the first terminal device receives the ranging signal; the first terminal device receives the ranging signal from the second terminal device; the first terminal device sends the ranging signal to the second terminal device The feedback signal of the ranging signal.
  • the first terminal device sends a twelfth message to the second terminal device, requesting the second terminal device to assist the first terminal device in completing the ranging service through the second ranging mode; thus, the second terminal device responds Based on the twelfth message, the ranging signal can be sent and the feedback signal from the first terminal device can be received, so that the ranging data of the ranging service can be obtained according to the ranging signal and the feedback signal, and then the first terminal device can be completed. away from business.
  • the twelfth message may include information about the second ranging mode.
  • the method may further include: the first terminal device determining the second ranging mode according to at least one of third ranging capability information and third ranging authorization information; wherein, The third ranging capability information is used to indicate that the first terminal device does not support sending the ranging signal, and the third ranging authorization information is used to indicate that the first terminal device is not authorized to send the ranging signal. Signal.
  • the method may further include: the first terminal device determining the second ranging mode according to at least one of fourth ranging capability information and fourth ranging authorization information; wherein, The fourth ranging capability information is used to indicate that the second terminal device supports sending the ranging signal, and the fourth ranging authorization information is used to indicate that the second terminal device is not authorized to send the ranging signal .
  • the method may further include: the first terminal device receiving a thirteenth message from the second terminal device, where the thirteenth message includes the fourth ranging capability information and At least one of the fourth ranging authorization information.
  • the method may further include: the first terminal device sends a fourteenth message, and the fourteenth message is used to discover a terminal device supporting the second ranging mode, or to discover a terminal device that supports the second ranging mode.
  • Terminal equipment with ranging capability may further include: the first terminal device sends a fourteenth message, and the fourteenth message is used to discover a terminal device supporting the second ranging mode, or to discover a terminal device that supports the second ranging mode. Terminal equipment with ranging capability.
  • the method may further include: the first terminal device receiving ranging data of the ranging service from the second terminal device.
  • the method may further include: the first terminal device sending a fourth transmission instruction to the second terminal device, where the fourth transmission instruction is used to instruct the second terminal device to send The first terminal device sends the ranging data.
  • the first terminal device receiving the ranging signal from the second terminal device may be: the first terminal device receives the ranging signal from the second terminal device according to the second ranging mode. The ranging signal of the second terminal device.
  • the twelfth message may further include seventh configuration information, where the seventh configuration information includes one or more of the following information: identification information of the ranging service, the The time information of the ranging service, the signal characteristics of the ranging signal, or the processing mode of the ranging signal.
  • the method may further include: the first terminal device determining the seventh configuration information according to a fourth correspondence, where the fourth correspondence includes one or more of the following correspondences: item:
  • the first terminal device receiving the ranging signal from the second terminal device may be: the first terminal device receives the ranging signal according to the second ranging mode and the eighth configuration Information for receiving the ranging signal, wherein the eighth configuration information includes one or more of the following information: time information of the ranging service, signal characteristics of the ranging signal, or the how the signal is processed.
  • the method may further include: the first terminal device determining the eighth configuration information according to a third correspondence, where the third correspondence includes one of the following correspondences or more:
  • the present application provides a terminal measurement method, including: the second terminal device receives a twelfth message from the first terminal device, and the twelfth message is used to request to complete the ranging service through the second ranging mode , wherein the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal, or a mode in which the second terminal device sends a ranging signal signal and the mode in which the first terminal device receives the ranging signal; the second terminal device sends the ranging signal according to the second ranging mode; the second terminal device receives the ranging signal from the first A feedback signal of the ranging signal of the terminal device; the second terminal device acquires ranging data of the ranging service according to the ranging signal and the feedback signal.
  • the second ranging mode is a mode in which the first terminal device receives a ranging signal, or a mode in which the second terminal device sends a ranging signal, or a mode in which the
  • the twelfth message may include information about the second ranging mode.
  • the method may further include: the second terminal device determines, according to at least one of the fourth ranging capability information and the fourth ranging authorization information, that the The ranging signal; wherein, the fourth ranging capability information is used to indicate that the second terminal device supports sending the ranging signal, and the fourth ranging authorization information is used to indicate that the second terminal is not authorized The device sends the ranging signal.
  • the method may further include: the second terminal device sending a thirteenth message to the first terminal device, where the thirteenth message includes the fourth ranging capability information and the at least one of the fourth ranging authorization information.
  • the method may further include: the second terminal device receiving a fourteenth message from the first terminal device, where the fourteenth message is used to discover mode, or discover terminal devices that support ranging capabilities.
  • the method may further include: the second terminal device sending the ranging data to the first terminal device.
  • the method may further include: receiving, by the second terminal device, a fourth transmission instruction from the first terminal device, where the fourth transmission instruction is used to instruct the second terminal device to send The first terminal device sends the ranging data; the second terminal device sends the ranging data to the first terminal device, which may be that the second terminal device sends the distance measurement data to the The first terminal device sends the ranging data.
  • the second terminal device sends the ranging signal according to the second ranging mode, which may be: the second terminal device transmits the ranging signal according to the second ranging mode and the seventh configuration information, sending the ranging signal, and the seventh configuration information includes one or more of the following information: identification information of the ranging service, time information of the ranging service, time information of the ranging signal, Signal characteristics, or a processing manner of the ranging signal.
  • the twelfth message may include the seventh configuration information.
  • the method may further include: the second terminal device determining the seventh configuration information according to a fourth correspondence, where the fourth correspondence includes one or more of the following correspondences item:
  • the present application provides a terminal measurement method, including: the first terminal device sends a seventeenth message to the second terminal device, the seventeenth message is used to request to complete the angle measurement service through the first angle measurement mode,
  • the first angle measurement mode is a mode in which the first terminal device sends an angle measurement signal, or a mode in which the second terminal device receives an angle measurement signal, or a mode in which the first terminal device sends an angle measurement signal
  • the second terminal device receives the mode of the angle measurement signal
  • the first terminal device sends the angle measurement signal according to the first angle measurement mode.
  • the first terminal device requests the second terminal device to assist the first terminal device to complete the angle measurement service through the first angle measurement mode by sending the seventeenth message to the second terminal device; in this way, the first terminal device can send Angle measurement signal, the second terminal device receives the angle measurement signal sent by the first terminal device in response to the seventeenth message, so that the angle measurement data of the angle measurement service can be obtained according to the angle measurement signal, and then the first terminal device's measurement corner business.
  • the seventeenth message may include information about the first angle measurement mode.
  • the method may further include: the first terminal device determining the first angle measurement mode according to at least one of the first angle measurement capability information and the first angle measurement authorization information; wherein, The first angle measurement capability information is used to indicate that the first terminal device supports sending the angle measurement signal, and the first angle measurement authorization information is used to indicate that the first terminal device is authorized to send the angle measurement signal.
  • the method may further include: the first terminal device determining the first angle measurement mode according to at least one of the second angle measurement capability information and the second angle measurement authorization information; wherein, The second angle measurement capability information is used to indicate that the second terminal device does not support sending the angle measurement signal, and the second angle measurement authorization information is used to indicate that the second terminal device is not authorized to send the angle measurement signal Signal.
  • the method may further include: the first terminal device receiving an eighteenth message from the second terminal device, the eighteenth message including the second angle measurement capability information and At least one of the second angle measurement authorization information.
  • the method may further include: the first terminal device sending a nineteenth message, where the nineteenth message is used to discover a terminal device that supports the first angle measurement mode, or to discover a terminal device that supports the first angle measurement mode. End equipment with angle measurement capability.
  • the method may further include: the first terminal device receiving angle measurement data of the angle measurement service from the second terminal device.
  • the method may further include: the first terminal device sending a fifth transmission instruction to the second terminal device, where the fifth transmission instruction is used to instruct the second terminal device to send the The first terminal device sends the angle measurement data.
  • the seventeenth message further includes ninth configuration information
  • the ninth configuration information includes one or more of the following information: identification information of the angle measurement service, the The time information of the angle service, the signal characteristics of the angle measurement signal, or the processing mode of the angle measurement signal.
  • the method may further include: the first terminal device determining the ninth configuration information according to the fifth correspondence; wherein the fifth correspondence includes one of the following correspondences or more:
  • the first terminal device sends the angle measurement signal according to the first angle measurement mode, which may be: the first terminal device transmits the angle measurement signal according to the first angle measurement mode and the tenth configuration information, to send the angle measurement signal, and the tenth configuration information includes one or more of the following information: the identification information of the angle measurement service, the time information of the angle measurement service, or the angle measurement signal signal characteristics.
  • the method may further include: the first terminal device determining the tenth configuration information according to a sixth correspondence; wherein the sixth correspondence includes one of the following correspondences or more:
  • the present application provides a terminal measurement method, including: the second terminal device receives a seventeenth message from the first terminal device, and the seventeenth message is used to request to complete the angle measurement service through the first angle measurement mode , wherein the first angle measurement mode is the mode in which the first terminal device sends an angle measurement signal, or the mode in which the second terminal device receives an angle measurement signal, or the first terminal device sends an angle measurement signal signal and the second terminal device receives the angle measurement signal mode; the second terminal device receives the angle measurement signal according to the first angle measurement mode; the second terminal device receives the angle measurement signal according to the angle measurement signal Obtain the angle measurement data of the angle measurement business.
  • the first angle measurement mode is the mode in which the first terminal device sends an angle measurement signal, or the mode in which the second terminal device receives an angle measurement signal, or the first terminal device sends an angle measurement signal signal and the second terminal device receives the angle measurement signal mode
  • the second terminal device receives the angle measurement signal according to the first angle measurement mode
  • the second terminal device receives the angle
  • the seventeenth message may include information about the first angle measurement mode.
  • the method may further include: the second terminal device determines, according to at least one of the second angle measurement capability information and the second angle measurement authorization information, that the information received according to the first angle measurement mode The angle measurement signal; wherein, the second angle measurement capability information is used to indicate that the second terminal device does not support sending the angle measurement signal, and the second angle measurement authorization information is used to indicate that the second terminal device is not authorized The terminal device sends the angle measurement signal.
  • the method may further include: the second terminal device sending an eighteenth message to the first terminal device, where the eighteenth message includes the second angle measurement capability information and the at least one of the second angle measurement authorization information.
  • the method may further include: the second terminal device receiving a nineteenth message from the first terminal device, where the nineteenth message is used to discover that the first angle measurement is supported mode, or discover terminal devices that support angle measurement capabilities.
  • the method may further include: the second terminal device sending the angle measurement data to the first terminal device.
  • the method may further include: the second terminal device receiving a fifth transmission instruction from the first terminal device, where the fifth transmission instruction is used to instruct the second terminal device to send The first terminal device sends the angle measurement data.
  • the sending, by the second terminal device, the angle measurement data to the first terminal device may be: the second terminal device sends the angle measurement data to the first terminal device according to the fifth transmission instruction.
  • the second terminal device receiving the angle measurement signal according to the first angle measurement mode may be: the second terminal device receives the angle measurement signal according to the first angle measurement mode and the ninth configuration Information receives the angle measurement signal.
  • the ninth configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, signal characteristics of the angle measurement signal, or the angle measurement signal processing method.
  • the seventeenth message may include ninth configuration information.
  • the method may further include: the second terminal device determining the ninth configuration information according to the fifth correspondence; wherein the fifth correspondence includes one of the following correspondences or more:
  • the present application provides a terminal measurement method, including: the first terminal device sends a twentieth message to the second terminal device, and the twentieth message is used to request to complete the angle measurement service through the second angle measurement mode , wherein the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal signal and the mode in which the first terminal device receives the angle measurement signal; the first terminal device receives the angle measurement signal from the second terminal device; the first terminal device receives the angle measurement signal according to the angle measurement signal Angle measurement data of the angle measurement service is acquired.
  • the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal signal and the mode in which the first terminal device receives the angle measurement signal
  • the first terminal device receives the angle measurement signal from the
  • the first terminal device requests the second terminal device to assist the first terminal device to complete the angle measurement service through the second angle measurement mode by sending the twentieth message to the second terminal device; in this way, the second terminal device can respond The angle measurement signal is sent in the twentieth message, so that the first terminal device can receive the angle measurement signal of the second terminal device, and obtain the angle measurement data of the angle measurement service according to the angle measurement signal, and then complete the angle measurement of the first terminal device business.
  • the twentieth message may include information of the second angle measurement mode.
  • the method may further include: the first terminal device determining the second angle measurement mode according to at least one of the third angle measurement capability information and the third angle measurement authorization information; wherein, The third angle measurement capability information is used to indicate that the first terminal device does not support sending the angle measurement signal, and the third angle measurement authorization information is used to indicate that the first terminal device is not authorized to send the angle measurement signal. Signal.
  • the method may further include: the first terminal device determining the second angle measurement mode according to at least one of fourth angle measurement capability information and fourth angle measurement authorization information; wherein, The fourth angle measurement capability information is used to indicate that the second terminal device supports sending the angle measurement signal, and the fourth angle measurement authorization information is used to indicate that the second terminal device is not authorized to send the angle measurement signal .
  • the method may further include: the first terminal device receiving a twenty-first message from the second terminal device, the twenty-first message including the fourth angle measurement capability information and at least one of the fourth angle measurement authorization information.
  • the method may further include: the first terminal device sending a twenty-second message, where the twenty-second message is used to discover a terminal device supporting the second angle measurement mode, or Discover terminal devices that support angle measurement capabilities.
  • the method may further include: the first terminal device sending the angle measurement data to the second terminal device.
  • the method may further include: the first terminal device receiving a sixth transmission instruction from the second terminal device, where the sixth transmission instruction is used to instruct the first terminal device to send The second terminal device sending the angle measurement data; the first terminal device sending the angle measurement data to the second terminal device may be: the first terminal device according to the sixth transmission instruction, Send the angle measurement data to the second terminal device.
  • the first terminal device receiving the angle measurement signal from the second terminal device may be: the first terminal device receives the angle measurement signal from the second terminal device according to the second angle measurement mode. The angle measurement signal of the second terminal device.
  • the twentieth message further includes eleventh configuration information, and the eleventh configuration information includes one or more of the following information: identification information of the angle measurement service, the Time information of the angle measurement service, or signal characteristics of the angle measurement signal.
  • the method may further include: the first terminal device determining the eleventh configuration information according to a sixth correspondence, where the sixth correspondence includes one of the following correspondences or Multiple:
  • the first terminal device receiving the angle measurement signal from the second terminal device may be: the first terminal device according to the second angle measurement mode and the twelfth Configuration information, receiving the angle measurement signal, wherein the twelfth configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, the The signal characteristics of the angle measurement signal, or the processing method of the angle measurement signal.
  • the method may further include: the first terminal device determining the twelfth configuration information according to a fifth correspondence, where the fifth correspondence includes one of the following correspondences: Item or items:
  • the present application provides a terminal measurement method, including: the second terminal device receives a twentieth message from the first terminal device, and the twentieth message is used to request to complete angle measurement through the second angle measurement mode service, wherein the second angle measurement mode is a mode in which the first terminal device receives an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal, or a mode in which the second terminal device sends an angle measurement signal. Angle signal and the mode in which the first terminal device receives the angle measurement signal; the second terminal device sends the angle measurement signal according to the second angle measurement mode.
  • the twentieth message may include information of the second angle measurement mode.
  • the method may further include: the second terminal device determines, according to at least one of the fourth angle measurement capability information and the fourth angle measurement authorization information, to send the The angle measurement signal; wherein, the fourth angle measurement capability information is used to indicate that the second terminal device supports sending the angle measurement signal, and the fourth angle measurement authorization information is used to indicate that the second terminal is not authorized The device sends the angle measurement signal.
  • the method may further include: the second terminal device sending a twenty-first message to the first terminal device, the twenty-first message including the fourth angle measurement capability information and at least one of the fourth angle measurement authorization information.
  • the method may further include: the second terminal device receiving a twenty-second message from the first terminal device, where the twenty-second message is used to discover support for the second terminal device. A terminal device in angle measurement mode, or a terminal device that supports angle measurement capability is found.
  • the method may further include: the second terminal device receiving angle measurement data of the angle measurement service from the first terminal device.
  • the method may further include: the second terminal device sending a sixth transmission instruction to the first terminal device, where the sixth transmission instruction is used to instruct the first terminal device to send The second terminal device sends the angle measurement data; the second terminal device receives the angle measurement data of the angle measurement service from the first terminal device, which may be: the second terminal device according to the first 6. A transmission instruction to receive the angle measurement data.
  • the second terminal device sends the angle measurement signal according to the second angle measurement mode, which may be: the second terminal device transmits the angle measurement signal according to the second angle measurement mode and the eleventh
  • the configuration information sends the angle measurement signal.
  • the eleventh configuration information includes one or more of the following information: identification information of the angle measurement service, time information of the angle measurement service, or signal characteristics of the angle measurement signal.
  • the twentieth message may include eleventh configuration information.
  • the method may further include: the second terminal device determining the eleventh configuration information according to a sixth correspondence, where the sixth correspondence includes one of the following correspondences or Multiple:
  • the present application further provides a communication device, where the communication device may be a first terminal device or a second terminal device.
  • the communication device When the communication device is the first terminal device, the communication device has the ability to realize the above-mentioned first aspect and its various possible design examples, or the third aspect and its various possible design examples, or the fifth aspect and its various possible design examples Examples, or the seventh aspect and its various possible design examples, or the ninth aspect and its various possible design examples, or the function of the first terminal device in the eleventh aspect and its various possible design examples.
  • the communication device When the communication device is the second terminal device, the communication device has the ability to realize the above-mentioned second aspect and its various possible design examples, or the fourth aspect and its various possible design examples, or the sixth aspect and its various possible design examples Examples, or the eighth aspect and its various possible design examples, or the tenth aspect and its various possible design examples, or the function of the second terminal device in the twelfth aspect and its various possible design examples.
  • the functions may be realized by hardware, or may be realized by executing corresponding software by hardware.
  • Hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the structure of the communication device may include a transceiver module and a processing module.
  • the processing module is configured to support the communication device to perform corresponding functions of the first terminal device or the second terminal device in the above aspects and possible design examples thereof.
  • the transceiver module is used to support the communication between the communication device and other equipment.
  • the communication device may further include a storage module, which is used to be coupled with the processing module, and stores necessary program instructions and data of the communication device.
  • the processing module may be a processor.
  • the transceiver module may be an interface circuit.
  • the storage module may be a memory.
  • the structure of the communication device includes an interface circuit and one or more processors.
  • the communication device further includes a memory.
  • the interface circuit is used for sending and receiving data, and for communicating and interacting with other devices in the communication system.
  • the one or more processors are configured to support the communication device to execute corresponding functions of the first terminal device or the second terminal device in the above aspects and various possible design examples thereof.
  • a memory coupled to the one or more processors, holds program instructions and data necessary for the communication device.
  • the embodiment of the present application provides a communication system, which may include the aforementioned first terminal device, and/or the second terminal device, and the like.
  • the embodiments of the present application provide a computer-readable storage medium, the computer-readable storage medium stores program instructions, and when the program instructions are run on the computer, the computer executes the first aspect to the first aspect of the present application.
  • Exemplary, computer readable storage media may be any available media that can be accessed by a computer.
  • computer readable media may include non-transitory computer readable media, random-access memory (random-access memory, RAM), read-only memory (read-only memory, ROM), electrically erasable In addition to programmable read-only memory (electrically EPROM, EEPROM), CD-ROM or other optical disk storage, magnetic disk storage medium or other magnetic storage device, or can be used to carry or store the desired program code in the form of instructions or data structures and can Any other media accessed by a computer.
  • random-access memory random-access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • CD-ROM or other optical disk storage magnetic disk storage medium or other magnetic storage device, or can be used to carry or store the desired program code in the form of instructions or data structures and can Any other media accessed by a computer.
  • the embodiment of the present application provides a computer program product including computer program codes or instructions, which, when run on a computer, enables the computer to implement the above first to twelfth aspects and any possible design thereof Methods.
  • the present application also provides a chip, the chip is coupled with a memory, and is used to read and execute program instructions stored in the memory, so as to realize the above first to twelfth aspects and any of them One possible design approach.
  • FIG. 1 is a schematic diagram of a 5G network architecture in an embodiment of the present application
  • FIG. 2 is a schematic diagram of a U2U communication scenario in an embodiment of the present application.
  • Figure 3a is a schematic flow diagram of the model A discovery process in the embodiment of the present application.
  • Figure 3b is a schematic flow diagram of the model B discovery process in the embodiment of the present application.
  • Fig. 3c is a schematic flow chart of establishing a PC5 connection in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a logical structure of a UE in an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a terminal sensing method provided in an embodiment of the present application.
  • FIG. 6a is a schematic diagram of a perception service provided by an embodiment of the present application.
  • FIG. 6b is another schematic diagram of the sensing service provided by the embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a terminal sensing method provided in an embodiment of the present application.
  • FIG. 8 is a schematic flow diagram of obtaining a second correspondence provided by an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of another terminal sensing method provided in an embodiment of the present application.
  • FIG. 10a is a schematic diagram of a sensing service provided by an embodiment of the present application.
  • Fig. 10b is another schematic diagram of the sensing service provided by the embodiment of the present application.
  • FIG. 11 is a schematic flowchart of another terminal sensing method provided in an embodiment of the present application.
  • FIG. 12 is a schematic flowchart of a terminal measurement method provided in an embodiment of the present application.
  • FIG. 13 is a schematic diagram of the ranging service provided by the embodiment of the present application.
  • FIG. 14 is a schematic flowchart of a terminal measurement method provided in an embodiment of the present application.
  • FIG. 15 is a schematic flowchart of another terminal measurement method provided in the embodiment of the present application.
  • FIG. 17 is a schematic flowchart of another terminal measurement method provided in the embodiment of the present application.
  • FIG. 18 is a schematic flowchart of another terminal measurement method provided in an embodiment of the present application.
  • FIG. 19 is a schematic diagram of the angle measurement service provided by the embodiment of the present application.
  • FIG. 20 is a schematic flowchart of another terminal measurement method provided in an embodiment of the present application.
  • FIG. 21 is a schematic flowchart of another terminal measurement method provided in the embodiment of the present application.
  • Fig. 22 is another schematic diagram of the angle measurement service provided by the embodiment of the present application.
  • FIG. 24 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • FIG. 25 is another schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • “Multiple” means two or more, and in view of this, “multiple” can also be understood as “at least two” in the embodiments of the present application.
  • “At least one” can be understood as one or more, such as one, two or more. For example, including at least one means including one, two or more, and does not limit which ones are included. For example, where at least one of A, B, and C is included, then A, B, C, A and B, A and C, B and C, or A and B and C may be included. Similarly, the understanding of descriptions such as “at least one" is similar.
  • At least one of the following or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • at least one of A, B and C includes A, B, C, AB, AC, BC or ABC.
  • And/or describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently.
  • the character "/”, unless otherwise specified, generally indicates that the associated objects before and after are in an "or” relationship.
  • ordinal numerals such as “first” and “second” mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects, and The descriptions of “first” and “second” do not limit that the objects must be different.
  • FIG. 1 it is a schematic diagram of a fifth generation (5th generation, 5G) network architecture based on a service architecture.
  • the 5G network architecture shown in Figure 1 may include three parts, namely a terminal part, a data network (data network, DN) and an operator network part.
  • the functions of some of the network elements are briefly introduced and described below.
  • Terminal device which can be referred to as a terminal for short, is a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; it can also be deployed on water (such as ships, etc.); Can be deployed in the air (such as aircraft, balloons and satellites, etc.).
  • the above-mentioned terminal can establish a connection with the operator network through an interface provided by the operator network (for example, N1, etc.), and use services such as data and/or voice provided by the operator network.
  • the terminal can also access the DN through the operator network, and use operator services deployed on the DN, and/or services provided by a third party.
  • the above-mentioned third party may be a service party other than the operator's network and the terminal device, and may provide other services such as data and/or voice for the terminal device.
  • the specific form of expression of the above-mentioned third party can be determined according to the actual application scenario, and is not limited here.
  • RAN Radio Access Network
  • the terminal equipment To access the operator's network, the terminal equipment first passes through the RAN, and then can be connected to the service node of the operator's network through the RAN.
  • a RAN device is a device that provides a wireless communication function for a terminal device, and the RAN device is also called an access network device.
  • RAN equipment includes but is not limited to: next-generation base station (g nodeB, gNB), evolved node B (evolved node B, eNB), radio network controller (radio network controller, RNC), node B (node B, NB), base station controller (base station controller, BSC), base transceiver station (base transceiver station, BTS), home base station (for example, home evolved nodeB, or home node B, HNB), baseband unit (baseBand unit, BBU) , transmission point (transmitting and receiving point, TRP), transmission point (transmitting point, TP), mobile switching center, etc.
  • next-generation base station g nodeB, gNB
  • evolved node B evolved node B
  • eNB evolved node B
  • RNC radio network controller
  • node B node B
  • base station controller base station controller
  • BTS base transceiver station
  • home base station for example, home evolved nodeB, or home node B, HNB
  • the SMF network element mainly performs functions such as session management, execution of control policies issued by the PCF, selection of UPF, and allocation of UE Internet Protocol (internet protocol, IP) addresses.
  • the UPF network element as an interface with the data network, completes functions such as user plane data forwarding, session/flow-based charging statistics, and bandwidth limitation.
  • the UDM network element is mainly responsible for managing subscription data, user access authorization and other functions.
  • the NSSF network element is mainly responsible for managing information related to network slicing.
  • NEF network elements are mainly used to support the opening of capabilities and events.
  • the AF network element mainly transmits the requirements from the application side to the network side, for example, Quality of Service (QoS) requirements or user status event subscription.
  • QoS Quality of Service
  • the AF may be a third-party functional entity, or an application service deployed by an operator, such as an IP Multimedia Subsystem (IP Multimedia Subsystem, IMS) voice call service.
  • IP Multimedia Subsystem IP Multimedia Subsystem, IMS
  • the PCF network element is mainly responsible for policy control functions such as charging for sessions and service data flow levels, QoS bandwidth guarantee, mobility management, and UE policy decision-making.
  • the PCFs connected to AMF and SMF correspond to AM PCF (PCF for Access and Mobility Control) and SM PCF (PCF for Session Management), respectively, which may not be the same PCF entity in the actual deployment scenario.
  • the NRF network element can be used to provide a network element discovery function, and provide network element information corresponding to the network element type based on the request of other network elements.
  • NRF also provides network element management services, such as network element registration, update, de-registration, network element status subscription and push, etc.
  • AUSF network element It is mainly responsible for authenticating users to determine whether users or devices are allowed to access the network.
  • DN is a network outside the operator's network.
  • the operator's network can access multiple DNs, and various services can be deployed on the DN, which can provide data and/or voice services for terminal equipment.
  • DN is a private network of a smart factory.
  • the sensors installed in the workshop of the smart factory can be terminal devices.
  • the control server of the sensor is deployed in the DN, and the control server can provide services for the sensor.
  • the sensor can communicate with the control server, obtain instructions from the control server, and transmit the collected sensor data to the control server according to the instructions.
  • DN is a company's internal office network, and the mobile phone or computer of the company's employees can be a terminal device, and the employee's mobile phone or computer can access information and data resources on the company's internal office network.
  • Nnssf, Nausf, Nnef, Nnrf, Namf, Npcf, Nsmf, Nudm, Naf, N1, N2, N3, N4, and N6 are interface serial numbers.
  • the meanings of these interface serial numbers may refer to the meanings defined in the third generation partnership project (3rd generation partnership project, 3GPP) standard agreement, and no limitation is made here.
  • Fig. 2 shows a schematic diagram of a D2D communication scenario.
  • this scenario includes UE 1 and UE 2, and UE 1 and UE 2 communicate through the PC 5 interface.
  • UE 1 may be the sending end that initiates the discovery process, and UE 2 is the receiving end; or, UE 2 is the sending end that initiates the process, and UE 1 is the receiving end; this embodiment of the present application does not limit this.
  • UE 1 initiating the discovery process as an example, UE 1 initiates the discovery process through mode A (model A) or mode B (model B).
  • Figure 3a and Figure 3b show the flow diagrams of model A and model B, respectively.
  • UE 1 broadcasts a discovery message, such as an announcement message; UE 2, UE 3, UE 4, and UE 5 monitor and receive the announcement message, as shown in steps A1-A4 in Figure 3a.
  • the notification message may include one or more of the following information: message type, destination layer 2 identity, source layer 2 identity, user information identity, for Identify the UE sending the notification message, such as an application layer identifier), or a discovery parameter (such as a ProSe application server identifier, or a ProSe restriction code), etc.
  • UE 2 If UE 2, UE 3, UE 4 or UE 5 are interested in the discovery parameters in the notification message, that is, they have the same ProSe application server ID or the same ProSe restriction code, they will directly initiate the establishment of a PC5 connection with UE 1, Otherwise, the notification message is discarded.
  • the difference from the above-mentioned process of model A is that the discovery message broadcast by UE 1 can be, for example, a solicitation message, and the information included in the solicitation message can refer to the above-mentioned notification message; if UE2, UE 3, If UE 4 or UE 5 is interested in the discovery parameter in the invitation message, it sends a response message to UE 1, otherwise, it discards the notification message.
  • Figure 3b takes UE 2 and UE 3 sending response messages to UE 1 as an example.
  • the response message may include one or more of the following information: message type, destination layer 2 identifier, source layer 2 identifier, user information identifier (used to identify the UE sending the response message, such as an application layer identifier) , or discovery parameters (such as ProSe application server identifier, or ProSe response code), etc.
  • the discovery layer (discovery layer) of UE 2 indicates to the access stratum layer (AS layer) that the response message is a discovery message, and the source layer 2 identifier and destination layer 2 used to send the response message ID; the AS layer of UE2 sends a response message; the AS layer of UE1 receives the response message and sends the response message to the discovery layer of UE1.
  • AS layer access stratum layer
  • Fig. 3c shows a schematic flow chart of establishing a PC5 connection between UE 1 and UE 2.
  • C1 UE 1 sends a direct communication request message to UE 2; UE 2 receives the direct communication request message.
  • the direct communication request message includes the application layer identifier of UE2.
  • UE1 uses the source layer 2 identifier and the destination layer 2 identifier to send the direct communication request message.
  • the direct communication request message may be a broadcast message or a unicast message.
  • the source layer 2 identifier is the layer 2 address allocated by UE 1 itself, and the destination layer 2 identifier is the broadcast layer 2 address or the layer 2 address of UE 2 obtained through the discovery process.
  • UE 2 may determine the layer 2 address (configured on UE 2 side) for receiving the direct communication request message or the layer 2 address used in the discovery procedure.
  • a secure channel is established between UE 1 and UE 2.
  • the establishment process of the secure channel may refer to the prior art, and will not be repeated here.
  • C3 UE 2 sends a direct communication acceptance message to UE 1; UE 1 receives the direct communication acceptance message.
  • the application layer identifier of UE 2 can be obtained according to the direct communication request message. Further, UE 2 sends a direct communication acceptance message to UE 1 in response to the direct communication request message.
  • the source layer 2 identifier in the direct communication acceptance message is the layer 2 address allocated by UE 2 itself, and the destination layer 2 identifier is the layer 2 address of UE 1 in step C1.
  • the steps C1 and C3 also include PC5 quality of service flow (QoS flow) information, which is used to negotiate PC5 QoS flow information between two UEs.
  • QoS flow quality of service flow
  • PC5 link identity PC5 link identity
  • the PC5 link identity is assigned by each UE separately and is only used interactively between UE internal layers.
  • the proximity-based services (ProSe) layer of UE 1 sends the PC5 connection identifier, the source layer 2 identifier and the destination layer 2 identifier used by the PC5 link to the AS layer, and the AS layer stores the PC5 connection The corresponding relationship between the identifier and the source layer 2 identifier and destination layer 2 identifier.
  • the ProSe layer of UE 1 sends the quality of service flow identifier (QoS flow ID, QFI) and the corresponding PC5QoS parameters to the AS layer; the AS layer generates the AS layer configuration (such as logical channel configuration or radio bearer configuration) according to the PC5QoS parameters. configuration, etc.).
  • QoS flow ID quality of service flow ID
  • PC5QoS parameters such as logical channel configuration or radio bearer configuration
  • Fig. 4 shows a schematic diagram of a logical structural division of a UE.
  • the UE may include a discovery layer, a ProSe layer, an AS layer, and an application (application, APP) layer.
  • the discovery layer is used to discover other UEs or network devices;
  • the ProSe layer is used to implement functions related to ProSe;
  • the AS layer is used to provide services related to access, such as generating AS configuration and realizing communication between itself and other devices etc.;
  • the application layer is used to implement functions related to the application.
  • Each layer can interact with each other to realize the communication function of the UE.
  • the discovery layer and the ProSe layer may be one layer, that is, the ProSe layer may implement the function of the discovery layer for discovering other UEs or network devices.
  • the ProSe layer of the UE determines the PC5 connection identifier and the PC5QoS flow corresponding to the data packet; and, the AS layer carries the PC5link ID and the PC5 flow identifier (PC5flow ID, PFI) information with the data packet; the UE The AS layer determines the source layer 2 identifier and the destination layer 2 identifier according to the PC5 connection identifier, and determines the AS layer configuration according to the PFI information, and uses the source layer 2 identifier, the destination layer 2 identifier and the AS layer configuration to send the data packet.
  • PC5flow ID PC5flow ID
  • PFI PC5flow ID
  • the AS layer of the UE receives all the data packets sent by the UE, and determines whether the destination layer 2 identifier is the layer 2 identifier assigned by itself, and if so, judges itself as the receiving end of the data packet, and submits (such as the application layer, etc.) for further processing; if not, the data packet is discarded.
  • UE 1 and UE 2 can communicate directly through the PC5 connection without going through the base station.
  • UE 1 and UE 2 can not only communicate directly through the PC5 connection, but also sense through the PC5 connection.
  • the first terminal device may be UE 1 in FIG. 2, or a component of UE 1 (such as a chip system).
  • the second terminal device may be UE 2 in FIG. 2, or a component of UE 2 (such as a chip system).
  • the first terminal device is UE 1 and the second terminal device is UE 2 as an example.
  • the access network element, access and mobility management function network element, and policy control function network element involved in the embodiment of the present application may be the RAN, AMF network element, and PCF network element in FIG.
  • the network elements in the sixth generation (6th generation, 6G) network that have the functions of the above-mentioned RAN, AMF network element, and PCF network element are not limited in this embodiment of the present application.
  • the embodiment of the present application is described by taking the above-mentioned RAN, AMF network element, and PCF network element as an example for the access network element, the access and mobility management function network element, and the policy control function network element respectively.
  • the terminal device involved in this embodiment of the present application may be the terminal device in FIG. 1 .
  • the APP layer of UE 1 is called APP layer 1
  • the ProSe layer of UE 1 is called ProSe layer 1
  • the AS layer of UE 1 is called AS layer 1
  • the perception capability information of UE 1 is called Perception capability information 1
  • the AS layer of UE 2 is called AS layer 2
  • the ProSe layer of UE 2 is called ProSe layer 2
  • the perception capability information of UE 2 is called perception The capability information 2
  • the perception authorization information of the UE2 is called the perception authorization information 2.
  • FIG. 5 shows a schematic flowchart of a terminal sensing method provided by an embodiment of the present application.
  • UE1 does not send a sensing signal, and assists in completing the sensing service by requesting UE2 to send a sensing signal.
  • the method may include:
  • S501 UE 1 sends a first message to UE 2; correspondingly, UE 2 receives the first message.
  • UE 1 has a perceived service requirement, and UE 1 may send the first message to UE 2.
  • UE 1 may send the first message to UE 2.
  • there is a PC5 connection established between UE 1 and UE 2 and UE 1 has a perceived service requirement, so it can send the first message to UE 2 through the PC5 connection with UE 2.
  • UE 1 has a perceived service requirement can initiate a discovery process, complete the establishment of a PC5 connection with UE 2, and send the first message to UE 2 through the PC5 connection with UE 2. It should be understood that the embodiment of the present application does not limit the reason for establishing the PC5 connection between UE1 and UE2.
  • UE 1 can initiate the discovery process according to model A shown in Figure 3a, or can initiate the discovery process according to model B shown in Figure 3b, which is not limited in this embodiment of the application.
  • UE 1 may broadcast a third message, and the third message may be a notification message in model A, or an invitation message in model B.
  • the third message may be used for discovering UEs supporting the first sensing mode, or for discovering UEs supporting sensing capabilities, or for discovering UEs supporting sending sensing signals.
  • the notification message of model A (or the invitation message of model B) of UE 1 carries a sensing indication, which is used to discover UEs that support the first sensing mode, or discover UEs that support sensing capabilities, or to discover UEs that support sending A UE that senses the signal.
  • a sensing indication which is used to discover UEs that support the first sensing mode, or discover UEs that support sensing capabilities, or to discover UEs that support sending A UE that senses the signal.
  • a terminal device supporting a sensing capability may be understood as that the terminal device supports sending a sensing signal and supports receiving a sensing signal.
  • the first message may be, for example, a sensing request message or PC5 signaling (signaling), and the specific implementation form of the first message in this application is not limited thereto.
  • the first message may be used to request to complete the sensing service through the first sensing mode; or, to request UE 2 to assist UE 1 to complete the sensing business through the first sensing mode; or, to request UE 2 to assist UE 1 to complete the sensing business, etc.
  • the first sensing mode may be a mode in which UE 1 receives sensing signals; or a mode in which UE 2 sends sensing signals; or a mode in which UE 1 receives sensing signals and UE 2 sends sensing signals.
  • the aforementioned completion of the sensing service can also be understood as realizing or executing the sensing service.
  • UE 1 may determine or select the first sensing mode, and send the first message to UE 2 according to the first sensing mode.
  • UE 1 can determine the sensing mode for completing the sensing service in any one of the following three ways.
  • Method 1 UE1 can determine the sensing mode to complete the sensing service according to at least one of UE1's sensing capability information (denoted as sensing capability information 1) and UE1's sensing authorization information (denoted as sensing authorization information 1).
  • the sensing capability information 1 is used to indicate that UE 1 supports or does not support receiving sensing signals; or is used to indicate that UE 1 supports or does not support sending sensing signals; or is used to indicate that UE 1 supports receiving sensing signals but does not support sending sensing signals; Or it is used to indicate that UE 1 supports sending sensing signals but does not support receiving sensing signals; or it is used to indicate that UE 1 supports receiving sensing signals and supports sending sensing signals; or it is used to indicate that UE 1 supports or does not support sensing operations.
  • the perception operation can be understood as the operation of sending a perception signal.
  • Perception authorization information 1 is used to indicate authorized or unauthorized UE 1 to receive sensing signals; or to indicate authorized or unauthorized UE 1 to send sensing signals; or to indicate authorized UE 1 to receive sensing signals but not authorized UE 1 to send Sensing signal; or used to indicate that UE 1 is authorized to send a sensing signal but UE 1 is not authorized to receive a sensing signal; or used to indicate that UE 1 is authorized to send a sensing signal and UE 1 is authorized to receive a sensing signal; or used to indicate unauthorized or The UE 1 has been authorized to perform (or perform) a sensing operation and the like.
  • the sensing capability information 1 is used to indicate that UE 1 does not support sending sensing signals. Based on the sensing capability information 1, UE 1 can determine that the sensing mode for completing sensing services is the mode for UE1 to receive sensing signals, or determine that the sensing mode for completing sensing services is A mode in which UE 1 receives the sensing signal and UE 2 sends the sensing signal.
  • the sensing service can be completed through the sensing signal or the echo signal of the sensing signal.
  • supporting the reception of the sensing signal may be understood as supporting the reception of the sensing signal, or supporting the reception of the echo signal of the sensing signal, or supporting the reception of the sensing signal and the support of the receiving of the echo signal of the sensing signal.
  • Method 2 UE 1 can determine the sensing mode to complete the sensing service according to at least one of UE 2's sensing capability information (denoted as sensing capability information 2) and UE 2's sensing authorization information (denoted as sensing authorization information 2).
  • the difference is that the perception capability information 2 is aimed at UE2 instead of UE1.
  • the sensing authorization information 2 refer to the above-mentioned introduction to the sensing capability information 1, the difference is that the sensing authorization information 2 is aimed at UE2 instead of UE1.
  • the sensing capability information 2 is used to indicate that UE 2 supports sending sensing signals. Based on the sensing capability information 2, UE 1 can determine that the sensing mode for completing sensing services is the mode in which UE1 receives sensing signals, or determine that the sensing mode for completing sensing services is UE A mode in which 1 receives a sensing signal and UE 2 sends a sensing signal.
  • UE1 may receive a second message from UE2, where the second message includes perception capability information 2 and/or includes perception authorization information 2.
  • UE 2 may send a second message to UE 1 during the discovery procedure; the second message may be a response message in model B.
  • UE 2 may send a second message to UE 1 during or after establishing the PC5 connection with UE 1; the second message may be a direct communication acceptance message. It should be understood that, the specific implementation manner of the second message in this embodiment of the present application is not limited thereto.
  • Mode 3 UE 1 may determine the sensing mode for completing the sensing service according to at least one of the sensing capability information 1 and the sensing authorization information 1, and at least one of the sensing capability information 2 and the sensing authorization information 2.
  • the sensing capability information 1 is used to indicate that UE 1 does not support sending sensing signals; the sensing capability information 2 is used to indicate that UE 2 supports sending sensing signals.
  • UE 1 can determine that the sensing mode for completing the sensing service is the mode in which UE 1 receives the sensing signal, or determine that the sensing mode for completing the sensing service is that UE 1 receives the sensing signal and The mode in which UE 2 sends the sensing signal.
  • UE 1 can determine that the sensing mode for completing the sensing service is the first sensing mode, and send the first message to UE 2 according to the first sensing mode.
  • the first message may further include information about the first sensing mode.
  • the first sensing mode information may be sensing mode indication information or sensing mode identification information, so as to inform UE 2 that the mode for implementing sensing services is the first sensing mode, and then UE 1 and UE 2 can cooperate with each other to complete sensing tasks according to the first sensing mode .
  • the first message may include identification information of the perceived service.
  • the identification information of the sensing service is used to identify the type of the sensing service.
  • Types of perception services include intrusion detection and environment perception. Wherein, the intrusion detection is used to detect whether there is an object intrusion between UE1 and UE2. Environment perception is used to perceive objects or environments around UE1, or objects or environments around UE2.
  • the types of sensing services mentioned in this application can also be object distribution, maps, driving, violation detection, object trajectory tracking, emergency detection, object positioning, object outline size, object speed, weather forecast, etc. For ease of understanding, this embodiment of the present application uses intrusion detection and environment perception as examples for description.
  • the identification information of the perceived service may also be carried in the first configuration information of the first message.
  • Fig. 6a and Fig. 6b respectively show a schematic diagram of intrusion detection and environment perception in this embodiment.
  • UE 2 sends a sensing signal to UE 1, and the object moves between UE 1 and UE 2; after receiving the sensing signal, UE 1 can judge whether there is an object intrusion according to the state change of the sensing signal, as shown in Figure 6a Show.
  • UE 2 sends a sensing signal; UE 1 receives the echo signal of the sensing signal, and perceives the surrounding objects or environment according to the echo signal of the sensing signal, as shown in Figure 6b.
  • the first message may include first configuration information, and the first configuration information is used for UE 2 to send a sensing signal.
  • the first configuration information may include one or more of the following information: time information of the sensing service, or signal features of the sensing signal.
  • the time information of the sensing service may include one or more of the sending period of the sensing signal, or the sending duration of the sensing signal.
  • the signal feature of the sensing signal may be used to indicate one or more of whether the sensing signal is an authorized spectrum signal, whether it is a high-frequency signal, and frequency information of the sensing signal.
  • the first configuration information may be stored locally by UE 1 (such as pre-defined or pre-configured), for example, UE 1 obtains the first configuration information from locally stored configuration information according to the identification information of the perceived service; or It is obtained by interacting with the PCF network element or the application server; or it is determined according to the first correspondence.
  • the first correspondence relationship may be pre-defined, or obtained through a PCF network element or an application server, etc., and the specific manner of obtaining the first correspondence relationship in this embodiment of the present application is not limited thereto.
  • the first correspondence may include one or more of the following correspondences:
  • UE1 may determine time information or signal feature information in the first configuration information according to the first correspondence.
  • UE 2 may send a sensing signal.
  • UE 2 first sends a response message to the first message, and then sends a sensing signal.
  • UE 2 may determine whether to send a sensing signal, or determine whether to agree (accept) to adopt the first sensing mode.
  • UE 2 determines to send a sensing signal (or agrees to adopt the first sensing mode). It can be understood that when UE 2 determines not to send a sensing signal, the following content in which UE 2 sends a sensing signal according to specific information can be replaced by UE 2 determining not to send a sensing signal according to characteristic information.
  • UE 2 can send a sensing signal according to the information of the first sensing mode, so that UE 1 and UE 2 can cooperate with each other to complete the sensing service according to the first sensing mode .
  • UE 2 may send a sensing signal according to sensing capability information 2 and/or sensing authorization information 2.
  • the sensing capability information 2 is used to indicate that UE 2 supports sending sensing signals; UE 2 sends sensing signals according to the sensing capability information 2.
  • UE 2 may send a sensing signal according to the first configuration information.
  • the first configuration information includes the sending period of the sensing signal, and the UE 2 can send the sensing signal according to the sending period of the sensing signal.
  • the first configuration information includes the sending duration of the sensing signal, and the UE 2 may send the sensing signal according to the sending duration of the sensing signal.
  • the first configuration information includes signal characteristics of the sensing signal, such as frequency information of the sensing signal, and UE 2 sends the sensing signal according to the frequency information.
  • the first configuration information includes the sending cycle of the sensing signal and the signal characteristics of the sensing signal (for example, the sensing signal is a high-frequency signal), and the UE 2 may send the high-frequency sensing signal according to the sending cycle.
  • the first configuration information includes the transmission duration of the sensing signal and the signal characteristics of the sensing signal (for example, the sensing signal is a low-frequency licensed spectrum signal), and UE 2 may send the low-frequency licensed spectrum signal according to the transmission duration.
  • UE 2 may acquire the first configuration information carried in the first message through the first message.
  • the first configuration information may also be locally stored by UE 2 (such as pre-defined or pre-configured, etc.).
  • UE 2 can also obtain the first configuration information by interacting with a PCF network element or an application server.
  • UE 2 may also determine the first configuration information according to the first correspondence.
  • For the specific implementation process of UE 2 obtaining the first configuration information please refer to the specific implementation process of UE 1 determining the first configuration information in step S501, which will not be repeated here.
  • UE 2 may also send a sensing signal according to the foregoing first sensing mode and first configuration information. For example, UE 2 may determine to send a sensing signal according to the first sensing mode, and send the sensing signal according to the first configuration information.
  • UE 2 may determine to send a sensing signal according to the first sensing mode, and send the sensing signal according to the first configuration information.
  • UE 1 and UE 2 may further negotiate AS layer configuration parameters.
  • UE 2 can send sensing signals according to the AS layer configuration parameters.
  • the AS layer configuration parameters are used for sending and receiving sensing signals.
  • the AS layer configuration parameters may include at least one of information such as the logical channel carrying the sensing signal, the layer 2 identifier, or the signal characteristics of the sensing signal.
  • UE 2 before UE 2 sends the sensing signal, UE 2 can obtain the sensing resource (such as time domain resource, frequency domain resource, etc.) carrying the sensing signal, and send the sensing signal based on the sensing resource. For example, UE 2 may send a request message to the RAN, which is used to request to obtain the resource for carrying the sensing signal corresponding to the sensing service; after receiving the request message, the RAN may determine the sensing resource of the sensing service, such as according to UE 2's sensing Authorization information (such as the signal characteristics of the sensing signal, etc.) acquires the sensing resource of the sensing service, and sends the sensing resource to UE 2.
  • the request message sent by UE 2 may include a signal characteristic of the sensing signal.
  • UE 2 may negotiate with UE 1 on AS layer configuration parameters and acquire sensing resources for carrying the sensing signal. Afterwards, UE 2 sends sensing signals according to AS layer configuration parameters and sensing resources.
  • UE 2 may send the sensing signal according to one or more of the first sensing mode, first configuration information, AS layer configuration parameters, or sensing resources.
  • the specific implementation process may refer to the above content, and will not be described here. Give another example.
  • UE 2 sends a sensing signal in response to the first message; correspondingly, UE 1 receives the first signal.
  • the first signal may be the sensing signal sent by UE2, or the echo signal of the sensing signal sent by UE2, or the sensing signal sent by UE2 and the echo signal of the sensing signal sent by UE2.
  • the first signal is a sensing signal sent by UE 2.
  • the sensing service is environment sensing
  • the first signal is an echo signal of a sensing signal sent by UE 2
  • the echo signal is a signal formed by reflecting the sensing signal from an object.
  • the sensing service is intrusion detection and environment sensing
  • the first signal is the sensing signal sent by UE 2 and the echo signal of the sensing signal sent by UE 2.
  • UE 1 may receive the first signal according to the first sensing mode.
  • the second configuration information may include one or more of the following information: identification information of the sensing service, time information of the sensing service, signal characteristics of the sensing signal, a processing mode of the sensing signal, or preset conditions.
  • the second configuration information includes the sending period of the sensing signal, and the UE 1 can receive the first signal according to the sending period of the sensing signal.
  • the second configuration information includes the sending duration of the sensing signal, and UE 1 may receive the first signal according to the sending duration of the sensing signal.
  • the second configuration information includes the signal feature of the sensing signal, and UE 1 may receive the first signal according to the feature information of the sensing signal.
  • the second configuration information includes the processing mode of the sensing signal, and UE 1 may receive the first signal according to the processing mode of the sensing signal.
  • the second configuration information may be locally stored by UE 1 (such as pre-defined or pre-configured, etc.). UE 1 can also obtain the second configuration information by interacting with a PCF network element or an application server. UE 1 may also determine the first configuration information according to the second correspondence. For the specific implementation process of UE 1 obtaining the second configuration information, please refer to the specific implementation process of UE 1 determining the first configuration information in step S501, which will not be repeated here.
  • the number of preset conditions may be one or more, which is not limited in this embodiment of the present application.
  • the preset condition may be a threshold for receiving the first signal, such as signal status or strength.
  • the preset condition may be the number of objects or a specific object.
  • the preset condition may be used for at least one of analyzing the sensing data and processing results of the sensing data. Taking the processing result of the sensory data as an example, if the processing result of the sensory data satisfies the preset conditions, it means that there is an object intrusion, or the object in the image is recognized as a specific object or the number of objects exceeds a certain threshold based on the sensory image, etc., the present application Examples are not limited thereto.
  • UE1 judges whether the processing result of the sensing data (and/or sensing data) satisfies a preset condition, and if the preset condition is met, the UE1's application layer is notified or UE2 is notified. Details can be found in the introduction of S503, which will not be repeated here.
  • UE 1 may receive the first signal according to the first sensing mode and the second configuration information.
  • UE 2 can determine other sensing modes and send the information of the other sensing modes to UE 1.
  • UE 2 can determine other sensing modes and send the information of the other sensing modes to UE 1.
  • determining other sensing modes by UE 2 please refer to the specific implementation manner of determining the first sensing mode by UE 1 above, which will not be repeated here.
  • S503 UE 1 acquires sensing data of the sensing service according to the first signal.
  • UE 1 may process the first signal according to the processing mode of the sensing signal to obtain the sensing data of the sensing service.
  • the sensing service is intrusion detection
  • the processing mode of the sensing signal corresponding to the intrusion detection may be to generate a signal change curve according to the received sensing signal.
  • UE 1 can judge whether there is an object intrusion according to the signal change curve. If the signal change curve includes a received signal strength indicator (RSSI), UE 1 can judge whether there is an object intrusion according to the RSSI. If the RSSI suddenly If it becomes smaller or meets the preset conditions, it means that there is an object intrusion, otherwise, it means that there is no object intrusion.
  • RSSI received signal strength indicator
  • the perception service is environment perception
  • the processing mode of the perception signal corresponding to the environment perception may be to generate a perception image according to the echo signal of the perception signal.
  • UE1 can determine the object or environment in the perception image according to the perception image.
  • UE 1 may send sensing data (or the processing result of the sensing data) to UE 2; correspondingly, UE 2 receives the sensing data (or the processing result of the sensing data).
  • the second configuration information includes a preset condition, and the processing result of the sensing data satisfies the preset condition, and UE 1 sends the sensing data or the processing result of the sensing data to UE 2 according to the preset condition.
  • UE 2 may send a first transmission instruction to UE 1, and corresponding UE 1 receives the first transmission instruction. The first transmission instruction is used to instruct UE1 to send the sensing data or the processing result of the sensing data to UE2. Further, UE 1 sends the sensing data or the processing result of the sensing data to UE 2 according to the first transmission instruction.
  • the terminal perception method shown in FIG. 5 is introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 7 shows a schematic flowchart of a terminal sensing method provided by an embodiment of the present application.
  • step S701, step S705, and step S709 are optional steps, which are indicated by dotted lines in FIG. 7 .
  • the method may include:
  • S701 Execute a discovery process and a PC5 connection establishment process between UE 1 and UE 2.
  • UE 1 supports receiving sensing signals, but does not support sending sensing signals; or, UE 1 is only authorized to receive sensing signals, but not authorized to send sensing signals; or, UE 1 is not authorized to perform (or perform) sensing operations.
  • UE 1 can discover UE 2 that supports sending sensing signals, so that UE 1 can request UE 2 to assist in completing the sensing service.
  • UE 2 may send a second message to UE 1; correspondingly, UE 1 receives the second message.
  • the second message includes the perception capability information of the UE 2 (ie, the perception capability information 2), or includes the perception authorization information of the UE 2 (ie, the perception authorization information 2), or includes the perception capability information 2 and the perception authorization information 2.
  • the relevant content of the second message received by UE 2 from UE 2 in step S501 please refer to the relevant content of the second message received by UE 2 from UE 2 in step S501, which will not be repeated here.
  • S702 The APP layer 1 sends the sensing requirement to the ProSe layer 1; correspondingly, the ProSe layer 1 receives the sensing requirement. Or, APP layer 1 sends a sensing request to ProSe layer 1; correspondingly, ProSe layer 1 receives the sensing request.
  • Figure 7 takes perceived needs as an example.
  • the APP layer 1 has a perception service requirement, generates the perception requirement (or perception request), and sends the perception requirement (or perception request) to the ProSe layer 1 .
  • the sensing requirement (or sensing request) may include identification information of the sensing service.
  • the identification information of the sensing service is used to identify the type of the sensing service.
  • APP layer 1 can send a sensing requirement (or sensing request) to ProSe layer 1 after UE 1 completes the discovery process and PC5 connection establishment process; it can also trigger UE 1 to initiate The discovery process and the PC5 connection establishment process are not limited in this embodiment of the present application.
  • the ProSe layer 1 determines that the mode for completing the sensing service is the first sensing mode.
  • the ProSe layer 1 determines the sensing mode to complete the sensing service. In this embodiment, ProSe layer 1 determines that the sensing mode for completing the sensing service is the first sensing mode. Wherein, the sensing mode in which the ProSe layer 1 determines that the sensing service is completed is the first sensing mode. Please refer to the specific implementation manner in which the UE 1 determines that the sensing mode in which the sensing service is completed is the first sensing mode in step S501, which will not be repeated here. repeat.
  • UE 1 can discover UE 2 that supports the first sensing mode through the discovery process; or, after establishing a PC5 connection with UE 2, UE 1 can, according to the second message from UE 2 (that is, include sensing capability information 2 and at least one of the sensing authorization information 2), it is determined that UE 2 supports the first sensing mode; the embodiment of the present application is not limited thereto.
  • ProSe layer 1 sends the first message to ProSe layer 2; correspondingly, ProSe layer 2 receives the first message.
  • actions such as sending the first message or obtaining the first configuration information performed by UE1 in S501 are performed by ProSe layer 1 here.
  • S705 The ProSe layer 2 determines that the UE 2 sends a sensing signal.
  • UE2 sending the sensing signal can be understood as UE 2 agreeing to adopt the first sensing mode.
  • ProSe layer 2 sends a seventh message to ProSe layer 1; correspondingly, ProSe layer 1 receives the seventh message.
  • the ProSe layer 2 may send a seventh message to the ProSe layer 1, and the seventh message may be, for example, a sensory response message or a PC 5 signaling, and this embodiment of the present application is not limited thereto.
  • the seventh message may be used to indicate whether UE2 assists UE1 to complete the sensing service or indicates whether UE2 accepts the first sensing mode.
  • UE 2 assists UE 1 to complete the sensing service (UE 2 adopts the first sensing mode for reception) as an example for description.
  • the seventh message may include the first transmission indication, which is not shown in FIG. 7 .
  • the first transmission instruction is used to instruct UE 1 to send the sensing data of the sensing service or the processing result of the sensing data to UE 2.
  • the seventh message may also include other sensing modes determined by UE 2.
  • other sensing modes determined by UE 2 please refer to the specific implementation of UE 2's determination of sending sensing signals by itself in step S705, and details will not be repeated here.
  • the ProSe layer 2 sends the first configuration information to the AS layer 2; correspondingly, the AS layer 2 receives the first configuration information.
  • the ProSe layer 2 determines to assist the UE 1 to complete the sensing service, it can obtain the first configuration information, and the first configuration information is used to send the sensing signal, and send the first configuration information to the AS layer 2.
  • ProSe layer 2 may determine the first configuration information according to the identification information of the perceived service.
  • the first message includes the first configuration information
  • the ProSe layer 2 may obtain the first configuration information according to the first message after receiving the first message.
  • the ProSe layer 2 may acquire the first configuration information by interacting with a PCF network element or an application server.
  • the ProSe layer 2 may also obtain the first corresponding relationship by interacting with the PCF network element or the application server, and determine the first configuration information according to the first corresponding relationship.
  • the specific implementation process of the ProSe layer 2 obtaining the first configuration information please refer to the relevant content of the UE 2 obtaining the first configuration information in the aforementioned step S502, which will not be repeated here.
  • S708 ProSe layer 1 sends second configuration information to AS layer 1; correspondingly, AS layer 1 receives the second configuration information.
  • ProSe layer 1 may obtain the second configuration information, and send the second configuration information to AS layer 2 .
  • the second configuration information is used for receiving the first signal, or for acquiring the sensing data of the sensing service, or for receiving the first signal and acquiring the sensing data of the sensing service.
  • S709 negotiateate AS layer configuration parameters between AS layer 1 and AS layer 2.
  • AS layer configuration parameters may be negotiated between AS layer 1 and AS layer 2.
  • the AS layer configuration parameters are used for sending and receiving sensing signals.
  • the AS layer configuration parameters may include at least one of information such as a logical channel carrying the sensing signal, a layer 2 identifier, or a signal characteristic of the sensing signal.
  • S710 AS layer 2 sends a sensing signal; AS layer 1 receives the first signal.
  • the AS layer 1 acquires the sensing data of the sensing service according to the first signal.
  • AS layer 1 can determine whether to further process the sensing data according to the sensing data and preset conditions, such as sending the sensing data to other logic layers (such as APP layer 1) for processing, or sending the sensing data to UE 2 wait.
  • APP layer 1 can determine whether to further process the sensing data according to the sensing data and preset conditions, such as sending the sensing data to other logic layers (such as APP layer 1) for processing, or sending the sensing data to UE 2 wait.
  • UE 1 may send the sensing data (or the processing result of the sensing data) to UE 2, which is not shown in FIG. 7 .
  • UE 1 may send sensing data or a processing result of the sensing data to UE 2 according to the first transmission instruction.
  • the second configuration information includes a preset condition, and the processing result of the sensing data satisfies the preset condition, UE 1 may send the sensing data or the processing result of the sensing data to UE 2 according to the preset condition.
  • UE 1 has successfully obtained the sensing data of the sensing service, and completed the sensing service of UE 1.
  • UE 1 may obtain the first corresponding relationship and/or the second corresponding relationship by interacting with the PCF network element or the application server
  • UE 2 may obtain the first corresponding relationship and/or the second corresponding relationship by interacting with the PCF network element or the application server /or the second correspondence.
  • PCF network element and the second corresponding relationship as an example to introduce the specific implementation process for UE 1 to obtain the second corresponding relationship.
  • FIG. 8 shows a schematic flow chart of UE 1 acquiring second configuration information.
  • step S801 and step S804 are optional steps, which are represented by dotted lines in FIG. 8 .
  • the method includes:
  • S801 UE 1 sends perception capability information 1 to PCF network element; correspondingly, PCF network element receives perception capability information 1.
  • the UE may report its perception capability information to the PCF network element through the AMF network element.
  • the UE may report its own perception capability information to the PCF network element during the registration process.
  • the sensing capability information 1 is used to indicate that UE 1 supports or does not support receiving sensing signals; or is used to indicate that UE 1 supports or does not support sending sensing signals; or is used to indicate that UE 1 supports receiving sensing signals but does not support sending sensing signals; Or it is used to indicate that UE 1 supports sending sensing signals but does not support receiving sensing signals; or it is used to indicate that UE 1 supports receiving sensing signals and supports sending sensing signals; or it is used to indicate that UE 1 supports or does not support sensing operations.
  • the perception capability information 1 may also include identification information of the perception service.
  • the sensing capability of the UE may be granular in terms of sensing services. For example, for intrusion detection, UE supports receiving sensing signals and supports sending sensing signals; but for environment sensing, UE does not support receiving sensing signals but supports sending sensing signals.
  • the PCF network element determines the sensing authorization information of the UE 1 (denoted as the sensing authorization information 3) according to at least one of the sensing capability information 1 and the subscription information of the UE 1.
  • the perception authorization information 3 includes the second corresponding relationship.
  • the PCF network element can determine the perception authorization information 3 according to the perception capability information 1, or determine the perception authorization information 3 according to the subscription information of the UE 1, or determine the perception authorization information 3 according to the perception capability information 1 and the subscription information of the UE 1. It should be understood that if the PCF network element determines the sensing authorization information 3 according to the subscription information of the UE 1, it is an optional step for the UE 1 to report its own sensing capability information to the PCF network element. Optionally, the PCF network element can obtain the subscription information of UE 1 from the UDM network element or the UDR network element.
  • the sensing authorization information 3 may be used to indicate whether the UE 1 is authorized to perform sensing services.
  • UE 1 is authorized to perform a sensing service as an example for description.
  • the sensing authorization information 3 may also include a second correspondence.
  • the second correspondence may include one or more of the following relationships: the correspondence between the identification information of the authorized sensing service and the time information of the sensing service; the correspondence between the identification information of the authorized sensing service and the sensing signal corresponding to the sensing service Correspondence of signal features; correspondence between identification information of authorized sensing services and processing methods of sensing signals corresponding to the sensing services; or identification information of authorized sensing services and corresponding preset conditions of the sensing services, etc.
  • the perceptual authorization information 3 may also include the perceptual authorization information 1 .
  • perceptual authorization information 3 and the perceptual authorization information 1 may be the same information or different information, which is not limited in this embodiment of the present application.
  • the PCF network element sends the sensing authorization information 3 to the UE 1; correspondingly, the UE 1 receives the sensing authorization information 3.
  • the PCF network element can send UE1's perception authorization information 3 to UE1 through the AMF network element.
  • UE 1 obtains the second corresponding relationship by interacting with PCF network elements. It should be understood that UE1 obtains the second corresponding relationship by interacting with the application server, UE1 obtains the first corresponding relationship by interacting with the PCF network element or the application server, and UE2 obtains the first corresponding relationship by interacting with the PCF network element. Please refer to the relevant content in FIG. 8 for the specific implementation manners of obtaining the first corresponding relationship and the second corresponding relationship by the element or application server, and will not be repeated here.
  • the PCF network element sends the sensing authorization information 3 to the RAN; correspondingly, the RAN receives the sensing authorization information 3 .
  • the PCF network element can also send the UE 1's perception authorization information 3 to the RAN through the AMF network element; after the RAN receives the perception authorization information 3, it stores it, so that it can be used for subsequent communication between the UE 1 and other devices. Allocate transmission resources for sending or receiving inter-sensing signals for authorization.
  • the above-mentioned embodiment introduces that UE 1 that has a sensing service requirement does not send a sensing signal, and completes the sensing service of UE 1 by requesting UE 2 to send a sensing signal.
  • the UE 1 that has a sensing service requirement sends a sensing signal and requests the UE 2 to obtain sensing data to complete the specific implementation of the UE 1 sensing service.
  • FIG. 9 shows another schematic flowchart of the terminal sensing method provided by the embodiment of the present application.
  • UE1 sends a sensing signal, and assists in completing the sensing service by requesting UE2 to obtain sensing data according to the sensing signal (and/or the echo signal of the sensing signal) sent by UE1.
  • the method may include:
  • the second sensing mode in this embodiment may be a mode in which UE 1 sends a sensing signal; or a mode in which UE 2 receives a sensing signal; or a mode in which UE 1 sends a sensing signal and UE 2 Mode for receiving sensory signals.
  • UE 1 determines the sensing mode for completing the sensing service, please refer to the manner in which UE 1 determines the sensing mode in S501, and details are not repeated here.
  • Fig. 7 can be used for the perception service shown in Fig. 10a and Fig. 10b, for example.
  • Fig. 10a and Fig. 10b respectively show a schematic diagram of intrusion detection and environment perception in this embodiment.
  • intrusion detection UE 1 sends a sensing signal to UE 2, and the object moves between UE 1 and UE 2; after UE 2 receives the sensing signal, it can judge whether there is an object intrusion according to the state change of the sensing signal, as shown in Figure 10a Show.
  • UE 1 sends a sensing signal; UE 2 receives the echo signal of the sensing signal, and perceives the surrounding objects or environment according to the echo signal of the sensing signal, as shown in Figure 10b.
  • the fourth message may include third configuration information, and for the third configuration information, reference may be made to the introduction of the first configuration information in S501 above, and details are not described here.
  • S902 UE 1 sends a sensing signal; UE 2 receives a second signal.
  • UE 1 may send a sensing signal after sending the fourth message.
  • UE 1 may first receive the response message of the fourth message, and then send the sensing signal.
  • UE 1 may send a sensing signal according to the second sensing mode. For example, after UE 1 sends the fourth message, it may send a sensing signal according to the second sensing mode.
  • UE 1 may send a sensing signal according to the fourth configuration information.
  • the fourth configuration information For details about the content and acquisition method of the fourth configuration information, refer to the introduction of the second configuration information in S502, which will not be repeated here.
  • UE 1 may send a sensing signal according to the second sensing mode and the fourth configuration information. For example, UE1 may determine to send a sensing signal according to the second sensing mode, and send the sensing signal according to the fourth configuration information.
  • UE 1 and UE 2 may further negotiate AS layer configuration parameters.
  • UE 1 can send sensing signals according to the AS layer configuration parameters.
  • the AS layer configuration parameters are used for sending and receiving sensing signals.
  • the AS layer configuration parameters may include at least one of information such as a logical channel carrying the sensing signal, a layer 2 identifier, or a signal characteristic of the sensing signal.
  • UE 1 can obtain the sensing resource (such as time domain resource, frequency domain resource, etc.) carrying the sensing signal, and send the sensing signal based on the sensing resource.
  • UE 1 may send a request message to the RAN, which is used to request to obtain the resource for carrying the sensing signal corresponding to the sensing service; after receiving the request message, the RAN may determine the sensing resource of the sensing service, such as according to UE 1's sensing
  • the authorization information (such as the signal characteristics of the sensing signal, etc.) acquires the sensing resource of the sensing service, and sends the sensing resource to UE1.
  • the request message sent by UE 1 may include signal characteristics of the sensing signal.
  • UE 1 may negotiate with UE 2 on AS layer configuration parameters and acquire sensing resources for carrying the sensing signal. Afterwards, UE 1 can send sensing signals according to AS layer configuration parameters and sensing resources.
  • UE 1 may send the sensing signal according to one or more of the second sensing mode, fourth configuration information, AS layer configuration parameters, or sensing resources. Give another example.
  • step S902 UE 1 sends a sensing signal; correspondingly, UE 2 receives the second signal in response to the fourth message.
  • the second signal may be the sensing signal sent by UE 1, or the echo signal of the sensing signal sent by UE 1, or the sensing signal sent by UE 1 and the echo signal of the sensing signal, please refer to the relevant description of step S901 for details , which will not be repeated here.
  • UE 2 may determine whether to receive the second signal, or determine whether to agree (or accept) to adopt the second sensing mode. In this embodiment, UE 2 determines to receive the second signal (or agrees to adopt the second sensing mode).
  • UE 2 may determine the second sensing mode according to the information about the second sensing mode, and determine to receive the second signal according to the second sensing mode.
  • the information of the second sensing mode may be sensing mode indication information or sensing mode identification information, etc., which are not limited in this embodiment of the present application.
  • the UE 2 may determine whether to receive the second signal according to the sensing capability information 2, or according to the sensing authorization information 2, or according to the sensing capability information 2 and the sensing authorization information 2. For details, reference may be made to the process in which UE 2 determines whether to send the second signal according to the above information in S502, and details are not described here.
  • UE 2 may receive the second signal according to the second sensing mode. For example, after receiving the fourth message, UE 2 may try to receive the first signal according to the second sensing mode and receive the first signal.
  • UE 2 may receive the second signal according to the third configuration information.
  • UE 2 judges whether the processing result of the sensing data (and/or sensing data) satisfies a preset condition, and if the preset condition is met, it notifies the application layer of UE2 or notifies UE 1.
  • a preset condition please refer to the introduction of the preset condition in S502 and S503.
  • UE 2 can determine other sensing modes and send the information of the other sensing modes to UE 1.
  • UE 2 determines the specific implementation manner of other sensing modes, please refer to the above-mentioned specific implementation manner of UE 2 determining the reception of the second signal, which will not be repeated here.
  • the sensing data may be a sensing image, or a signal change curve, etc., and the present application is not limited thereto.
  • the process of UE 2 receiving the second sensing signal and further obtaining sensing data please refer to the content of S503, which will not be repeated here.
  • UE 2 may send the sensing data (or the processing result of the sensing data) to UE 1; correspondingly, UE 1 receives the sensing data (or the processing result of the sensing data).
  • the third configuration information includes a preset condition, and the processing result of the sensing data satisfies the preset condition, and UE 2 sends the sensing data or the processing result of the sensing data to UE 1 according to the preset condition.
  • UE 1 may send a second transmission instruction to UE 2, and correspondingly, UE 2 receives the second transmission instruction.
  • the second transmission instruction is used to instruct UE2 to send the sensing data or the processing result of the sensing data to UE1. Further, UE 2 sends the sensing data or the processing result of the sensing data to UE 1 according to the second transmission instruction.
  • the terminal perception method shown in FIG. 9 is introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 11 shows a schematic flowchart of a terminal sensing method provided by an embodiment of the present application.
  • step S1101, step S1105, and step S1109 are optional steps, which are indicated by dotted lines in FIG. 11 .
  • the method may include:
  • S1101 Execute a discovery process and a PC5 connection establishment process between UE 1 and UE 2.
  • UE 1 supports sending sensing signals, but does not support receiving sensing signals; or, UE 1 is only authorized to send sensing signals, but not authorized to receive sensing signals.
  • UE 1 can discover UE 2 that supports receiving sensing signals, so that UE 1 can request UE 2 to assist in completing the sensing service.
  • UE 2 may send a fifth message to UE 1; correspondingly, UE 1 receives the fifth message.
  • the fifth message includes the perception capability information of the UE 2 (ie, the perception capability information 2), or includes the perception authorization information of the UE 2 (ie, the perception authorization information 2), or includes the perception capability information 2 and the perception authorization information 2.
  • APP layer 1 sends a sensing requirement to ProSe layer 1; correspondingly, ProSe layer 1 receives the sensing requirement. Or, APP layer 1 sends a sensing request to ProSe layer 1; correspondingly, ProSe layer 1 receives the sensing request.
  • Figure 11 takes perceived needs as an example.
  • the ProSe layer 1 determines that the mode for completing the sensing service is the second sensing mode.
  • UE 1 can discover UE 2 that supports the second sensing mode through the discovery process; or, UE 1 can also establish a PC5 connection with UE 2, according to the fifth message from UE 2 (that is, including sensing capability information 2 and at least one of the sensing authorization information 2), it is determined that the UE 2 supports the second sensing mode; the embodiment of the present application is not limited thereto.
  • ProSe layer 1 sends a fourth message to ProSe layer 2; correspondingly, ProSe layer 2 receives the fourth message.
  • actions such as sending the fourth message or obtaining the third configuration information performed by UE1 in S901 are performed by ProSe layer 1 here.
  • S1105 The ProSe layer 2 determines that the UE 2 receives the second signal.
  • UE 2's determination that UE 2 receives the second signal may be interpreted as UE 2 agreeing (or accepting) to adopt the second sensing mode.
  • step S902 for details, which will not be repeated here.
  • ProSe layer 2 sends the eighth message to ProSe layer 1; correspondingly, ProSe layer 1 receives the eighth message.
  • the ProSe layer 2 may send an eighth message to the ProSe layer 1.
  • the eighth message may be, for example, a sensory response message or a PC 5 signaling, and this embodiment of the present application is not limited thereto.
  • the eighth message may be used to indicate whether UE 2 assists UE 1 in completing the sensing service (or indicates whether UE 2 accepts the second sensing mode).
  • the embodiment of this application is described by taking UE 2 assisting UE 1 to complete the sensing service (or UE 2 accepting and adopting the second sensing mode) as an example.
  • ProSe layer 1 may also send a second transmission instruction to ProSe layer 2 (not shown in FIG. 11 ).
  • the second transmission instruction is used to instruct UE2 to send the sensing data of the sensing service or the processing result of the sensing data to UE1.
  • the eighth message may include information of other sensing modes determined by UE 2.
  • the specific implementation manner of UE 2 determining other sensing modes please refer to the relevant content of UE 2 determining that it receives the second signal in the aforementioned step S1105, and details will not be repeated here.
  • ProSe layer 1 may obtain the fourth configuration information, and send the fourth configuration information to AS layer 2 .
  • the ProSe layer 2 sends the third configuration information to the AS layer 2; correspondingly, the AS layer 2 receives the third configuration information.
  • the ProSe layer 2 can obtain the third configuration information, and send the third configuration information to the AS layer 2.
  • the third configuration information is used for receiving the second signal, or for processing the second signal, or for receiving and processing the second signal.
  • the ProSe layer 2 may determine the third configuration information according to the identification information of the perceived service. For another example, if the fourth message includes the third configuration information, the ProSe layer 2 may obtain the third configuration information according to the fourth message after receiving the fourth message. For another example, the ProSe layer 2 may acquire the third configuration information by interacting with a PCF network element or an application server. For another example, the ProSe layer 2 may also obtain the second corresponding relationship by interacting with the PCF network element or the application server, and determine the third configuration information according to the second corresponding relationship.
  • the second correspondence may be predefined, or obtained through a PCF network element or an application server, and the specific manner of obtaining the second correspondence in this embodiment of the present application is not limited thereto.
  • S1109 negotiateate AS layer configuration parameters between AS layer 1 and AS layer 2.
  • AS layer configuration parameters may be negotiated between AS layer 1 and AS layer 2.
  • the AS layer configuration parameters are used for sending and receiving sensing signals.
  • the AS layer configuration parameters may include at least one of information such as a logical channel carrying the sensing signal, a layer 2 identifier, or a signal characteristic of the sensing signal.
  • S1110 AS layer 1 sends a sensing signal; AS layer 2 receives a second signal.
  • the AS layer 1 may acquire the sensing resource (such as time domain resource, frequency domain resource, etc.) carrying the sensing signal, and send the sensing signal based on the sensing resource.
  • the sensing resource such as time domain resource, frequency domain resource, etc.
  • the AS layer 2 acquires the sensing data of the sensing service according to the second signal.
  • the AS layer 2 may process the second signal according to the processing mode of the sensing signal to obtain sensing data of the sensing service.
  • the sensing service is intrusion detection
  • the processing mode of the sensing signal corresponding to the intrusion detection can be to generate a signal change curve according to the received sensing signal.
  • the perception service is environment perception
  • the processing mode of the perception signal corresponding to the environment perception may be to generate a perception image according to the echo signal of the perception signal.
  • the sensing data may be a signal change curve, a sensing image, etc., and the present application is not limited thereto.
  • AS layer 2 can determine whether to further process the sensing data according to the sensing data and preset conditions, such as sending the sensing data to other logic layers (such as the APP layer of UE 2) for processing, or sending the sensing data to UE 2 etc.
  • UE 2 may send the sensing data (or the processing result of the sensing data) to UE 1, which is not shown in FIG. 11 .
  • UE 2 may send sensing data or a processing result of sensing data to UE 1 according to the second transmission indication.
  • the third configuration information includes a preset condition, and the processing result of the sensing data satisfies the preset condition, UE 2 may send the sensing data or the processing result of the sensing data to UE 1 according to the preset condition.
  • UE 2 has successfully obtained the sensing data of the sensing service, and completed the sensing service of UE 1.
  • Embodiment 1 and Embodiment 2 above introduce the realization process of UE 1 and UE 2 assisting each other to complete the sensing service.
  • the implementation process of UE 1 and UE 2 assisting each other to complete the ranging service is introduced.
  • FIG. 12 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • UE 1 sends a ranging signal, and assists in completing the ranging service by requesting UE 2 to send a feedback signal of the ranging signal.
  • the method may include:
  • S1201 UE 1 sends a ninth message to UE 2; correspondingly, UE 2 receives the ninth message.
  • UE 1 has a ranging (ranging) service requirement, and UE 1 may send a ninth message to UE 2.
  • ranging ranging
  • Fig. 13 shows a schematic diagram of the ranging service in this embodiment.
  • UE 1 sends a ranging signal to UE 2, and calculates the duration between sending the ranging signal and receiving the feedback signal of the ranging signal, which is recorded as Tround1; after receiving the ranging signal, UE 2 calculates The duration between receiving the ranging signal and sending the feedback signal is recorded as Treply1, and the feedback signal carrying Treply1 is sent to UE 1; after receiving the feedback signal, UE 1 determines the relative distance between UE 1 and UE 2 based on Tround1 and Treply1 The distance is recorded as D1, where the D1 is the product of (Tround1-Treply1)/2 and the speed of light.
  • S1202 UE 1 sends a ranging signal; UE 2 receives the ranging signal.
  • UE 1 may send a ranging signal after sending the ninth message.
  • UE 1 may first receive the response message of the ninth message, and then send the ranging signal.
  • S1203 UE 2 sends a feedback signal of the ranging signal, and UE 1 receives the feedback signal.
  • UE 2 After UE 2 receives the ranging signal from UE 1, it can send a feedback signal of the ranging signal to UE 1. Correspondingly, UE 1 can receive the feedback signal.
  • the feedback signal carries the duration between UE 2 receiving the ranging signal and sending the ranging signal feedback signal, that is, carrying Treply1.
  • S1204 UE 1 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.
  • UE 1 after UE 1 receives the feedback signal, it can acquire the ranging data of the ranging service according to the ranging signal and the feedback signal. For example, UE 1 can obtain the relative distance between UE 1 and UE 2 according to the ranging signal and the reference signal.
  • the relative distance between UE 1 and UE 2 is the product of (Tround1-Treply1)/2 and the speed of light, as shown in the figure 13.
  • UE 1 may send ranging data (or the processing result of the ranging data) to UE 2; correspondingly, UE 2 receives the ranging data (or the processing result of the ranging data).
  • the processing result of the ranging data satisfies a preset condition, and UE 1 sends the ranging data or the processing result of the ranging data to UE 2 according to the preset condition.
  • UE2 may send a third transmission instruction to UE1, and corresponding UE1 receives the third transmission instruction.
  • the third transmission instruction is used to instruct UE1 to send the ranging data or the processing result of the ranging data to UE2.
  • UE 1 sends the ranging data or the processing result of the ranging data to UE 2 according to the third transmission instruction.
  • the terminal measurement method shown in FIG. 12 will be introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 14 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • step S1401, step S1405, step S1406, and step S1409 are optional steps, which may or may not be performed, and are indicated by dotted lines in FIG. 14 .
  • the method may include:
  • S1401 Execute the discovery process and the PC5 connection establishment process between UE 1 and UE 2.
  • UE 1 supports sending ranging signals, but does not support receiving ranging signals; or, UE 1 is only authorized to send ranging signals, but not authorized to receive ranging signals; or, UE 1 has been authorized to perform (or execute) ) measurement operation.
  • UE 1 can discover UE 2 that supports receiving ranging signals, so that UE 1 can request UE 2 to assist in completing the ranging service.
  • S1401 for the specific implementation process of S1401, please refer to the related content of S1201 mentioned above, which will not be repeated here.
  • S1402 APP layer 1 sends a ranging request to ProSe layer 1; correspondingly, ProSe layer 1 receives the ranging request.
  • APP layer 1 sends a ranging request to ProSe layer 1; correspondingly, ProSe layer 1 receives the ranging request.
  • APP layer 1 has a ranging service requirement, generates a ranging requirement (or ranging request), and sends the ranging requirement (or ranging request) to ProSe layer 1.
  • the ranging requirement (or ranging request) may include identification information of the ranging service.
  • the identification information of the ranging service is used to identify the type of the ranging service.
  • APP layer 1 can send a ranging request (or a ranging request) to ProSe layer 1 after UE 1 completes the discovery process and PC5 connection establishment process; The UE1 initiates the discovery process and the PC5 connection establishment process, which is not limited in this embodiment of the present application.
  • the ProSe layer 1 determines that the mode for completing the ranging service is the first ranging mode.
  • the ProSe layer 1 After receiving the ranging requirement, the ProSe layer 1 determines the ranging mode for completing the ranging service. In this embodiment, the ProSe layer 1 determines that the ranging mode for completing the ranging service is the first ranging mode. Among them, the ranging mode that the ProSe layer 1 determines to complete the ranging service is the specific implementation of the first ranging mode. Please refer to the specific implementation of the sensing mode that the UE 1 determines to complete the sensing service in step S501, and will not be repeated here.
  • ProSe layer 1 sends a ninth message to ProSe layer 2; correspondingly, ProSe layer 2 receives the ninth message.
  • the ninth message may be, for example, a ranging request message or PC5 signaling, but the specific implementation form of the ninth message in this application is not limited thereto.
  • the ninth message may be used to request to complete (or implement, execute, etc.) the ranging service through the first ranging mode; or, to request UE 2 to assist UE 1 to complete (or implement, execute, etc.) through the first ranging mode
  • the ranging service or, it is used to request UE 2 to assist UE 1 to complete (or realize, execute, etc.) the ranging service, etc.
  • the ninth message may include one or more of the information of the first ranging mode, the identification information of the ranging service, and the fifth configuration information.
  • the information of the first ranging mode may include one or more of the information of the first ranging mode, the identification information of the ranging service, and the fifth configuration information.
  • the relevant description of the aforementioned S501. is replaced by distance measurement, which will not be repeated here.
  • S1405 The ProSe layer 2 determines that the UE 2 receives the ranging signal.
  • receiving the ranging signal by UE2 can be interpreted as UE2 agreeing to adopt the first ranging mode, or UE2 agreeing to receive the ranging signal and sending a feedback signal of the ranging signal to UE1.
  • the ProSe layer of UE 2 may determine to receive the ranging signal. For example, after receiving the ninth message, ProSe layer 2 may determine whether to receive the ranging signal in response to the ninth message. In this embodiment, the ProSe layer 2 determines to receive the ranging signal.
  • step S1405 is an optional step.
  • the specific implementation process of the ProSe layer 2 determining to receive the ranging signal please refer to the related description of S1202 above, which will not be repeated here.
  • ProSe layer 2 sends a fifteenth message to ProSe layer 1; correspondingly, ProSe layer 1 receives the fifteenth message.
  • the ProSe layer 2 may send a fifteenth message to the ProSe layer 1, and the fifteenth message may be, for example, a measurement response message or a PC 5 signaling, and this embodiment of the present application is not limited thereto.
  • the fifteenth message may be used to indicate whether UE2 assists UE1 to complete the ranging service or indicates whether UE2 accepts the first ranging mode.
  • UE 2 assists UE 1 to complete the ranging service (UE 2 uses the first ranging mode for reception) as an example for description.
  • the fifteenth message may include a third transmission indication, which is not shown in FIG. 14 .
  • the third transmission instruction is used to instruct UE1 to send the ranging data or the processing result of the ranging data to UE2.
  • the fifteenth message may also include other ranging modes determined by UE2.
  • other ranging modes determined by UE 2 please refer to the relevant description in step 12, and details will not be repeated here.
  • ProSe layer 1 sends sixth configuration information to AS layer 1; correspondingly, AS layer 1 receives the sixth configuration information.
  • ProSe layer 1 may obtain the sixth configuration information, and send the sixth configuration information to AS layer 2 .
  • the sixth configuration information please refer to the related content of the above-mentioned second configuration information or fourth configuration information, which will not be repeated here.
  • ProSe layer 1 may send a ranging signal sending instruction to AS layer 1.
  • ProSe layer 1 may determine the indication of sending the ranging signal according to the information of the first ranging mode, and send the indication of sending the ranging signal to AS layer 1 .
  • the ranging signal sending indication is used to indicate sending the ranging signal.
  • S1408 ProSe layer 2 sends fifth configuration information to AS layer 2; correspondingly, AS layer 2 receives the fifth configuration information.
  • the ProSe layer 2 determines to assist the UE 1 to complete the ranging service, it can obtain fifth configuration information, the fifth configuration information is used to receive the ranging signal, and send the fifth configuration information to the AS layer 2.
  • ProSe layer 2 may send a ranging signal reception indication to AS layer 2.
  • the ProSe layer 2 may determine the ranging signal receiving indication according to the information of the first ranging mode, and send the ranging signal receiving indication to the AS layer 2 .
  • the ranging signal receiving indication is used to indicate receiving the ranging signal.
  • AS layer configuration parameters may be negotiated between AS layer 1 and AS layer 2.
  • the AS layer configuration parameters are used for sending and receiving ranging signals.
  • the AS layer configuration parameters may include at least one of information such as a logical channel carrying a ranging signal, a layer 2 identifier, or a signal characteristic of the ranging signal.
  • S1410 AS layer 1 sends the ranging signal; AS layer 2 receives the ranging signal.
  • S1411 AS 2 sends the feedback signal; AS 1 receives the feedback signal.
  • S1412 AS layer 1 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.
  • the UE may further include a Ranging layer (not shown in FIG. 4 ), which may be used to implement functions related to the ranging service. Part or all of the steps performed by the ProSe layer in Figure 14 may be performed by the Ranging layer.
  • the Ranging layer of UE 1 can send a ranging signal to the Ranging layer of UE 2; the Ranging layer of UE 2 receives the ranging signal and sends a feedback signal to the Ranging layer of UE 1; after receiving the feedback signal, the Ranging layer of UE 1 Ranging data can be obtained according to the ranging signal and the feedback signal.
  • the above-mentioned embodiment introduces that UE 1 that has a ranging service requirement sends a ranging signal, and completes the ranging service of UE 1 by requesting UE 2 to send a feedback signal of the ranging signal.
  • a specific implementation manner of UE 1's ranging service is introduced by requesting UE 2 to send a ranging signal without sending a ranging signal.
  • FIG. 15 shows another schematic flowchart of the terminal measurement method provided by the embodiment of the present application.
  • UE 1 does not send a ranging signal, and assists in completing the ranging service by requesting UE 2 to send a ranging signal to obtain ranging data.
  • the method may include:
  • S1501 UE 1 sends a twelfth message to UE 2; correspondingly, UE 2 receives the twelfth message.
  • Fig. 16 shows a schematic diagram of the ranging service in this embodiment.
  • UE 2 sends a ranging signal to UE 1, and calculates the duration between sending the ranging signal and receiving the feedback signal of the ranging signal, which is recorded as Tround2; after receiving the ranging signal, UE 1 calculates The duration between receiving the ranging signal and sending the feedback signal is recorded as Treply2, and the feedback signal carrying Treply2 is sent to UE 2; after receiving the feedback signal, UE 2 determines the relative distance between UE 1 and UE 2 according to Tround2 and Treply2 The distance is recorded as D2, where the D2 is the product of (Tround2-Treply2)/2 and the speed of light.
  • the second ranging mode can be the mode in which UE 1 receives the ranging signal; or the mode in which UE 2 sends the ranging signal; or the mode in which UE 1 receives the ranging signal and UE 2 Mode for sending ranging signals.
  • the second ranging mode can also be a mode in which UE 1 is used as the receiving end of the ranging signal; or a mode in which UE 2 is used as the sending end of the ranging signal; or a mode in which UE 1 is used as the receiving end of the ranging signal and UE 2 is used as the receiving end of the ranging signal .
  • S1502 UE 2 sends a ranging signal; UE 1 receives a ranging signal.
  • S1503 UE 1 sends the ranging signal feedback signal, and UE 2 receives the feedback signal. According to the ranging signal, the ranging data of the ranging service is acquired.
  • UE 1 performs the action of sending the ranging signal feedback signal, and UE 1 performs the action of receiving the feedback signal and obtaining the ranging data.
  • S1504 UE 2 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.
  • the terminal measurement method shown in FIG. 15 is introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 17 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • step S1701, step S1705, and step S1709 are optional steps, which may or may not be performed, and are indicated by dotted lines in FIG. 17 .
  • the method may include:
  • S1701 Execute a discovery process and a PC5 connection establishment process between UE 1 and UE 2.
  • APP layer 1 sends a ranging request to ProSe layer 1; correspondingly, ProSe layer 1 receives the ranging request.
  • APP layer 1 sends a ranging request to ProSe layer 1; correspondingly, ProSe layer 1 receives the ranging request.
  • the ProSe layer 1 determines that the mode for completing the ranging service is the second ranging mode.
  • ProSe layer 1 sends a twelfth message to ProSe layer 2; correspondingly, ProSe layer 2 receives the twelfth message.
  • S1705 The ProSe layer 2 determines that UE 2 sends a ranging signal.
  • UE 2 changes from receiving ranging signals to sending ranging signals.
  • ProSe layer 2 sends a sixteenth message to ProSe layer 1; correspondingly, ProSe layer 1 receives the sixteenth message.
  • ProSe layer 1 sends eighth configuration information to AS layer 1; correspondingly, AS layer 1 receives the eighth configuration information.
  • S1708 ProSe layer 2 sends seventh configuration information to AS layer 2; correspondingly, AS layer 2 receives the seventh configuration information.
  • S1709 negotiateate AS layer configuration parameters between AS layer 1 and AS layer 2.
  • S1710 AS layer 2 sends the ranging signal; AS layer 1 receives the ranging signal.
  • AS layer 1 sends a feedback signal of the ranging signal; AS layer 2 receives the feedback signal.
  • the AS layer 2 acquires the ranging data of the ranging service according to the ranging signal and the feedback signal.
  • Embodiment 3 and Embodiment 4 above introduce the implementation process of UE 1 and UE 2 assisting each other to complete the ranging service.
  • the implementation process of UE 1 and UE 2 assisting each other to complete the angle measurement service is introduced.
  • FIG. 18 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • UE 1 sends an angle measurement signal (angular signal or ranging signal), and assists in completing the angle measurement service by requesting UE 2 to receive the angle measurement signal.
  • the method may include:
  • S1801 UE 1 sends a seventeenth message to UE 2; correspondingly, UE 2 receives the seventeenth message.
  • UE 1 has an angle measurement (angular) service requirement, and UE 1 may send a seventeenth message to UE 2.
  • the first angle-measuring mode in this embodiment may be a mode in which UE 1 sends an angle-measuring signal; or a mode in which UE 2 receives an angle-measuring signal; or a UE 1 mode in which angle measurement signals are sent and UE 2 receives angle measurement signals.
  • the first angle measurement mode may be a mode in which UE 1 is used as an angle measurement signal transmitter; or a mode in which UE 2 is used as an angle measurement signal receiver; or a mode in which UE 1 is used as an angle measurement signal transmitter and UE 2 is used as an angle measurement signal receiver. model.
  • the first angle measurement mode can also be a mode in which UE 2 is used as a reference UE (reference UE); or a mode in which UE1 is used as a target UE (target UE); or a mode in which UE 2 is used as a reference UE and UE 1 is used as a target UE .
  • the reference UE may also be an observer UE (observer UE), and the reference plane and reference direction of the reference UE are used to calculate an angle and obtain angle measurement data.
  • S1802 UE 1 sends an angle measurement signal; UE 2 receives the angle measurement signal.
  • S1803 UE 2 acquires angle measurement data of the angle measurement service according to the angle measurement signal.
  • the angle measurement data of the angle measurement service (such as the angle or orientation of UE1 relative to UE2) according to the receiving direction (or arrival direction) and the reference direction of the angle measurement signal.
  • the angle measurement data is the angle between the receiving direction (or arrival direction) of the angle measurement signal and the reference direction, as shown in FIG. 19 .
  • the reference direction may be preset, or pre-negotiated between UE 1 and UE 2, etc. This embodiment of the present application does not limit this.
  • the terminal measurement method shown in FIG. 18 is introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 20 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • step S2001, step S2005, step S2006, and step S2009 are optional steps, which may or may not be performed, and are indicated by dotted lines in FIG. 20 .
  • the method may include:
  • APP layer 1 sends an angle measurement request to ProSe layer 1; correspondingly, ProSe layer 1 receives the angle measurement request.
  • APP layer 1 sends an angle measurement request to ProSe layer 1; correspondingly, ProSe layer 1 receives the angle measurement request.
  • the ProSe layer 1 determines that the mode for completing the angle measurement service is the first angle measurement mode.
  • ProSe layer 1 sends a seventeenth message to ProSe layer 2; correspondingly, ProSe layer 2 receives the seventeenth message.
  • the ProSe layer 2 determines that the UE 2 receives the angle measurement signal.
  • ProSe layer 2 sends the twenty-third message to ProSe layer 1; correspondingly, ProSe layer 1 receives the twenty-third message.
  • S2007 ProSe layer 1 sends tenth configuration information to AS layer 1; correspondingly, AS layer 1 receives the tenth configuration information.
  • S2008 ProSe layer 2 sends ninth configuration information to AS layer 2; correspondingly, AS layer 2 receives the ninth configuration information.
  • S2009 negotiateate AS layer configuration parameters between AS layer 1 and AS layer 2.
  • S2010 AS layer 1 sends the angle measurement signal; AS layer 2 receives the angle measurement signal.
  • the AS layer 2 may acquire the angle measurement data of the angle measurement service according to the processing manner of the angle measurement signal. Please refer to the relevant content of step S1803 for the acquisition of angle measurement data, which will not be repeated here.
  • AS layer 2 can determine whether to further process the angle measurement data according to the angle measurement data and preset conditions, such as sending the angle measurement data to other logic layers (such as the APP layer) for processing, or sending the angle measurement data to Give UE 1 etc.
  • UE 2 may send the angle measurement data (or the processing result of the angle measurement data) to UE 1, which is not shown in FIG. 20 .
  • UE 2 may send angle measurement data or a processing result of the angle measurement data to UE 1 according to the fifth transmission instruction.
  • the tenth configuration information includes a preset condition, and the processing result of the angle measurement data satisfies the preset condition, UE 2 may send the angle measurement data or the processing result of the angle measurement data to UE 1 according to the preset condition.
  • the UE may also include an Angular layer (or a Ranging layer) (not shown in FIG. 4 ), which may be used to implement functions related to the angle measurement service. Part or all of the steps performed by the ProSe layer in Figure 20 may be performed by the Angular layer.
  • the Angular layer of UE 1 can send an angle measurement signal to the Angular layer of UE 2; the Angular layer of UE 2 receives the angle measurement signal, and obtains angle measurement data according to the angle measurement signal.
  • the above embodiment introduces that UE 1 with an angle measurement service requirement sends an angle measurement signal, and completes the angle measurement service of UE 1 by requesting UE 2 to acquire angle measurement data.
  • a specific implementation manner of UE 1's angle measurement service is introduced by requesting UE 2 to send an angle measurement signal without sending an angle measurement signal.
  • FIG. 21 shows another schematic flowchart of the terminal measurement method provided by the embodiment of the present application.
  • UE 1 does not send an angle measurement signal, and assists in completing the angle measurement service by requesting UE 2 to send an angle measurement signal.
  • the method may include:
  • S2101 UE 1 sends a twentieth message to UE 2; correspondingly, UE 2 receives the twentieth message.
  • Fig. 22 shows a schematic diagram of the angle measurement service in this embodiment.
  • UE 2 sends an angle measurement signal to UE 1; after receiving the angle measurement signal, UE 1 calculates the angle between the receiving direction (or arrival direction) of the angle measurement signal and the reference direction, and obtains the angle between UE 1 and UE The relative angle between 2.
  • the second angle measurement mode can be the mode in which UE 1 receives the angle measurement signal; or the mode in which UE 2 sends the angle measurement signal; or UE 1 receives the angle measurement signal and UE 2 sends the angle measurement signal The mode of the signal.
  • the second angle measurement mode may be a mode in which UE 1 is used as an angle measurement signal receiver; or a mode in which UE 2 is used as an angle measurement signal transmitter; or a mode in which UE 1 is used as an angle measurement signal receiver and UE 2 is used as an angle measurement signal receiver. model.
  • the second angle measurement mode may be a mode in which UE 1 is used as a reference UE; or a mode in which UE 2 is used as a target UE; or a mode in which UE 1 is used as a reference UE and UE 2 is used as a target UE.
  • the reference UE may also be an observing UE, and the reference plane and reference direction of the reference UE are used to calculate an angle and obtain angle measurement data.
  • S2102 UE 2 sends an angle measurement signal; UE 1 receives the angle measurement signal.
  • S2103 UE 1 acquires angle measurement data of the angle measurement service according to the angle measurement signal.
  • the terminal measurement method shown in FIG. 21 is introduced below from the interaction of each logical layer of the UE (as shown in FIG. 4 ).
  • FIG. 23 shows a schematic flowchart of a terminal measurement method provided by an embodiment of the present application.
  • step S2301, step S2305, and step S2309 are optional steps, which may or may not be performed, and are indicated by dotted lines in FIG. 23 .
  • the method may include:
  • S2301 Execute a discovery process and a PC5 connection establishment process between UE 1 and UE 2.
  • S2301 can also refer to S701 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • APP layer 1 sends an angle measurement request to ProSe layer 1; correspondingly, ProSe layer 1 receives the angle measurement request.
  • APP layer 1 sends an angle measurement request to ProSe layer 1; correspondingly, ProSe layer 1 receives the angle measurement request.
  • step S2302 reference may be made to the specific implementation process of S2102 above, which will not be repeated here. It can be understood that for S2302, reference may also be made to S702, and the message name or information name related to the perception service in the embodiment of FIG. 7 may be replaced with a message name or information name related to the angle measurement service.
  • the ProSe layer 1 determines that the mode for completing the angle measurement service is the second angle measurement mode.
  • S2303 can also refer to S703 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • ProSe layer 1 sends the twentieth message to ProSe layer 2; correspondingly, ProSe layer 2 receives the twentieth message.
  • S2304 can also refer to S704 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • S2305 The ProSe layer 2 determines that the UE 2 sends the angle measurement signal.
  • S2305 can also refer to S705 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • ProSe layer 2 sends the twenty-fourth message to ProSe layer 1; correspondingly, ProSe layer 1 receives the twenty-fourth message.
  • S2306 can also refer to S706 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • ProSe layer 1 sends the twelfth configuration information to AS layer 1; correspondingly, AS layer 1 receives the twelfth configuration information.
  • S2308 can also refer to S708 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • S2307 can also refer to S707 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • S2309 can also refer to S709 specifically, and the message name or information name related to the perception service in the embodiment of FIG. 7 can be replaced with the message name or information name related to the angle measurement service.
  • AS layer 2 sends the angle measurement signal; AS layer 1 receives the angle measurement signal.
  • the AS layer 2 may send angle measurement signals according to the second angle measurement mode.
  • the AS layer 2 may send the angle measurement signal according to the eleventh configuration information.
  • the AS layer 2 may send the angle measurement signal according to the configuration parameters of the AS layer.
  • the AS layer 2 may send the angle measurement signal according to the second angle measurement mode and the fourth configuration information.
  • the AS layer 2 may send the angle measurement signal according to the second angle measurement mode and AS layer configuration parameters.
  • the AS layer 2 may send the angle measurement signal according to the eleventh configuration information and AS layer configuration parameters.
  • the AS layer 2 may also send the angle measurement signal according to the second angle measurement mode, the eleventh configuration information and the AS layer configuration parameters.
  • the AS layer 2 can obtain the angle measurement resources (such as time domain resources, frequency domain resources, etc.) horn signal.
  • the angle measurement resources such as time domain resources, frequency domain resources, etc.
  • the AS layer 2 obtaining angle measurement resources please refer to the relevant content of UE 2 obtaining angle measurement resources in step S2102, which will not be repeated here.
  • step S2310 the specific implementation process of AS layer 1 receiving the angle measurement signal, please refer to the relevant content in the aforementioned step S2102, and will not be repeated here.
  • the AS layer 2 sends the angle measurement signal according to the angle measurement signal transmission instruction received from the ProSe layer 2 .
  • the AS layer 1 receives the angle measurement signal according to the angle measurement signal reception indication received from the ProSe layer 1 .
  • S2311 AS layer 1 acquires angle measurement data of an angle measurement service according to the angle measurement signal.
  • the AS layer 1 may acquire the angle measurement data of the angle measurement service according to the processing mode of the angle measurement signal. Please refer to the relevant content of step S2103 for the acquisition of angle measurement data, which will not be repeated here.
  • each device may include a corresponding hardware structure and/or software module for performing each function.
  • each device may include a corresponding hardware structure and/or software module for performing each function.
  • the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software drives the hardware depends on the specific application and implementation constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.
  • FIG. 24 shows a possible exemplary block diagram of the device involved in the embodiment of the present application.
  • an apparatus 2400 may include: a transceiver module 2401 and a processing module 2402 .
  • the processing module 2402 is used to control and manage the actions of the device 2400 .
  • the transceiver module 2401 is used to support the communication between the apparatus 2400 and other devices.
  • the transceiver module 2401 may be one module, or two modules (such as a receiving module and a sending module), and the modules may be used to perform receiving and sending operations.
  • the device 2400 may further include a storage module 2403 for storing program codes and/or data of the device 2400 .
  • the apparatus 2400 may be the first terminal device in the foregoing embodiment, or may also be a chip provided in the first terminal device.
  • the processing module 2402 may support the apparatus 2400 to execute the actions of the first terminal device in the above method examples.
  • the processing module 2402 mainly executes internal actions of the first terminal device in the method example, and the transceiving module 2401 may support communication between the apparatus 2400 and other devices.
  • the apparatus 2400 may be the second terminal device in the foregoing embodiment, or may also be a chip provided in the second terminal device.
  • the processing module 2402 may support the apparatus 2400 to execute the actions of the second terminal device in the above method examples.
  • the processing module 2402 mainly executes internal actions of the second terminal device in the method example, and the transceiver module 2401 may support communication between the apparatus 2400 and other devices.
  • the apparatus 2400 may be the first terminal device in the foregoing embodiment, or may also be a chip provided in the first terminal device.
  • the processing module 2402 may support the apparatus 2400 to execute the actions of the first terminal device in the above method examples.
  • the processing module 2402 mainly executes internal actions of the first terminal device in the method example, and the transceiving module 2401 may support communication between the apparatus 2400 and other devices.
  • each unit in the device can be implemented in the form of software called by the processing element; they can also be implemented in the form of hardware; some units can also be implemented in the form of software called by the processing element, and some units can be implemented in the form of hardware.
  • each unit can be a separate processing element, or it can be integrated in a certain chip of the device.
  • it can also be stored in the memory in the form of a program, which is called and executed by a certain processing element of the device. Function.
  • all or part of these units can be integrated together, or implemented independently.
  • the processing element here may also be a processor, which may be an integrated circuit with signal processing capability.
  • each operation of the above method or each unit above may be realized by an integrated logic circuit of hardware in the processor element, or implemented in the form of software called by the processing element.
  • the units in any of the above devices may be one or more integrated circuits configured to implement the above method, for example: one or more specific integrated circuits (application specific integrated circuit, ASIC), or, one or Multiple microprocessors (digital signal processor, DSP), or, one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
  • ASIC application specific integrated circuit
  • DSP digital signal processor
  • FPGA field programmable gate array
  • the units in the device can be implemented in the form of a processing element scheduler
  • the processing element can be a processor, such as a general-purpose central processing unit (central processing unit, CPU), or other processors that can call programs.
  • CPU central processing unit
  • these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • the above unit for receiving is an interface circuit of the device for receiving signals from other devices.
  • the receiving unit is an interface circuit for the chip to receive signals from other chips or devices.
  • the above sending unit is an interface circuit of the device, and is used to send signals to other devices.
  • the sending unit is an interface circuit used by the chip to send signals to other chips or devices.
  • FIG. 25 is a schematic structural diagram of a terminal device provided by an embodiment of the present application, which may be the first terminal device or the second terminal device in the above embodiments, and is used to implement operations of each device in the above embodiments.
  • the terminal device includes: an antenna 2510 , a radio frequency part 2520 , and a signal processing part 2530 .
  • the antenna 2510 is connected to the radio frequency part 2520 .
  • the radio frequency part 2520 receives the information sent by the network device or other terminal devices through the antenna 2510, and sends the information to the signal processing part 2530 for processing.
  • the signal processing part 2530 processes the information of the terminal device and sends it to the radio frequency part 2520.
  • the radio frequency part 2520 processes the information of the terminal device and sends it to the network device or other terminal devices through the antenna 2510.
  • the signal processing part 2530 may include a modulation and demodulation subsystem, which is used to realize the processing of each communication protocol layer of the data; it may also include a central processing subsystem, which is used to realize the processing of the operating system and the application layer of the terminal equipment; in addition, it may also Including other subsystems, such as multimedia subsystems, peripheral subsystems, etc., wherein the multimedia subsystem is used to realize the control of the terminal equipment camera, screen display, etc., and the peripheral subsystem is used to realize the connection with other devices.
  • the modem subsystem can be a separate chip.
  • the modem subsystem may include one or more processing elements 2531, including, for example, a master CPU and other integrated circuits.
  • the modem subsystem may further include a storage element 2532 and an interface circuit 2533 .
  • the storage element 2532 is used to store data and programs, but the program used to execute the method executed by the terminal device in the above methods may not be stored in the storage element 2532, but stored in a memory outside the modem subsystem, When used, the modem subsystem is loaded and used.
  • Interface circuit 2533 is used to communicate with other subsystems.
  • the modem subsystem can be realized by a chip, and the chip includes at least one processing element and an interface circuit, wherein the processing element is used to execute each step of any method performed by the above terminal equipment, and the interface circuit is used to communicate with other devices.
  • the module for the terminal device to implement each step in the above method may be implemented in the form of a processing element scheduler.
  • the device for the terminal device includes a processing element and a storage element, and the processing element calls the program stored in the storage element to Execute the method performed by the terminal device in the above method embodiment.
  • the storage element may be a storage element on the same chip as the processing element, that is, an on-chip storage element.
  • the program for executing the method executed by the terminal device in the above method may be stored in a storage element on a different chip from the processing element, that is, an off-chip storage element.
  • the processing element invokes or loads a program from the off-chip storage element on the on-chip storage element, so as to invoke and execute the method performed by the terminal device in the above method embodiment.
  • the module of the terminal device that implements each step in the above method may be configured as one or more processing elements, and these processing elements are set on the modem subsystem, where the processing elements may be integrated circuits, For example: one or more ASICs, or one or more DSPs, or one or more FPGAs, or a combination of these types of integrated circuits. These integrated circuits can be integrated together to form a chip.
  • the modules of the terminal device for implementing each step in the above method can be integrated together and implemented in the form of an SOC, and the SOC chip is used to implement the above method.
  • the chip may integrate at least one processing element and a storage element, and the processing element calls the stored program of the storage element to realize the method executed by the above terminal device; or, the chip may integrate at least one integrated circuit for realizing the above terminal
  • the method executed by the device; or, the above implementation methods can be combined, the functions of some modules are realized by calling programs from the processing elements, and the functions of some modules are realized by the form of integrated circuits.
  • the terminal device shown in FIG. 25 can implement various processes of the first terminal device or the second terminal device involved in the foregoing method embodiments.
  • the operations and/or functions of the various modules in the terminal device shown in FIG. 25 are respectively intended to implement the corresponding processes of the first terminal device or the second terminal device in the above method embodiments.
  • FIG. 26 is a schematic diagram of a communication device provided by an embodiment of the present application, which is used to realize the operation of the access network device or the network element with the policy control function in the above embodiments.
  • the communication device includes: a processor 2610 and an interface 2630 , and optionally, the communication device further includes a memory 2620 .
  • the interface 2630 is used to communicate with other devices.
  • the method executed by the first terminal device or the second terminal device can be called by the processor 2610 stored in the memory (which can be the memory 2620 in the first terminal device or the second terminal device, or can be an external memory).
  • the apparatus for the first terminal device or the second terminal device may include a processor 2610, and the processor 2610 executes the first terminal device or the second terminal device in the above method embodiments by calling the program in the memory.
  • the processor here may be an integrated circuit with signal processing capabilities, such as a CPU.
  • the apparatus for the first terminal device or the second terminal device may be realized by one or more integrated circuits configured to implement the above method. For example: one or more ASICs, or one or more microprocessors DSP, or one or more FPGAs, etc., or a combination of at least two of these integrated circuit forms. Alternatively, the above implementation manners may be combined.
  • the function/implementation process of the processing module 2402 in FIG. 24 can be implemented by the processor 2610 in the communication device 2600 shown in FIG. 26 calling the computer-executable instructions stored in the memory 2620.
  • the function/implementation process can be realized through the interface 2630 in the communication device 2600 shown in FIG. 26 .
  • all or part of them may be implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in, or transmitted from, one computer-readable storage medium to another computer-readable storage medium.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device including a server, a data center, and the like integrated with one or more available media.
  • the available medium may be a magnetic medium (such as a floppy disk, a hard disk, or a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (solid state disk, SSD)), etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

本申请公开一种终端感知方法及装置，该方法包括：第一终端设备向第二终端设备发送第一消息，第一消息用于请求通过第一感知模式完成感知业务，第一感知模式是第一终端设备接收感知信号的模式，或者是第二终端设备发送感知信号的模式，或者是第一终端设备接收感知信号且第二终端设备发送感知信号的模式；第一终端设备接收第二终端设备响应于第一消息所发送的感知信号或所发送的感知信号的回波信号，从而该第一终端设备可以根据该感知信号或该感知信号的回波信号获取感知业务的感知数据，进而完成第一终端设备的感知业务。

Description

一种终端感知方法及装置
相关申请的交叉引用
本申请要求在2021年09月30日提交中国国家知识产权局、申请号为202111161897.2、申请名称为“一种终端感知方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；本申请要求在2022年03月14日提交中国国家知识产权局、申请号为202210248411.7、申请名称为“一种终端感知方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，尤其涉及一种终端感知方法及装置。
背景技术
随着移动通信的高速发展，新业务类型，如视频聊天、虚拟现实(virtual reality，VR)，或者增强现实(augmented reality，AR)等业务的普遍使用提高了用户对带宽的需求。设备到设备(device-to-device，D2D)通信允许用户设备(user equipment，UE)之间直接进行通信，无需经过基站。例如，UE之间可以通过PC5接口直接进行通信，如用于数据面和控制面的信息传输。
UE之间不仅可以通过PC5接口进行通信，还可以通过PC5进行感知，如入侵检测、或周围环境感知等，以完成UE的感知业务。但在D2D场景下，如何完成UE的感知业务目前尚未有具体的解决方案。
发明内容
本申请实施例提供一种终端感知方法及装置，用于完成UE的感知业务。
第一方面，本申请提供一种终端感知方法，包括：第一终端设备向第二终端设备发送第一消息，所述第一消息用于请求通过第一感知模式完成感知业务，所述第一感知模式是所述第一终端设备接收感知信号的模式，或者是所述第二终端设备发送感知信号的模式，或者是所述第一终端设备接收感知信号且所述第二终端设备发送所述感知信号的模式；所述第一终端设备接收第一信号，所述第一信号是所述第二终端设备发送的所述感知信号或者是所述第二终端设备发送的所述感知信号的回波信号；所述第一终端设备根据所述第一信号，获取所述感知业务的感知数据。
在上述实施例中，第一终端设备通过向第二终端设备发送第一消息，请求第二终端设备通过第一感知模式协助第一终端设备完成感知业务；从而第一终端设备可以接收该第二终端设备响应于第一消息所发送的感知信号或者该感知信号的回波信号，并根据该感知信号或该感知信号的回波信号获取感知业务的感知数据，进而完成第一终端设备的感知业务。
在一种可能的设计中，所述第一消息中包括所述第一感知模式的信息。
通过上述设计，第一终端设备可以将完成感知业务的模式告知给第二终端设备，便于第一终端设备和第二终端设备能够相互协作完成感知任务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第一感知能力信息和第一感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第一感知能力信息用于指示所述第一终端设备不支持发送所述感知信号，所述第一感知授权信息用于指示未授权所述第一终端设备发送所述感知信号。和/或，所述第一终端设备根据第二感知能力信息和第二感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第二感知能力信息用于指示所述第二终端设备支持发送所述感知信号，所述第二感知授权信息用于指示已授权所述第二终端设备发送所述感知信号。
通过上述设计，第一终端设备可以通过多种信息，确定完成感知业务的模式，灵活性高。例如，第一终端设备可以根据自身的感知能力信息和/或自身的感知授权信息，确定完成感知业务的模式是第一感知模式。例如，第一终端设备可以根据第二终端设备的感知能力信息和/或感知授权信息，确定完成感知业务的模式。又例如，第一终端设备还可以根据自身的、第二终端设备的感知能力信息和/或自身的感知授权信息，确定完成感知业务的模式是第一感知模式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第二消息，所述第二消息包括所述第二感知能力信息和所述第二感知授权信息中的至少一个。
通过上述设计，第一终端设备可以获取第二终端设备的感知能力信息和/或授权信息，以便确定该第二终端设备是否能够发送和/或接收感知信号，进而更合理地确定第一感知模式，以请求该第二终端设备协助自己完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第三消息，所述第三消息用于发现支持所述第一感知模式的终端设备，或发现支持感知能力的终端设备。
通过上述设计，第一终端设备能够在发现流程中发现能够协助自己完成感知业务的终端设备，并与该终端设备建立连接，以便后续请求该终端设备协助自己完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发送所述感知数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第一传输指示，所述第一传输指示用于指示所述第一终端设备向所述第二终端设备发送所述感知数据；所述第一终端设备向所述第二终端设备发送所述感知数据，可以为：所述第一终端设备根据所述第一传输指示向所述第二终端设备发送所述感知数据。
通过上述设计，第二终端设备可以向第一终端设备发送第一传输指示，这样第一终端设备接收到第一传输指示后，可以将获取到的感知数据发送给第二终端设备，实现感知数据在不同终端设备之间共享。
在一种可能的设计中，所述第一终端设备接收第一信号，可以为：所述第一终端设备根据所述第一感知模式，接收所述第一信号。
在一种可能的设计中，所述第一消息还包括第一配置信息，所述第一配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，或者所述感知信号的信号特征。
通过上述设计，第一终端设备可以将第一配置信息携带在第一消息中发送给第二终端设备，以使得第二终端设备基于该第一配置信息发送感知信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第一对应关系，确 定所述第一配置信息；其中，所述第一对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
通过上述设计，感知业务的标识信息分别与感知业务的时间信息、感知信号的信号特征之间存在对应关系，这样，第一终端设备可以感觉感知业务的标识信息与第一对应关系，确定第一配置信息。
在一种可能的设计中，所述第一终端设备接收第一信号，可以为：所述第一终端设备根据第二配置信息接收所述第一信号，所述第二配置信息包括如下信息中的一项或多项：所述感知业务的时间信息、所述感知信号的信号特征、所述感知信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第二对应关系，确定所述第二配置信息；其中，所述第二对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的处理方式之间的对应关系。
第二方面，本申请提供一种终端感知方法，包括：第二终端设备接收来自第一终端设备的第一消息，所述第一消息用于请求通过第一感知模式完成感知业务，所述第一感知模式是所述第一终端设备接收感知信号的模式，或者是所述第二终端设备发送感知信号的模式，或者是所述第一终端设备接收感知信号且所述第二终端设备发送所述感知信号的模式；所述第二终端设备根据所述第一感知模式发送所述感知信号。
在一种可能的设计中，所述第一消息中包括所述第一感知模式的信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第二感知能力信息和第二感知授权信息中的至少一个，确定根据所述第一感知模式发送所述感知信号，其中，所述第二感知能力信息用于指示所述第二终端设备支持发送所述感知信号，所述第二感知授权信息用于指示已授权所述第二终端设备发送所述感知信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第二消息，所述第二消息包括第二感知能力信息和第二感知授权信息中的至少一个，其中，所述第二感知能力信息用于指示所述第二终端设备支持发送所述感知信号，所述第二感知授权信息用于指示已授权所述第二终端设备发送所述感知信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第三消息，所述第三消息用于发现支持所述第一感知模式的终端设备，或发现支持感知能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的所述感知业务的感知数据。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向第一终端设备发送第一传输指示，所述第一传输指示用于指示所述第一终端设备向所述第二终端设备发送所述感知数据。
在一种可能的设计中，所述第二终端设备根据所述第一感知模式发送所述感知信号，可以为：所述第二终端设备根据所述第一感知模式和第一配置信息，发送所述感知信号；其中，所述第一配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，或者所述感知信号的信号特征。
在一种可能的设计中，所述第一消息包括所述第一配置信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第一对应关系，确定所述第一配置信息；其中，所述第一对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
第三方面，本申请提供一种终端感知方法，包括：第一终端设备向第二终端设备发送第四消息，所述第四消息用于请求通过第二感知模式完成感知业务，所述第二感知模式是所述第一终端设备发送感知信号的模式，或者是所述第二终端设备接收感知信号的模式，或者是所述第一终端设备发送感知信号且所述第二终端设备接收所述感知信号的模式；所述第一终端设备根据所述第二感知模式发送所述感知信号。
在上述实施例中，第一终端设备通过向第二终端设备发送第四消息，请求第二终端设备通过第二感知模式协助第一终端设备完成感知业务；从而第一终端设备可以发送感知信号，使得第二终端设备响应于该第四消息接收第一终端设备发送的感知信号或该感知信号的回波信号，并根据该感知信号或感知信号的回波信号获取感知业务的感知数据，进而完成第一终端设备的感知业务。
在一种可能的设计中，所述第四消息包括所述第二感知模式的信息。
通过上述设计，第一终端设备可以将完成感知业务的模式感知给第二终端设备，以便第一终端设备与第二终端设备能够相互协作完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第三感知能力信息和第三感知授权信息中的至少一个，确定所述第二感知模式；其中，所述第三感知能力信息用于指示所述第一终端设备支持发送所述感知信号，所述第三感知授权信息用于指示已授权所述第一终端设备发送所述感知信号。和/或，所述第一终端设备根据第四感知能力信息和第四感知授权信息中的至少一个，确定所述第二感知模式；其中，所述第四感知能力信息用于指示所述第二终端设备支持接收所述感知信号，所述第四感知授权信息用于指示已授权所述第二终端设备接收所述感知信号。
通过上述设计，第一终端设备可以通过多种信息，确定完成感知业务的模式，灵活性高。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第五消息，所述第五消息包括所述第四感知能力信息和所述第四感知授权信息中的至少一个。
通过上述设计，第一终端设备可以获取第二终端设备的感知能力信息和/或授权信息，以便确定该第二终端设备是否能够发送和/或接收感知信号，进而更合理地确定第一感知模式，以请求该第二终端设备协助自己完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第六消息，所述第六消息用于发现支持所述第二感知模式的终端设备，或发现支持感知能力的终端设备。
通过上述设计，第一终端设备能够在发现流程中发现能够协助自己完成感知业务的终端设备，并与该终端设备建立连接，以便后续请求该终端设备协助自己完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的所述感知业务的感知数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发 送第二传输指示，所述第二传输指示用于指示所述第二终端设备向所述第一终端设备发送所述感知数据。
通过上述设计，第一终端设备可以向第二终端设备发送第二传输指示，这样第二终端设备获取到感知业务的感知数据后，可以将该感知数据发送给第一终端设备，实现感知数据在不同终端设备之间的共享。
在一种可能的设计中，所述第四消息还包括第三配置信息，所述第三配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，所述感知信号的信号特征，或者所述感知信号的处理方式。
通过上述设计，第一终端设备可以将第三配置信息携带在第四消息中发送给第二终端设备，以使得第二终端设备基于该第三配置信息接收第一终端设备发送的感知信号或该感知信号的回波信号，以及对该感知信号或该感知信号的回波信号进行处理，以得到感知数据，完成感知业务。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第二对应关系，确定所述第三配置信息，所述第二对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的处理方式之间的对应关系。
在一种可能的设计中，所述第一终端设备根据所述第二感知模式发送所述感知信号，可以为：所述第一终端设备根据所述第二感知模式和第四配置信息，发送所述感知信号，其中，所述第四配置信息包括所述感知业务的时间信息和所述感知信号的信号特征中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第一对应关系，确定所述第四配置信息，其中，所述第一对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
第四方面，本申请提供一种终端感知方法，包括：第二终端设备接收来自第一终端设备的第四消息，所述第四消息用于请求通过第二感知模式完成感知业务，所述第二感知模式是所述第一终端设备发送感知信号的模式，或者是所述第二终端设备接收感知信号的模式，或者是所述第一终端设备发送感知信号且所述第二终端设备接收所述感知信号的模式；
所述第二终端设备接收第二信号，所述第二信号是所述第一终端设备发送的感知信号，或者是所述第一终端设备发送的感知信号的回波信号；
所述第二终端设备根据所述第二信息，确定所述感知业务的感知数据。
在一种可能的设计中，所述第四消息中包括所述第二感知模式的信息。
在一种可能的设计中，所述方法还包括：所述第二终端设备根据第四感知能力信息和第四感知授权信息中的至少一个，确定接收所述第二信号；其中，所述第四感知能力信息用于指示所述第二终端设备支持接收所述感知信号或所述感知信号的回波信号，所述第四感知授权信息用于指示已授权所述第一终端设备发送所述感知信号或所述感知信号的回波信号。
在一种可能的设计中，所述方法还包括：所述第二终端设备向所述第一终端设备发送第五消息，所述第五消息包括所述第四感知能力信息和所述第四感知授权信息中的至少一 个。
在一种可能的设计中，所述方法还包括：所述第二终端设备接收来自所述第一终端设备的第六消息，所述第六消息用于发现支持所述第二感知模式的终端设备，或发现支持感知能力的终端设备。
在一种可能的设计中，所述方法还包括：所述第二终端设备向所述第一终端设备发送所述感知数据。
在一种可能的设计中，所述方法还包括：所述第二终端设备接收来自所述第一终端设备的第二传输指示，所述第二传输指示用于指示所述第二终端设备向所述第一终端设备发送所述感知数据；所述第二终端设备向所述第一终端设备发送所述感知数据，可以为：所述第二终端设备根据所述第二传输指示，向所述第一终端设备发送所述感知数据。
在一种可能的设计中，所述第二终端设备接收第二信号，可以为：所述第二终端设备根据第三配置信息，接收所述第二信号，其中，所述第三配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，所述感知信号的信号特征，或者所述感知信号的处理方式。
在一种可能的设计中，所述第四消息包括所述第三配置信息。
在一种可能的设计中，所述方法还包括：所述第二终端设备根据第二对应关系，确定所述第三配置信息，所述第二对应关系包括如下对应关系中的一项或多项：
所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
或者，所述感知业务的标识信息与所述感知信号的处理方式之间的对应关系。
第五方面，本申请提供一种终端测量方法，包括：第一终端设备向第二终端设备发送第九消息，所述第九消息用于请求通过第一测距模式完成测距业务，其中，所述第一测距模式是所述第一终端设备发送测距信号的模式，或者是所述第二终端设备接收测距信号的模式，或者是所述第一终端设备发送测距信号且所述第二终端设备接收所述测距信号的模式；所述第一终端设备根据所述第一测距模式发送所述测距信号；所述第一终端设备接收来自所述第二终端设备的所述测距信号的反馈信号；所述第一终端设备根据所述测距信号和所述反馈信号，获取所述测距业务的测距数据。
在上述实施例中，第一终端设备通过向第二终端设备发送第九消息，请求第二终端设备通过第一测距模式协助第一终端设备完成测距业务；这样第一终端设备可以发送测距信号，第二终端设备可以响应于第九消息接收该测距信号并向第一终端设备发送该测距信号的反馈信号，从而第一终端设备可以根据该测距信号和反馈信号获取测距业务的测距数据，进而完成第一终端设备的测距业务。
在一种可能的设计中，所述第九消息中可以包括所述第一测距模式的信息。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第一测距能力信息和第一测距授权信息中的至少一个，确定所述第一测距模式；其中，所述第一测距能力信息用于指示所述第一终端设备支持发送所述测距信号，所述第一测距授权信息用于指示授权所述第一终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第二测距能力信息和第二测距授权信息中的至少一个，确定所述第一测距模式；其中，所述第二测距能力信息用于指示所述第二终端设备不支持发送所述测距信号，所述第二测距授权信息用于指示 未授权所述第二终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第十消息，所述第十消息包括所述第二测距能力信息和所述第二测距授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第十一消息，所述第十一消息用于发现支持所述第一测距模式的终端设备，或发现支持测距能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发送所述测距数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第三传输指示，所述第三传输指示用于指示所述第一终端设备向所述第二终端设备发送所述测距数据；所述第一终端设备向所述第二终端设备发送所述测距数据，包括：所述第一终端设备根据所述第三传输指示向所述第二终端设备发送所述测距数据。
在一种可能的设计中，所述第九消息还可以包括第五配置信息，所述第五配置信息包括如下信息中的一项或多项：所述测距业务的标识信息，所述测距业务的时间信息，所述测距信号的信号特征，或者所述测距信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第三对应关系，确定所述第五配置信息；其中，所述第三对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
在一种可能的设计中，所述第一终端设备根据所述第一测距模式发送所述测距信号，可以为：所述第一终端设备根据所述第一测距模式和第六配置信息，发送所述测距信号，所述第六配置信息包括如下信息中的一项或多项：所述测距业务的时间信息、所述测距信号的信号特征，以及所述测距信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第四对应关系，确定所述第六配置信息；其中，所述第四对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
第六方面，本申请提供一种终端测量方法，包括：第二终端设备接收来自第一终端设备的第九消息，所述第九消息用于请求通过第一测距模式完成测距业务，其中，所述第一测距模式是所述第一终端设备发送测距信号的模式，或者是所述第二终端设备接收测距信号的模式，或者是所述第一终端设备发送测距信号且所述第二终端设备接收所述测距信号的模式；所述第二终端设备根据所述第一测距模式接收所述测距信号；所述第二终端设备向所述第一终端设备发送所述测距信号的反馈信号。
在一种可能的设计中，所述第九消息中可以包括所述第一测距模式的信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第二测距能力信息和第二测距授权信息中的至少一个，确定根据所述第一测距模式接收所述测距信号；其中，所述第二测距能力信息用于指示所述第二终端设备不支持发送所述测距信号，所述第二测距授权信息用于指示未授权所述第二终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第十消息，所述第十消息包括所述第二测距能力信息和所述第二测距授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第十一消息，所述第十一消息用于发现支持所述第一测距模式的终端设备，或发现支持测距能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的所述测距业务的测距数据。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第三传输指示，所述第三传输指示用于指示所述第一终端设备向所述第二终端设备发送所述测距数据；所述第二终端设备接收来自所述第一终端设备的所述测距业务的测距数据，包括：所述第二终端设备根据所述第三传输指示接收所述测距数据。
在一种可能的设计中，所述第二终端设备根据所述第一测距模式接收所述测距信号，可以为：所述第二终端设备根据所述第一测距模式和所述第五配置信息接收所述测距信号，其中，所述第五配置信息包括如下信息中的一项或多项：所述测距业务的标识信息，所述测距业务的时间信息，所述测距信号的信号特征，或者所述测距信号的处理方式。
在一种可能的设计中，所述第九消息包括所述第五配置信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第三对应关系，确定所述第五配置信息；其中，所述第三对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
第七方面，本申请提供一种终端测量方法，第一终端设备向第二终端设备发送第十二消息，所述第十二消息用于请求通过第二测距模式完成测距业务，其中，所述第二测距模式是所述第一终端设备接收测距信号的模式，或者是所述第二终端设备发送测距信号的模式，或者是所述第二终端设备发送测距信号且所述第一终端设备接收所述测距信号的模式；所述第一终端设备接收来自所述第二终端设备的所述测距信号；所述第一终端设备向所述第二终端设备发送所述测距信号的反馈信号。
在上述实施例中，第一终端设备通过向第二终端设备发送第十二消息，请求第二终端设备通过第二测距模式协助第一终端设备完成测距业务；这样，第二终端设备响应于该第十二消息可以发送测距信号，并接收来自第一终端设备的反馈信号，从而可以根据该测距信号和反馈信号获取测距业务的测距数据，进而完成第一终端设备的测距业务。
在一种可能的设计中，所述第十二消息可以包括所述第二测距模式的信息。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第三测距能力信息和第三测距授权信息中的至少一个，确定所述第二测距模式；其中，所述第三测距能力信息用于指示所述第一终端设备不支持发送所述测距信号，所述第三测距授权信息用于指示未授权所述第一终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第四测距能力信息和第四测距授权信息中的至少一个，确定所述第二测距模式；其中，所述第四测距能力信息用于指示所述第二终端设备支持发送所述测距信号，所述第四测距授权信息用于指示未 授权所述第二终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第十三消息，所述第十三消息包括所述第四测距能力信息和所述第四测距授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第十四消息，所述第十四消息用于发现支持所述第二测距模式的终端设备，或发现支持测距能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的所述测距业务的测距数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发送第四传输指示，所述第四传输指示用于指示所述第二终端设备向所述第一终端设备发送所述测距数据。
在一种可能的设计中，所述第一终端设备接收来自所述第二终端设备的所述测距信号，可以为：所述第一终端设备根据所述第二测距模式，接收来自所述第二终端设备的所述测距信号。
在一种可能的设计中，所述第十二消息还可以包括第七配置信息，所述第七配置信息包括如下信息中的一项或多项：所述测距业务的标识信息，所述测距业务的时间信息，所述测距信号的信号特征，或者所述测距信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第四对应关系，确定所述第七配置信息，所述第四对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
在一种可能的设计中，所述第一终端设备接收来自所述第二终端设备的所述测距信号，可以为：所述第一终端设备根据所述第二测距模式和第八配置信息，接收所述测距信号，其中，所述第八配置信息包括如下信息中的一项或多项：所述测距业务的时间信息，所述测距信号的信号特征，或者所述测距信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第三对应关系，确定所述第八配置信息，其中，所述第三对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
第八方面，本申请提供一种终端测量方法，包括：第二终端设备接收来自第一终端设备的第十二消息，所述第十二消息用于请求通过第二测距模式完成测距业务，其中，所述第二测距模式是所述第一终端设备接收测距信号的模式，或者是所述第二终端设备发送测距信号的模式，或者是所述第二终端设备发送测距信号且所述第一终端设备接收所述测距信号的模式；所述第二终端设备根据所述第二测距模式发送所述测距信号；所述第二终端设备接收来自所述第一终端设备的所述测距信号的反馈信号；所述第二终端设备根据所述测距信号和所述反馈信号获取所述测距业务的测距数据。
在一种可能的设计中，所述第十二消息可以包括所述第二测距模式的信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第四测距能力信息 和第四测距授权信息中的至少一个，确定根据所述第二测距模式发送所述测距信号；其中，所述第四测距能力信息用于指示所述第二终端设备支持发送所述测距信号，所述第四测距授权信息用于指示未授权所述第二终端设备发送所述测距信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第十三消息，所述第十三消息包括所述第四测距能力信息和所述第四测距授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第十四消息，所述第十四消息用于发现支持所述第二测距模式的终端设备，或发现支持测距能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送所述测距数据。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备发送第四传输指示，所述第四传输指示用于指示所述第二终端设备向所述第一终端设备发送所述测距数据；所述第二终端设备向所述第一终端设备发送所述测距数据，可以为所述第二终端设备根据所述第四传输指示向所述第一终端设备发送所述测距数据。
在一种可能的设计中，所述第二终端设备根据所述第二测距模式发送所述测距信号，可以为：所述第二终端设备根据所述第二测距模式和第七配置信息，发送所述测距信号，所述第七配置信息包括如下信息中的一项或多项：所述测距业务的标识信息，所述测距业务的时间信息，所述测距信号的信号特征，或者所述测距信号的处理方式。
在一种可能的设计中，所述第十二消息可以包括所述第七配置信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第四对应关系，确定所述第七配置信息，所述第四对应关系包括如下对应关系中的一项或多项：
所述测距业务的标识信息与所述测距业务的时间信息之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的信号特征之间的对应关系；
或者，所述测距业务的标识信息与所述测距信号的处理方式之间的对应关系。
第九方面，本申请提供一种终端测量方法，包括：第一终端设备向第二终端设备发送第十七消息，所述第十七消息用于请求通过第一测角模式完成测角业务，其中，所述第一测角模式是所述第一终端设备发送测角信号的模式，或者是所述第二终端设备接收测角信号的模式，或者是所述第一终端设备发送测角信号且所述第二终端设备接收所述测角信号的模式；所述第一终端设备根据所述第一测角模式发送所述测角信号。
在上述实施例中，第一终端设备通过向第二终端设备发送第十七消息，请求第二终端设备通过第一测角模式协助第一终端设备完成测角业务；这样第一终端设备可以发送测角信号，第二终端设备响应于该第十七消息接收第一终端设备发送的测角信号，从而可以根据该测角信号获取测角业务的测角数据，进而完成第一终端设备的测角业务。
在一种可能的设计中，所述第十七消息中可以包括所述第一测角模式的信息。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第一测角能力信息和第一测角授权信息中的至少一个，确定所述第一测角模式；其中，所述第一测角能力信息用于指示所述第一终端设备支持发送所述测角信号，所述第一测角授权信息用于指示授权所述第一终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第二测角能力信息 和第二测角授权信息中的至少一个，确定所述第一测角模式；其中，所述第二测角能力信息用于指示所述第二终端设备不支持发送所述测角信号，所述第二测角授权信息用于指示未授权所述第二终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第十八消息，所述第十八消息包括所述第二测角能力信息和所述第二测角授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第十九消息，所述第十九消息用于发现支持所述第一测角模式的终端设备，或发现支持测角能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的所述测角业务的测角数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发送第五传输指示，所述第五传输指示用于指示所述第二终端设备向所述第一终端设备发送所述测角数据。
在一种可能的设计中，所述第十七消息还包括第九配置信息，所述第九配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，所述测角信号的信号特征，或者所述测角信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第五对应关系，确定所述第九配置信息；其中，所述第五对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的处理方式之间的对应关系。
在一种可能的设计中，所述第一终端设备根据所述第一测角模式发送所述测角信号，可以为：所述第一终端设备根据所述第一测角模式和第十配置信息，发送所述测角信号，所述第十配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，或者所述测角信号的信号特征。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第六对应关系，确定所述第十配置信息；其中，所述第六对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系。
第十方面，本申请提供一种终端测量方法，包括：第二终端设备接收来自第一终端设备的第十七消息，所述第十七消息用于请求通过第一测角模式完成测角业务，其中，所述第一测角模式是所述第一终端设备发送测角信号的模式，或者是所述第二终端设备接收测角信号的模式，或者是所述第一终端设备发送测角信号且所述第二终端设备接收所述测角信号的模式；所述第二终端设备根据所述第一测角模式接收所述测角信号；所述第二终端设备根据所述测角信号获取测角业务的测角数据。
在一种可能的设计中，所述第十七消息可以包括所述第一测角模式的信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第二测角能力信息和第二测角授权信息中的至少一个，确定根据所述第一测角模式接收所述测角信号；其中，所述第二测角能力信息用于指示所述第二终端设备不支持发送所述测角信号，所述第二测角授权信息用于指示未授权所述第二终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第十八消息，所述第十八消息包括所述第二测角能力信息和所述第二测角授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第十九消息，所述第十九消息用于发现支持所述第一测角模式的终端设备，或发现支持测角能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送所述测角数据。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第五传输指示，所述第五传输指示用于指示所述第二终端设备向所述第一终端设备发送所述测角数据。所述第二终端设备向所述第一终端设备发送所述测角数据，可以为：所述第二终端设备根据所述第五传输指示向所述第一终端设备发送所述测角数据。
在一种可能的设计中，所述第二终端设备根据所述第一测角模式接收所述测角信号，可以为：所述第二终端设备根据所述第一测角模式和第九配置信息接收所述测角信号。所述第九配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，所述测角信号的信号特征，或者所述测角信号的处理方式。
在一种可能的设计中，所述第十七消息可以包括第九配置信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第五对应关系，确定所述第九配置信息；其中，所述第五对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的处理方式之间的对应关系。
第十一方面，本申请提供一种终端测量方法，包括：第一终端设备向第二终端设备发送第二十消息，所述第二十消息用于请求通过第二测角模式完成测角业务，其中，所述第二测角模式是所述第一终端设备接收测角信号的模式，或者是所述第二终端设备发送测角信号的模式，或者是所述第二终端设备发送测角信号且所述第一终端设备接收所述测角信号的模式；所述第一终端设备接收来自所述第二终端设备的所述测角信号；所述第一终端设备根据所述测角信号获取所述测角业务的测角数据。
在上述实施例中，第一终端设备通过向第二终端设备发送第二十消息，请求第二终端设备通过第二测角模式协助第一终端设备完成测角业务；这样第二终端设备可以响应于第二十消息发送测角信号，从而第一终端设备可以接收第二终端设备的测角信号，并根据该测角信号获取测角业务的测角数据，进而完成第一终端设备的测角业务。
在一种可能的设计中，所述第二十消息可以包括所述第二测角模式的信息。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第三测角能力信息和第三测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第三测角能力信息用于指示所述第一终端设备不支持发送所述测角信号，所述第三测角授权信息用于指示未授权所述第一终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第四测角能力信息和第四测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第四测角能力信息用于指示所述第二终端设备支持发送所述测角信号，所述第四测角授权信息用于指示未 授权所述第二终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第二十一消息，所述第二十一消息包括所述第四测角能力信息和所述第四测角授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第一终端设备发送第二十二消息，所述第二十二消息用于发现支持所述第二测角模式的终端设备，或发现支持测角能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第一终端设备向所述第二终端设备发送所述测角数据。
在一种可能的设计中，该方法还可以包括：所述第一终端设备接收来自所述第二终端设备的第六传输指示，所述第六传输指示用于指示所述第一终端设备向所述第二终端设备发送所述测角数据；所述第一终端设备向所述第二终端设备发送所述测角数据，可以为：所述第一终端设备根据所述第六传输指示，向所述第二终端设备发送所述测角数据。
在一种可能的设计中，所述第一终端设备接收来自所述第二终端设备的所述测角信号，可以为：所述第一终端设备根据所述第二测角模式，接收来自所述第二终端设备的所述测角信号。
在一种可能的设计中，所述第二十消息还包括第十一配置信息，所述第十一配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，或者所述测角信号的信号特征。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第六对应关系，确定所述第十一配置信息，所述第六对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系。
在一种可能的设计中，所述第一终端设备接收来自所述第二终端设备的所述测角信号，可以为：所述第一终端设备根据所述第二测角模式和第十二配置信息，接收所述测角信号，其中，所述第十二配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，所述测角信号的信号特征，或者所述测角信号的处理方式。
在一种可能的设计中，该方法还可以包括：所述第一终端设备根据第五对应关系，确定所述第十二配置信息，其中，所述第五对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的处理方式之间的对应关系。
第十二方面，本申请提供一种终端测量方法，包括：第二终端设备接收来自第一终端设备的第二十消息，所述第二十消息用于请求通过第二测角模式完成测角业务，其中，所述第二测角模式是所述第一终端设备接收测角信号的模式，或者是所述第二终端设备发送测角信号的模式，或者是所述第二终端设备发送测角信号且所述第一终端设备接收所述测角信号的模式；所述第二终端设备根据所述第二测角模式发送所述测角信号。
在一种可能的设计中，所述第二十消息可以包括所述第二测角模式的信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第四测角能力信息和第四测角授权信息中的至少一个，确定根据所述第二测角模式发送所述测角信号；其中， 所述第四测角能力信息用于指示所述第二终端设备支持发送所述测角信号，所述第四测角授权信息用于指示未授权所述第二终端设备发送所述测角信号。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第二十一消息，所述第二十一消息包括所述第四测角能力信息和所述第四测角授权信息中的至少一个。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的第二十二消息，所述第二十二消息用于发现支持所述第二测角模式的终端设备，或发现支持测角能力的终端设备。
在一种可能的设计中，该方法还可以包括：所述第二终端设备接收来自所述第一终端设备的所述测角业务的测角数据。
在一种可能的设计中，该方法还可以包括：所述第二终端设备向所述第一终端设备发送第六传输指示，所述第六传输指示用于指示所述第一终端设备向所述第二终端设备发送所述测角数据；所述第二终端设备接收来自所述第一终端设备的所述测角业务的测角数据，可以为：所述第二终端设备根据所述第六传输指示，接收所述测角数据。
在一种可能的设计中，所述第二终端设备根据所述第二测角模式发送所述测角信号，可以为：所述第二终端设备根据所述第二测角模式和第十一配置信息发送所述测角信号。其中的第十一配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，或者所述测角信号的信号特征。
在一种可能的设计中，所述第二十消息可以包括第十一配置信息。
在一种可能的设计中，该方法还可以包括：所述第二终端设备根据第六对应关系，确定所述第十一配置信息，所述第六对应关系包括如下对应关系中的一项或多项：
所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；
或者，所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系。
第十三方面，本申请还提供一种通信装置，该通信装置可以是第一终端设备，或者是第二终端设备。当该通信装置是第一终端设备时，该通信装置具有实现上述第一方面及其各个可能的设计示例，或第三方面及其各个可能的设计示例，或第五方面及其各个可能的设计示例，或第七方面及其各个可能的设计示例，或第九方面及其各个可能的设计示例，或第十一方面及其各个可能的设计示例中第一终端设备的功能。当该通信装置是第二终端设备时，该通信装置具有实现上述第二方面及其各个可能的设计示例，或第四方面及其各个可能的设计示例，或第六方面及其各个可能的设计示例，或第八方面及其各个可能的设计示例，或第十方面及其各个可能的设计示例，或第十二方面及其各个可能的设计示例中第二终端设备的功能。其中，功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。硬件或软件包括一个或多个与上述功能相对应的模块。
在一个可能的设计中，通信装置的结构中可以包括收发模块和处理模块。处理模块被配置为支持通信装置执行上述各个方面及其可能的设计示例中第一终端设备或第二终端设备的相应功能。收发模块，用于支持通信装置与其它设备之间的通信。可选的，该通信装置还可以包括存储模块，该存储模块用于与该处理模块耦合，存储有通信装置必要的程序指令和数据。
作为一个示例，该处理模块可以是处理器。收发模块可以是接口电路。存储模块可以 是存储器。
在一个可能的设计中，通信装置的结构中包括接口电路和一个或多个处理器。可选的，该通信装置还包括存储器。其中，接口电路用于收发数据，以及用于与通信系统中的其他设备进行通信交互。一个或多个处理器被配置为支持通信装置执行上述各个方面及其各个可能的设计示例中第一终端设备或第二终端设备的相应的功能。存储器与一个或多个处理器耦合，其保存通信装置必要的程序指令和数据。
第十四方面，本申请实施例提供了一种通信系统，可以包括上述提及的第一终端设备、和/或第二终端设备等。
第十五方面，本申请实施例提供的一种计算机可读存储介质，该计算机可读存储介质存储有程序指令，当程序指令在计算机上运行时，使得计算机执行本申请实施例第一方面至第十二方面及其任一可能的设计。示例性的，计算机可读存储介质可以是计算机能够存取的任何可用介质。以此为例但不限于：计算机可读介质可以包括非瞬态计算机可读介质、随机存取存储器(random-access memory，RAM)、只读存储器(read-only memory，ROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)、CD-ROM或其他光盘存储、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质。
第十六方面，本申请实施例提供一种包括计算机程序代码或指令的计算机程序产品，当其在计算机上运行时，使得计算机实现上述第一方面至第十二方面及其任一可能的设计的方法。
第十七方面，本申请还提供了一种芯片，所述芯片与存储器耦合，用于读取并执行所述存储器中存储的程序指令，以实现上述第一方面至第十二方面及其任一可能的设计的方法。
上述第二方面、第四方面至第十七方面中的各个方面以及各个方面可能达到的技术效果请参照上述针对第一方面、或第三方面中的各种可能方案可以达到的技术效果说明，这里不再重复赘述。
附图说明
图1为本申请实施例中5G网络架构的一种示意图；
图2为本申请实施例中U2U通信场景的一种示意图；
图3a为本申请实施例中model A发现流程的一种流程示意图；
图3b为本申请实施例中model B发现流程的一种流程示意图；
图3c为本申请实施例中建立PC5连接的一种流程示意图；
图4为本申请实施例中UE的一种逻辑结构的示意图；
图5为本申请实施例提供的一种终端感知方法的流程示意图；
图6a为本申请实施例提供的感知业务的一种示意图；
图6b为本申请实施例提供的感知业务的又一种示意图；
图7为本申请实施例提供的一种终端感知方法的流程示意图；
图8为本申请实施例提供的获取第二对应关系的一种流程示意图；
图9为本申请实施例提供的又一种终端感知方法的流程示意图；
图10a为本申请实施例提供的感知业务的一种示意图；
图10b为本申请实施例提供的感知业务的又一种示意图；
图11为本申请实施例提供的又一种终端感知方法的流程示意图；
图12为本申请实施例提供的一种终端测量方法的流程示意图；
图13为本申请实施例提供的测距业务的一种示意图；
图14为本申请实施例提供的一种终端测量方法的流程示意图；
图15为本申请实施例提供的又一种终端测量方法的流程示意图；
图16为本申请实施例提供的测距业务的又一种示意图；
图17为本申请实施例提供的又一种终端测量方法的流程示意图；
图18为本申请实施例提供的又一种终端测量方法的流程示意图；
图19为本申请实施例提供的测角业务的一种示意图；
图20为本申请实施例提供的又一种终端测量方法的流程示意图；
图21为本申请实施例提供的再一种终端测量方法的流程示意图；
图22为本申请实施例提供的测角业务的又一种示意图；
图23为本申请实施例提供的再一种终端测量方法的流程示意图；
图24为本申请实施例提供的通信装置的一种结构示意图；
图25为本申请实施例提供的终端设备的又一种结构示意图；
图26为本申请实施例提供的通信装置的又一种结构示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述。方法实施例中的具体操作方法也可以应用于装置实施例或系统实施例中。
本申请实施例中的术语“系统”和“网络”可被互换使用。“多个”是指两个或两个以上，鉴于此，本申请实施例中也可以将“多个”理解为“至少两个”。“至少一个”，可理解为一个或多个，例如理解为一个、两个或更多个。例如，包括至少一个，是指包括一个、两个或更多个，而且不限制包括的是哪几个。例如，包括A、B和C中的至少一个，那么包括的可以是A、B、C，A和B，A和C，B和C，或A和B和C。同理，对于“至少一种”等描述的理解，也是类似的。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如“A，B和C中的至少一个”包括A，B，C，AB，AC，BC或ABC。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，字符“/”，如无特殊说明，一般表示前后关联对象是一种“或”的关系。
除非有特别说明，本申请实施例提及“第一”、“第二”等序数词用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度，并且“第一”、“第二”的描述也并不限定对象一定不同。
如图1所示，为基于服务化架构的第五代(5th generation，5G)网络架构示意图。图1所示的5G网络架构中可包括三部分，分别是终端部分、数据网络(data network，DN)和运营商网络部分。下面对其中的部分网元的功能进行简单介绍说明。
其中，运营商网络可包括但不限定于以下网元中的一个或多个：网络切片选择功能 (network slice selection function，NSSF)网元、鉴权服务器功能(authentication server function，AUSF)网元、网络开放功能(network exposure function，NEF)网元、网络存储功能(network repository function，NRF)网元、接入与移动性管理功能(access and mobility management function，AMF)网元、策略控制功能(policy control function，PCF)网元、统一数据管理(unified data management，UDM)网元、会话管理功能(session management function，SMF)网元、接入网(access network，AN)或无线接入网(radioaccess network，RAN)、以及用户面功能(user plane function，UPF)网元等。上述运营商网络中，除无线接入网部分之外的部分可以称为核心网络部分。在一种可能的实现方法中，运营商网络中还包括应用功能(application function，AF)网元。
终端设备(terminal device)，可简称为终端，是一种具有无线收发功能的设备，可以部署在陆地上，包括室内或室外、手持或车载；也可以部署在水面上(如轮船等)；还可以部署在空中(例如飞机、气球和卫星上等)。所述终端设备可以是手机(mobile phone)、平板电脑(pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端、增强现实(augmented reality，AR)终端、工业控制(industrial control)中的无线终端、无人驾驶(self driving)中的无线终端、远程医疗(remote medical)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端、用户设备(user equipment，UE)、适应于物联网(Internet of Things，IoT)的终端设备(如智能工厂的终端设备、智能制造业的终端设备等)等。
上述终端可通过运营商网络提供的接口(例如N1等)与运营商网络建立连接，使用运营商网络提供的数据和/或语音等服务。终端还可通过运营商网络访问DN，使用DN上部署的运营商业务，和/或第三方提供的业务。其中，上述第三方可为运营商网络和终端设备之外的服务方，可为终端设备提供他数据和/或语音等服务。其中，上述第三方的具体表现形式，具体可根据实际应用场景确定，在此不做限制。
RAN是无线接入网。终端设备要接入运营商网络，首先是经过RAN，进而可通过RAN与运营商网络的业务节点连接。RAN设备，是一种为终端设备提供无线通信功能的设备，RAN设备也称为接入网设备。RAN设备包括但不限于：5G中的下一代基站(g nodeB，gNB)、演进型节点B(evolved node B，eNB)、无线网络控制器(radio network controller，RNC)、节点B(node B，NB)、基站控制器(base station controller，BSC)、基站收发台(base transceiver station，BTS)、家庭基站(例如，home evolved nodeB，或home node B，HNB)、基带单元(baseBand unit，BBU)、传输点(transmitting and receiving point，TRP)、发射点(transmitting point，TP)、移动交换中心等。
AMF网元，主要进行移动性管理、接入鉴权/授权等功能。此外，还负责在UE与PCF间传递用户策略。
SMF网元，主要进行会话管理、PCF下发控制策略的执行、UPF的选择、UE互联网协议(internet protocol，IP)地址分配等功能。
UPF网元，作为和数据网络的接口，完成用户面数据转发、基于会话/流级的计费统计，带宽限制等功能。
UDM网元，主要负责管理签约数据、用户接入授权等功能。
NSSF网元，主要负责管理网络切片相关的信息。
NEF网元，主要用于支持能力和事件的开放。
AF网元，主要传递应用侧对网络侧的需求，例如，服务质量(Quality of Service，QoS)需求或用户状态事件订阅等。AF可以是第三方功能实体，也可以是运营商部署的应用服务，如IP多媒体子系统(IP Multimedia Subsystem，IMS)语音呼叫业务。
PCF网元，主要负责针对会话、业务数据流级别进行计费、QoS带宽保障及移动性管理、UE策略决策等策略控制功能。该架构中，AMF与SMF所连接的PCF分别对应AM PCF(PCF for Access and Mobility Control)和SM PCF(PCF for Session Management)，在实际部署场景中可能不是同一个PCF实体。
NRF网元，可用于提供网元发现功能，基于其他网元的请求，提供网元类型对应的网元信息。NRF还提供网元管理服务，如网元注册、更新、去注册以及网元状态订阅和推送等。
AUSF网元：主要负责对用户进行鉴权，以确定是否允许用户或设备接入网络。
DN，是位于运营商网络之外的网络，运营商网络可以接入多个DN，DN上可部署多种业务，可为终端设备提供数据和/或语音等服务。例如，DN是某智能工厂的私有网络，智能工厂安装在车间的传感器可为终端设备，DN中部署了传感器的控制服务器，控制服务器可为传感器提供服务。传感器可与控制服务器通信，获取控制服务器的指令，根据指令将采集的传感器数据传送给控制服务器等。又例如，DN是某公司的内部办公网络，该公司员工的手机或者电脑可为终端设备，员工的手机或者电脑可以访问公司内部办公网络上的信息、数据资源等。
图1中Nnssf、Nausf、Nnef、Nnrf、Namf、Npcf、Nsmf、Nudm、Naf、N1、N2、N3、N4、以及N6为接口序列号。这些接口序列号的含义可参见第三代合作伙伴计划(3rd generation partnership project，3GPP)标准协议中定义的含义，在此不做限制。
接下来介绍与本申请实施例相关的技术特征。
D2D通信允许UE之间直接进行通信，无需经过基站。D2D通信包括一对多通信(one to many communication)和一对一通信(one to one communication)。一对多通信对应于组播通信和广播通信，一对一通信对应于单播通信。在一对一通信中，发送端UE与接收端UE在近距离范围内，通过发现流程发现后可以通过PC 5接口进行通信，用于数据面和控制面的信息传输。
图2示出了D2D通信场景的一种示意图。如图2所示，该场景包括UE 1和UE 2，UE 1与UE 2之间通过PC 5接口进行通信。其中，UE 1可以是发起发现流程的发送端，UE 2则是接收端；或者，UE 2是发起流程的发送端，UE 1则是接收端；本申请实施例对此不作限定。以UE 1发起发现流程为例，UE 1通过模式A(model A)或模式B(model B)发起发现流程。图3a和图3b分别示出了model A和model B的流程示意图。
在model A中，UE 1广播发现消息，如通知消息(announcement message)；UE 2、UE 3、UE 4以及UE 5监听并接收该通知消息，如图3a中的步骤A1-A4所示。其中，该通知消息可以包括如下信息中的一项或多项：消息类型、目的层2标识(destination layer 2identity)、源层2标识(source layer 2identity)、用户信息标识(user information identity，用于标识发送通知消息的UE，如可以是应用层标识)、或发现参数(如邻近服务应用服务器标识、或邻近服务限制码)等。如果UE 2、UE 3、UE 4或UE 5对该通知消息中的发现 参数感兴趣，即具有相同的邻近服务应用服务器标识或相同的邻近服务限制码，则直接发起与UE 1建立PC5连接，否则，丢弃该通知消息。
在model B中，与上述model A的流程不同的是：UE 1广播的发现消息例如可以是邀请消息(solicitation message)，该邀请消息包括的信息具体可参考上述通知消息；如果UE2、UE 3、UE 4或UE 5对该邀请消息中的发现参数感兴趣，则向UE 1发送响应消息，否则，丢弃该通知消息。图3b中以UE 2和UE 3向UE 1发送响应消息为例。其中，该响应消息可以包括如下信息中的一项或多项：消息类型、目的层2标识、源层2标识、用户信息标识(用于标识发送响应消息的UE，如可以是应用层标识)、或发现参数(如邻近服务应用服务器标识、或邻近服务响应码)等。
以UE 2为例，UE 2的发现层(discovery layer)向接入层(access stratum layer，AS layer)指示响应消息为发现消息，以及发送该响应消息所使用的源层2标识和目的层2标识；UE2的AS layer发送响应消息；UE 1的AS layer接收响应消息，并将该响应消息发送给UE 1的发现层。
图3c示出了UE 1与UE 2建立PC5连接的一种流程示意图。
C1：UE 1向UE 2发送直接通信请求消息；UE 2接收该直接通信请求消息。
该直接通信请求消息中包括UE 2的应用层标识。UE1使用源层2标识和目的层2标识发送该直接通信请求消息。其中，该直接通信请求消息可以是广播消息，也可以是单播消息。源层2标识是UE 1自己分配的层2地址，目的层2标识是广播的层2地址或通过发现流程获取的UE 2的层2地址。另外，在步骤C1之前，UE 2可以确定用于接收直接通信请求消息的层2地址(配置在UE 2侧)或在发现流程中使用的层2地址。
C2：UE 1与UE 2之间建立安全通道。其中，安全通道的建立流程可以参考现有技术，在此不再赘述。
C3：UE 2向UE 1发送直接通信接受消息；UE 1接收该直接通信接受消息。
UE 2接收到直接通信请求消息后，根据该直接通信请求消息可以得到UE 2的应用层标识。进一步，UE 2响应于直接通信请求消息，向UE 1发送直接通信接受消息。该直接通信接受消息中的源层2标识是UE 2自己分配的层2地址，目的层2标识是步骤C1中UE 1的层2地址。
可选的，在步骤C1和C3中还包括PC5服务质量流(quality of service flow，QoS flow)信息，用于两个UE之间协商PC5QoS flow信息。
C4：在UE 1与UE 2之间建立PC5连接完成后，UE 1与UE 2之间相互传输数据。
需要指出的是，UE 1和UE 2还会分别分配PC5连接标识(PC5link identity)来标识该PC5连接，PC5连接标识是每个UE单独分配的，只在UE内部层间交互使用。建立完PC5连接后，UE 1的邻近服务(proximity-based services，ProSe)层将PC5连接标识和该PC5链路使用的源层2标识及目的层2标识发送给AS层，AS层存储PC5连接标识与源层2标识和目的层2标识的对应关系。建立完QoS流后，UE 1的ProSe层将服务质量流标识(QoS flow ID，QFI)和对应的PC5QoS参数发送到AS层；AS层根据PC5QoS参数生成AS层配置(如逻辑信道配置或无线承载配置等)。
图4示出了UE的一种逻辑结构划分的示意图。如图4所示，UE可以包括发现层、ProSe层、AS层以及应用(application，APP)层。其中，发现层用于发现其他UE或网络设备；ProSe层用于实现与ProSe相关的功能；AS层用于提供与接入相关的服务，如生成AS配 置、实现自身与其它设备之间的通信等；应用层用于实现与应用相关的功能。各个层之间可以相互交互，以实现UE的通信功能。可选的，发现层与ProSe层可以为一层，即，ProSe层可以实现发现层的功能，用于发现其他UE或网络设备。
例如，在UE发送数据包时，UE的ProSe层确定数据包对应的PC5连接标识和PC5QoS流；以及，向AS层随数据包带有PC5link ID和PC5流标识(PC5flow ID，PFI)信息；UE的AS层根据PC5连接标识确定源层2标识和目的层2标识，以及根据PFI信息确定AS层配置，并利用源层2标识、目的层2标识和AS层配置发送该数据包。
又例如，在UE接收数据包时，UE的AS层接收所有UE发送的数据包，确定目的层2标识是否为自己分配的层2标识，若是，则判断自己为数据包的接收端，递交上层(如应用层等)进一步处理；若否，则丢弃该数据包。
UE 1与UE 2之间建立PC5连接完成后，UE 1与UE 2之间可以通过该PC5连接直接通信，无需经过基站。UE 1与UE 2之间不仅可以通过PC5连接直接通信，还可以通过PC5连接进行感知。
接下来结合附图介绍本申请实施例提供的一种终端感知方法及装置，用于在D2D场景下完成UE的感知业务。该方法可以应用于图2所示的D2D场景中。为了便于理解，下文以本申请实施例应用于图2所示的场景为例进行描述。其中，第一终端设备可以是图2中的UE 1，或者是UE 1的部件(如芯片系统)。第二终端设备可以是图2中的UE 2，或者是UE 2的部件(如芯片系统)。下文中以第一终端设备是UE 1，第二终端设备是UE 2为例进行描述。
本申请实施例涉及的接入网网元、接入与移动性管理功能网元、策略控制功能网元可以分别是图1中的RAN、AMF网元、PCF网元，也可以是未来通信如第六代(6th generation，6G)网络中具有上述RAN、AMF网元、PCF网元的功能的网元，本申请实施例对此不限定。为方便说明，本申请实施例以接入网网元、接入与移动性管理功能网元、策略控制功能网元分别为上述RAN、AMF网元、PCF网元为例进行说明。以及，本申请实施例涉及的终端设备可以是图1中的终端设备。
另外，为了便于表述，下文中将UE 1的APP层称为APP层1，UE 1的ProSe层称为ProSe层1，UE 1的AS层称为AS层1，UE 1的感知能力信息称为感知能力信息1，UE1的感知授权信息称为感知授权信息1；以及，UE 2的AS层称为AS层2，UE 2的ProSe层称为ProSe层2，UE 2的感知能力信息称为感知能力信息2，UE2的感知授权信息称为感知授权信息2。
实施例一：
图5示出了本申请实施例提供的终端感知方法的一种流程示意图。在本实施例中，UE1不发送感知信号，通过请求UE 2发送感知信号来协助完成感知业务。如图5所示，该方法可以包括：
S501：UE 1向UE 2发送第一消息；相应的，UE 2接收第一消息。
示例性的，UE 1存在感知业务需求，UE 1可以向UE 2发送第一消息。例如，UE 1与UE 2之间建立有PC5连接，UE 1存在感知业务需求，可以通过与UE 2之间的PC5连接向UE 2发送第一消息。又例如，UE 1存在感知业务需求，可以发起发现流程，与UE 2完成PC5连接的建立，并通过与UE 2之间的PC5连接向UE 2发送该第一消息。应理解 的是，本申请实施例对UE 1与UE 2之间建立PC5连接的原因并不限定。
UE 1可以按照图3a所示的model A发起发现流程，或者也可以按照图3b所示的model B发起发现流程，本申请实施例对此不作限定。例如，UE 1可以广播第三消息，该第三消息可以是model A中的通知消息，也可以是model B中的邀请消息。在本实施例中，该第三消息可以用于发现支持第一感知模式的UE，或者用于发现支持感知能力的UE，或者用于发现支持发送感知信号的UE。例如，UE 1在model A的通知消息(或model B的邀请消息)携带感知指示，该感知指示用于发现支持第一感知模式的UE，或者发现支持感知能力的UE，或者用于发现支持发送感知信号的UE。UE 1与UE 2建立PC5的具体实现过程请参照有关图3c的描述，在此不再赘述。另外，支持感知能力的终端设备可以理解为，该终端设备支持发送感知信号且支持接收感知信号。
其中，第一消息例如可以是感知请求消息或PC5信令(signaling)等，本申请对第一消息的具体实现形式并不限定于此。该第一消息可以用于请求通过第一感知模式完成感知业务；或者，用于请求UE 2通过第一感知模式协助UE 1完成感知业务；或者，用于请求UE 2协助UE 1完成感知业务等。其中，第一感知模式可以是UE 1接收感知信号的模式；或者是UE 2发送感知信号的模式；或者是UE 1接收感知信号且UE 2发送感知信号的模式。上述完成感知业务还可以理解为实现或执行感知业务。
示例性的，UE 1可以确定或选择第一感知模式，并根据第一感知模式向UE 2发送第一消息。其中，UE 1可以按照如下三种方式中的任意一种，确定完成感知业务的感知模式。
方式一：UE 1可以根据UE 1的感知能力信息(记为感知能力信息1)和UE 1的感知授权信息(记为感知授权信息1)中的至少一个，确定完成感知业务的感知模式。
其中，感知能力信息1用于指示UE 1支持或不支持接收感知信号；或者用于指示UE 1支持或不支持发送感知信号；或者用于指示UE 1支持接收感知信号但不支持发送感知信号；或者用于指示UE 1支持发送感知信号但不支持接收感知信号；或者用于指示UE 1支持接收感知信号且支持发送感知信号；或者用于指示UE 1支持或不支持感知操作。感知操作可以理解为发送感知信号的操作。
感知授权信息1用于指示已授权或未授权UE 1接收感知信号；或者用于指示已授权或未授权UE 1发送感知信号；或者用于指示已授权UE 1接收感知信号但未授权UE 1发送感知信号；或者用于指示已授权UE 1发送感知信号但未授权UE 1接收感知信号；或者用于指示已授权UE 1发送感知信号且已授权UE 1接收感知信号；或者用于指示未授权或已授权UE 1进行(或执行)感知操作等。
例如，感知能力信息1用于指示UE 1不支持发送感知信号，UE 1根据该感知能力信息1可以确定完成感知业务的感知模式是UE1接收感知信号的模式，或确定完成感知业务的感知模式是UE 1接收感知信号且UE 2发送感知信号的模式。
需要说明的是，感知业务可以通过感知信号或感知信号的回波信号完成。在本申请实施例中，支持接收感知信号可以理解为支持接收感知信号，或者支持接收感知信号的回波信号，或者支持接收感知信号以及支持接收感知信号的回波信号。
方式二：UE 1可以根据UE 2的感知能力信息(记为感知能力信息2)和UE 2的感知授权信息(记为感知授权信息2)中的至少一个，确定完成感知业务的感知模式。
感知能力信息2的具体内容可参照上述对感知能力信息1的介绍，区别在于感知能力信息2是针对UE2而不是针对UE1。感知授权信息2的具体内容可参照上述对感知能力信 息1的介绍，区别在于感知授权信息2是针对UE2而不是针对UE1。
例如，感知能力信息2用于指示UE 2支持发送感知信号，UE 1根据该感知能力信息2可以确定完成感知业务的感知模式是UE1接收感知信号的模式，或确定完成感知业务的感知模式是UE 1接收感知信号且UE 2发送感知信号的模式。
在一种可能的实现方式中，UE 1可以接收来自UE 2的第二消息，该第二消息包括感知能力信息2和/或包括感知授权信息2。例如，UE 2可以在发现流程中向UE 1发送第二消息；该第二消息可以是model B中的响应消息。又例如，UE 2可以在与UE 1建立PC5连接过程中或建立PC5连接完成后向UE 1发送第二消息；该第二消息可以是直接通信接受消息。应理解的是，本申请实施例对第二消息的具体实现方式并不限定于此。
方式三：UE 1可以根据感知能力信息1和感知授权信息1中的至少一个，以及感知能力信息2和感知授权信息2中的至少一个，确定完成感知业务的感知模式。
例如，感知能力信息1用于指示UE 1不支持发送感知信号；感知能力信息2用于指示UE 2支持发送感知信号。在此情况下，UE 1根据该感知能力信息1和该感知能力信息2可以确定完成感知业务的感知模式是UE1接收感知信号的模式，或确定完成感知业务的感知模式是UE 1接收感知信号且UE 2发送感知信号的模式。
UE 1通过上述三种方式中的任意一种，可以确定完成感知业务的感知模式是第一感知模式，并根据第一感知模式向UE 2发送第一消息。
作为一个示例，该第一消息还可以包括第一感知模式的信息。该第一感知模式信息可以是感知模式指示信息或感知模式标识信息，以便告知UE 2实现感知业务的模式是第一感知模式，进而UE 1和UE 2能够按照第一感知模式相互协作完成感知任务。
作为另一个示例，该第一消息可以包括感知业务的标识信息。该感知业务的标识信息用于标识感知业务的类型。感知业务的类型包括入侵检测以及环境感知等。其中，入侵检测用于检测UE1与UE2之间是否有物体入侵。环境感知用于感知UE1周围的物体或环境，或UE2周围的物体或环境。此外，在本申请中所述感知业务的类型还可以是物体分布、地图、驾驶、违规检测、物体轨迹跟踪、紧急事件检测、物体定位、物体轮廓尺寸、物体速度、气象预测等。为了便于理解，本申请实施例以入侵检测和环境感知为例进行描述。感知业务的标识信息还可以携带在第一消息的第一配置信息中。
图6a和图6b分别示出了本实施例中入侵检测和环境感知的一种示意图。在入侵检测中，UE 2向UE 1发送感知信号，物体向UE 1与UE 2之间移动；UE 1接收到感知信号后，根据感知信号的状态变化可以判断是否有物体入侵，如图6a所示。在环境感知中，UE 2发送感知信号；UE 1接收该感知信号的回波信号，以及根据该感知信号的回波信号感知周围的物体或环境，如图6b所示。
作为另一个示例，第一消息可以包括第一配置信息，该第一配置信息用于UE 2发送感知信号。其中，第一配置信息可以包括如下信息中的一项或多项：感知业务的时间信息，或者感知信号的信号特征。感知业务的时间信息可以包括感知信号的发送周期、或感知信号发送时长等中的一项或多项。感知信号的信号特征可用于指示该感知信号是否为授权频谱信号，是否为高频信号，以及感知信号的频率信息等中的一项或多项。该第一配置信息可以是UE 1本地存储的(如预先定义的、或预先配置的等)，例如，UE 1根据感知业务的标识信息从本地存储的配置信息中获取该第一配置信息；或者是通过与PCF网元或应用服务器交互获取的；或者是根据第一对应关系确定的。
其中，第一对应关系可以是预先定义的，或者通过与PCF网元或应用服务器获取的等，本申请实施例对第一对应关系的具体获取方式并不限定于此。该第一对应关系可以包括如下对应关系中的一项或多项：
感知业务的标识信息与感知业务的时间信息之间的对应关系；
或者，感知业务的标识信息与该感知业务对应的感知信号的信号特征之间的对应关系。
UE 1可以根据该第一对应关系，确定第一配置信息中的时间信息或信号特征信息。S502：UE 2发送感知信号；UE 1接收第一信号。
示例性的，UE 2接收到第一消息后，可以发送感知信号。或者，UE 2接收到第一消息后，先发送第一消息的响应消息，再发送感知信号。例如，UE 2接收到第一消息后，可以确定是否发送感知信号，或者确定是否同意(接受)采用第一感知模式。本实施例中，UE 2确定发送感知信号(或同意采用第一感知模式)。可以理解的是，当UE 2确定不发送感知信号，则下述内容中UE 2根据特定信息发送感知信号可以替换为UE 2根据特性信息确定不发送感知信号。
作为一个示例，如果第一消息中包括第一感知模式的信息，UE 2可以根据该第一感知模式的信息，发送感知信号，从而UE 1与UE 2能够按照第一感知模式相互协作完成感知业务。
作为另一个示例，UE 2可以根据感知能力信息2和/或根据感知授权信息2发送感知信号。
例如，感知能力信息2用于指示UE 2支持发送感知信号；UE 2根据该感知能力信息2发送感知信号。
作为一个示例，UE 2可以根据第一配置信息，发送感知信号。例如，第一配置信息包括感知信号的发送周期，UE 2可以根据该感知信号的发送周期发送感知信号。例如，第一配置信息包括感知信号的发送时长，UE 2可以根据该感知信号的发送时长发送感知信号。第一配置信息包括感知信号的信号特征，如该感知信号的频率信息，UE 2根据该频率信息发送感知信号。又例如，第一配置信息包括感知信号的发送周期以及感知信号的信号特征(如感知信号为高频信号)，UE 2可以根据该发送周期发送高频的感知信号。再例如，第一配置信息包括感知信号的发送时长以及感知信号的信号特征(如感知信号是低频的授权频谱信号)，UE 2可以根据该发送时长发送低频的授权频谱信号。
UE 2可以通过第一消息获取携带在第一消息中的第一配置信息。第一配置信息还可以是UE 2本地存储的(如预先定义的、或预先配置的等)。UE 2还可以通过与PCF网元或应用服务器交互获取该第一配置信息。UE 2还可以根据第一对应关系，确定第一配置信息。UE 2获取第一配置信息的具体实现过程，请参考步骤S501中UE 1确定第一配置信息的具体实现过程，在此不再赘述。
作为另一个示例，UE 2还可以根据上述第一感知模式和第一配置信息发送感知信号。例如，UE 2可以根据第一感知模式确定发送感知信号，并根据第一配置信息发送该感知信号。其中，根据第一配置信息发送感知信号的具体实现过程请参考上述描述，在此不再赘述。
在一种可能的实现方式中，在UE 2发送感知信号之前，UE 1与UE 2之间还可以协商AS层配置参数。UE 2可以根据该AS层配置参数发送感知信号。该AS层配置参数用于感知信号的发送和接收。该AS层配置参数可以包括承载感知信号的逻辑信道、层2标 识、或感知信号的信号特性等信息中的至少一个。
在一种可能的实现方式中，在UE 2发送感知信号之前，UE 2可以获取承载感知信号的感知资源(如时域资源、频域资源等)，并基于感知资源发送感知信号。例如，UE 2可以向RAN发送请求消息，该请求消息用于请求获取承载感知业务对应的感知信号的资源；RAN接收到请求消息后，可以确定该感知业务的感知资源，如根据UE 2的感知授权信息(如感知信号的信号特征等)获取该感知业务的感知资源，并将该感知资源发送给UE 2。可选的，UE 2发送的请求消息可以包括感知信号的信号特征。
在另一种可能的实现方式中，在UE 2发送感知信号之前，UE 2可以与UE 1协商AS层配置参数，以及获取承载感知信号的感知资源。之后，UE 2根据AS层配置参数以及感知资源发送感知信号。
应理解的是，UE 2可以根据第一感知模式、第一配置信息、AS层配置参数或感知资源中的一项或多项，发送该感知信号，具体实现过程可参考上述内容，在此不再一一举例。
在步骤S502中，UE 2响应于第一消息，发送感知信号；相应的，UE 1接收第一信号。该第一信号可以是UE 2发送的感知信号，或者是UE 2发送的感知信号的回波信号，或者是UE 2发送的感知信号和UE 2发送的感知信号的回波信号。例如，在感知业务为入侵检测时，第一信号为UE 2发送的感知信号。例如，在感知业务为环境感知时，第一信号为UE 2发送的感知信号的回波信号，回波信号是感知信号经过物体反射所形成的信号。再例如，在感知业务是入侵检测和环境感知时，该第一信号为UE 2发送的感知信号和UE 2发送的感知信号的回波信号。
作为一个示例，UE 1可以根据第一感知模式，接收第一信号。
作为一个示例，UE 1可以根据第二配置信息，接收第一信号。第二配置信息可以包括如下信息中的一项或多项：感知业务的标识信息，感知业务的时间信息，感知信号的信号特征，感知信号的处理方式，或者预设条件等。例如，第二配置信息包括感知信号的发送周期，UE 1可以根据该感知信号的发送周期接收第一信号。例如，第二配置信息包括感知信号的发送时长，UE 1可以根据该感知信号的发送时长，接收第一信号。又例如，第二配置信息包括感知信号的信号特征，UE 1可以根据该感知信号的特征信息，接收第一信号。再例如，第二配置信息包括感知信号的处理方式，UE 1可以根据感知信号的处理方式，接收第一信号。
第二配置信息可以是UE 1本地存储的(如预先定义的、或预先配置的等)。UE 1还可以通过与PCF网元或应用服务器交互获取该第二配置信息。UE 1还可以根据第二对应关系，确定第一配置信息。UE 1获取第二配置信息的具体实现过程，请参考步骤S501中UE 1确定第一配置信息的具体实现过程，在此不再赘述。
预设条件的数量可以一个或多个，本申请实施例对此不作限定。例如，预设条件可以是接收第一信号的阈值，如信号状态或强度。再例如，预设条件可以是物体数量或特定物体。该预设条件可以用于分析感知数据和感知数据的处理结果中的至少一个。以感知数据的处理结果为例，若该感知数据的处理结果满足预设条件，则表示有物体入侵，或基于感知图像识别该图像中的物体为特定物体或物体数量超过一定门限等，本申请实施例并不限定于此。
可选地，UE 1判断对感知数据的处理结果(和/或感知数据)是否满足预设条件，若满足预设条件则通知UE1的应用层或通知UE2。具体可见S503的介绍，此处不作赘述。
作为另一个示例，UE 1可以根据第一感知模式和第二配置信息，接收第一信号。
值得注意的是，如果UE 2不接受采用第一感知模式，UE 2可以确定其它感知模式，并将该其它感知模式的信息发送给UE 1。其中，UE 2确定其它感知模式的具体实现方式，请参见上述UE 1确定第一感知模式的具体实现方式，在此不再赘述。
S503：UE 1根据第一信号，获取感知业务的感知数据。
UE 1接收到第一信号后，可以根据第一信号获取感知业务的感知数据。该感知数据可以是信号变化曲线、感知图像等，本申请实施例对感知数据的具体实现方式并不限定于此。可选的，UE 1可以对该感知数据进行分析，得到该感知数据的处理结果。其中，该感知数据的处理结果可以是感知图像中物体类型或物体数量，或者是否有物体入侵等，本申请实施例对感知数据的处理结果并不限定于此。
可选的，UE 1可以根据感知信号的处理方式对第一信号处理，得到该感知业务的感知数据。例如，感知业务是入侵检测，入侵检测对应的感知信号的处理方式可以为根据接收到的感知信号生成信号变化曲线。进一步，UE 1可以而根据该信号变化曲线判断是否有物体入侵，如该信号变化曲线包括接收信号强度指示(received signal strength indicator，RSSI)，UE 1可以根据RSSI判断是否有物体入侵，若RSSI突然变小或满足预设条件，则表示有物体入侵，否则，表示没有物体入侵。又例如，感知业务是环境感知，环境感知对应的感知信号的处理方式可以为根据感知信号的回波信号生成感知图像。进一步，UE 1可以根据该感知图像确定该感知图像中的物体或环境。
可选的，UE 1可以向UE 2发送感知数据(或该感知数据的处理结果)；相应的，UE 2接收感知数据(或该感知数据的处理结果)。例如，第二配置信息包括预设条件，且该感知数据的处理结果满足该预设条件，UE 1根据该预设条件向UE 2发送感知数据或感知数据的处理结果。又例如，UE 2可以向UE 1发送第一传输指示，相应的UE 1接收第一传输指示。该第一传输指示用于指示UE 1将感知数据或感知数据的处理结果发送给UE 2。进一步，UE 1根据第一传输指示向UE 2发送感知数据或感知数据的处理结果。
下面从UE的各个逻辑层(如图4所示)的交互，对图5所示的终端感知方法进行介绍。
图7示出了本申请实施例提供的终端感知方法的一种流程示意图。其中，步骤S701、步骤S705、步骤S709为可选步骤，图7中用虚线表示。如图7所示，该方法可以包括：
S701：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
具体可参考图3a至3c的实施例的内容以及S501的内容，此处不再赘述。
在本实施例中，UE 1支持接收感知信号，但不支持发送感知信号；或者，UE 1仅授权接收感知信号，未授权发送感知信号；或者，未授权UE 1进行(或执行)感知操作。UE 1通过广播第三消息，能够发现支持发送感知信号的UE 2，从而UE 1可以请求UE 2协助完成感知业务。
作为一个示例，UE 2可以向UE 1发送第二消息；相应的，UE 1接收第二消息。其中，第二消息包括UE 2的感知能力信息(即感知能力信息2)，或者包括UE 2的感知授权信息(即感知授权信息2)，或者包括感知能力信息2和感知授权信息2。具体可参考步骤S501中UE 1接收来自UE 2的第二消息的相关内容，在此不再赘述。
S702：APP层1向ProSe层1发送感知需求；相应的，ProSe层1接收该感知需求。或者，APP层1向ProSe层1发送感知请求；相应的，ProSe层1接收该感知请求。图7 以感知需求为例。
例如，APP层1具有感知业务需求，生成感知需求(或感知请求)，并将感知需求(或感知请求)发送给ProSe层1。其中，感知需求(或感知请求)可以包括感知业务的标识信息。该感知业务的标识信息用于标识感知业务的类型。
值得注意的是，APP层1可以在UE 1完成发现流程和PC5连接建立流程后，向ProSe层1发送感知需求(或感知请求)；也可以APP层1具有感知业务需求后，触发UE 1发起发现流程和PC5连接建立流程，本申请实施例对此不做限定。
S703：ProSe层1确定完成感知业务的模式是第一感知模式。
ProSe层1接收到感知需求后，确定完成感知业务的感知模式。在本实施例中，ProSe层1确定完成感知业务的感知模式是第一感知模式。其中，ProSe层1确定完成感知业务的感知模式是第一感知模式的具体实现方式，请参考步骤S501中UE 1确定完成感知业务的感知模式是第一感知模式的具体实现方式，在此不再赘述。
需要说明的是，UE 1可以通过发现流程发现支持第一感知模式的UE 2；或者，UE 1也可以在与UE 2建立PC5连接后，根据来自UE 2的第二消息(即包括感知能力信息2和感知授权信息2中的至少一个)，确定UE 2支持第一感知模式；本申请实施例并不限定于此。
S704：ProSe层1向ProSe层2发送第一消息；相应的，ProSe层2接收第一消息。
该第一消息具体可参照S501中对第一消息的介绍，此处不再赘述。
可以理解的是，S501中由UE1执行的发送第一消息或者获取第一配置信息等动作由此处的ProSe层1执行。
S705：ProSe层2确定UE 2发送感知信号。
可选的，UE2发送感知信号可以理解为UE 2同意采用第一感知模式。
S705的过程具体请参考步骤S502中UE 2根据感知能力信息2和感知授权信息2中的至少一个确定发送感知信号的具体实现方式，在此不再赘述。
S706：ProSe层2向ProSe层1发送第七消息；相应的，ProSe层1接收第七消息。
可选的，ProSe层2可以向ProSe层1发送第七消息，该第七消息例如可以是感知响应消息或PC 5信令，本申请实施例并不限定于此。该第七消息可用于指示UE 2是否协助UE 1完成感知业务或指示UE2是否接受采用第一感知模式。本申请实施例以UE 2协助UE 1完成感知业务(UE 2接收采用第一感知模式)为例进行描述。
可选的，该第七消息可以包括第一传输指示，图7中未示出。第一传输指示用于指示UE 1向UE 2发送该感知业务的感知数据或感知数据的处理结果。
可选的，若UE 2不接受采用第一感知模式，则第七消息中还可以包括UE2确定的其他感知模式。UE 2确定的其他感知模式的具体实现方式，请参考步骤S705中UE 2确定自身发送感知信号的具体实现方式，在此不再赘述。
S707：ProSe层2向AS层2发送第一配置信息；相应的，AS层2接收第一配置信息。
示例性的，ProSe层2确定协助UE 1完成感知业务后，可以获取第一配置信息，该第一配置信息用于发送感知信号，并将第一配置信息发送给AS层2。
例如，ProSe层2可以根据感知业务的标识信息确定第一配置信息。又例如，第一消息包括第一配置信息，ProSe层2接收到第一消息后，根据该第一消息可以得到第一配置信息。又例如，ProSe层2可以通过与PCF网元或应用服务器交互，获取第一配置信息。 再例如，ProSe层2还可以通过与PCF网元或应用服务器交互，得到第一对应关系，并根据第一对应关系，确定第一配置信息。其中，ProSe层2获取第一配置信息的具体实现过程请参考前述步骤S502中UE 2获取第一配置信息的相关内容，在此不再赘述。
S708：ProSe层1向AS层1发送第二配置信息；相应的，AS层1接收第二配置信息。
例如，ProSe层1发送第一消息后或接收到第七消息后，ProSe层1可以获取第二配置信息，并将第二配置信息发送给AS层2。该第二配置信息用于接收第一信号，或者用于获取感知业务的感知数据，或者用于接收第一信号以及获取感知业务的感知数据。
其中，ProSe层1获取第二配置信息的具体实现过程，请参考前述步骤S502中UE 1获取第二配置信息的相关内容，在此不再赘述。
S709：AS层1与AS层2之间协商AS层配置参数。
可选的，AS层1与AS层2之间可以协商AS层配置参数。该AS层配置参数用于感知信号的发送和接收。该AS层配置参数可以包括承载感知信号的逻辑信道、层2标识、或感知信号的信号特性等信息中的至少一个。
S710：AS层2发送感知信号；AS层1接收第一信号。
AS层2发送感知信号的具体实现过程，请参考前述步骤S502中UE 2发送感知信号的相关内容，在此不再赘述。
其中，AS层1接收第一信号的具体实现过程，请参考前述步骤S502中UE 1接收第一信号的相关内容，在此不再赘述。
S711：AS层1根据第一信号，获取感知业务的感知数据。
S711的动作具体可参考S503中UE1获取感知数据的相关内容，此处不作赘述。
进一步，AS层1可以根据该感知数据和预设条件，确定是否对该感知数据做进一步处理，如将感知数据发送给其它逻辑层(如APP层1)处理，或者将感知数据发送给UE 2等。
可选的，AS层1获取感知业务的感知数据后，UE 1可以向UE 2发送感知数据(或该感知数据的处理结果)，图7中未示出。例如，如果ProSe层2向ProSe层1发送第一传输指示，UE 1可以根据第一传输指示向UE 2发送感知数据或该感知数据的处理结果。又例如，如果第二配置信息包括预设条件，且感知数据的处理结果满足该预设条件，UE 1可以根据该预设条件向UE 2发送感知数据或该感知数据的处理结果。
至此，UE 1成功获取感知业务的感知数据，完成了UE 1的感知业务。
在前述描述中，UE 1可以通过与PCF网元或应用服务器交互获取第一对应关系、和/或第二对应关系，UE 2可以通过与PCF网元或应用服务器交互获取第一对应关系、和/或第二对应关系。接下来，以PCF网元，第二对应关系为例介绍UE 1获取第二对应关系的具体实现过程。
图8示出了UE 1获取第二配置信息的流程示意图。其中，步骤S801、步骤S804为可选步骤，图8以虚线表示。如图8所示，该方法包括：
S801：UE 1向PCF网元发送感知能力信息1；相应的，PCF网元接收感知能力信息1。
示例性的，UE可以通过AMF网元向PCF网元上报自身的感知能力信息。例如，UE可以在注册流程中向PCF网元上报自身的感知能力信息。其中，感知能力信息1用于指示UE 1支持或不支持接收感知信号；或者用于指示UE 1支持或不支持发送感知信号；或者用于指示UE 1支持接收感知信号但不支持发送感知信号；或者用于指示UE 1支持发送感 知信号但不支持接收感知信号；或者用于指示UE 1支持接收感知信号且支持发送感知信号；或者用于指示UE 1支持或不支持感知操作。可选的，该感知能力信息1还可以包括感知业务的标识信息。
可选的，UE的感知能力可以是以感知业务为粒度的。例如，对于入侵检测而言，UE支持接收感知信号且支持发送感知信号；但对于环境感知而言，UE不支持接收感知信号但支持发送感知信号。
S802：PCF网元根据感知能力信息1和UE 1的签约信息中的至少一个，确定UE 1的感知授权信息(记为感知授权信息3)。
其中，感知授权信息3包括第二对应关系。PCF网元可以根据感知能力信息1确定感知授权信息3，或者根据UE 1的签约信息确定感知授权信息3，或者根据感知能力信息1和UE 1的签约信息确定感知授权信息3。应理解的是，如果PCF网元根据UE 1的签约信息确定感知授权信息3，UE 1向PCF网元上报自身的感知能力信息为可选步骤。可选的，PCF网元可以从UDM网元或UDR网元处获取UE 1的签约信息。
该感知授权信息3可用于指示该UE 1是否被授权执行感知业务。本实施例以UE 1被授权执行感知业务为例进行描述。进一步，如果UE 1被授权执行感知业务，该感知授权信息3还可以包括第二对应关系。第二对应关系可以包括如下关系中的一项或多项：授权的感知业务的标识信息与该感知业务的时间信息的对应关系；授权的感知业务的标识信息与该感知业务对应的感知信号的信号特征的对应关系；授权的感知业务的标识信息与该感知业务对应的感知信号的处理方式的对应关系；或授权的感知业务的标识信息与该感知业务的对应预设条件等。
可选的，感知授权信息3还可以包括感知授权信息1。
需要说明的是，感知授权信息3与感知授权信息1可以是同一个信息，也可以是不同的信息，本申请实施例对此不作限定。
S803：PCF网元向UE 1发送感知授权信息3；相应的，UE 1接收感知授权信息3。
例如，PCF网元可以通过AMF网元将UE 1的感知授权信息3发送给UE 1。
至此，UE 1通过与PCF网元交互获取到第二对应关系。应理解的是，UE 1通过与应用服务器交互获取第二对应关系的具体实现方式、UE 1通过与PCF网元或应用服务器交互获取第一对应关系的具体实现方式、以及UE 2通过与PCF网元或应用服务器获取第一对应关系、第二对应关系的具体实现方式，皆可以请参考图8的相关内容，在此不再赘述。
S804：PCF网元向RAN发送感知授权信息3；相应的，RAN接收感知授权信息3。
可选的，PCF网元还可以通过AMF网元将UE 1的感知授权信息3发送给RAN；RAN接收到该感知授权信息3后，对其存储，以便后续用于为UE 1与其它设备之间的感知信号的发送或接收分配传输资源进行授权。
上述实施例介绍了具有感知业务需求的UE 1不发送感知信号，通过请求UE 2发送感知信号来完成UE 1的感知业务。接下来，结合实施例二介绍具有感知业务需求的UE 1发送感知信号，通过请求UE 2获取感知数据来完成UE 1的感知业务的具体实现方式。
实施例二：
图9示出了本申请实施例提供的终端感知方法的另一种流程示意图。在本实施例中，UE 1发送感知信号，通过请求UE 2根据UE 1发送的感知信号(和/或该感知信号的回波信号)获取感知数据来协助完成感知业务。如图9所示，该方法可以包括：
S901：UE 1向UE 2发送第四消息；相应的，UE 2接收第四消息。
该过程具体可参考S501的相关内容，将S501中的第一消息替换为本实施例的第四消息，将S501中的第二消息替换为本实施例的第五消息，将S501中的第三消息替换为本实施例的第六消息。
与S501中第一感知模式不同的是，本实施例中的第二感知模式可以是UE 1发送感知信号的模式；或者是UE 2接收感知信号的模式；或者是UE 1发送感知信号且UE 2接收感知信号的模式。UE 1确定完成感知业务的感知模式的方式具体可参考S501中UE 1确定感知模式的方式，此处不作赘述。
图7所示的实施例可以用于例如图10a和图10b所示的感知业务。图10a和图10b分别示出了本实施例中入侵检测和环境感知的一种示意图。在入侵检测中，UE 1向UE 2发送感知信号，物体向UE 1与UE 2之间移动；UE 2接收到感知信号后，根据感知信号的状态变化可以判断是否有物体入侵，如图10a所示。在环境感知中，UE 1发送感知信号；UE 2接收该感知信号的回波信号，以及根据该感知信号的回波信号感知周围的物体或环境，如图10b所示。
作为另一个示例，第四消息可以包括第三配置信息，该第三配置信息可以参考上述S501中对第一配置信息的介绍，此处不作赘述。
S902：UE 1发送感知信号；UE 2接收第二信号。
示例性的，UE 1可以在发送第四消息后，发送感知信号。或者，UE 1可以在发送第四消息后，先接收该第四消息的响应消息，再发送感知信号。
作为一个示例，UE 1可以根据第二感知模式，发送感知信号。例如，UE 1发送第四消息后，可以根据第二感知模式，发送感知信号。
作为另一个示例，UE 1可以根据第四配置信息，发送感知信号。第四配置信息的内容和获取方式具体可参考S502中对第二配置信息的介绍，此处不作赘述。
作为另一个示例，UE 1可以根据第二感知模式和第四配置信息，发送感知信号。例如，UE 1可以根据第二感知模式确定发送感知信号，并根据该第四配置信息发送该感知信号。
在一种可能的实现方式中，在UE 1发送感知信号之前，UE 1与UE 2之间还可以协商AS层配置参数。UE 1可以根据该AS层配置参数发送感知信号。该AS层配置参数用于感知信号的发送和接收。该AS层配置参数可以包括承载感知信号的逻辑信道、层2标识、或感知信号的信号特性等信息中的至少一个。
在一种可能的实现方式中，在UE 1发送感知信号之前，UE 1可以获取承载感知信号的感知资源(如时域资源、频域资源等)，并基于该感知资源发送感知信号。例如，UE 1可以向RAN发送请求消息，该请求消息用于请求获取承载感知业务对应的感知信号的资源；RAN接收到请求消息后，可以确定该感知业务的感知资源，如根据UE 1的感知授权信息(如感知信号的信号特征等)获取该感知业务的感知资源，并将该感知资源发送给UE 1。可选的，UE 1发送的请求消息可以包括感知信号的信号特征。
在另一种可能的实现方式中，在UE 1发送感知信号之前，UE 1可以与UE 2协商AS层配置参数，以及获取承载感知信号的感知资源。之后，UE 1可以根据AS层配置参数以及感知资源发送感知信号。
应理解的是，UE 1可以根据第二感知模式、第四配置信息、AS层配置参数或感知资源中的一项或多项，发送该感知信号，具体实现过程可参考上述内容，在此不再一一举例。
在步骤S902中，UE 1发送感知信号；相应的，UE 2响应于第四消息，接收第二信号。第二信号可以是UE 1发送的感知信号，或者是UE 1发送的感知信号的回波信号，或者是UE 1发送的感知信号和该感知信号的回波信号，具体请参考步骤S901的相关描述，在此不再赘述。
示例性的，UE 2接收到第四消息后，可以确定是否接收第二信号，或者确定是否同意(或接受)采用第二感知模式。本实施例中，UE 2确定接收第二信号(或同意采用第二感知模式)。
作为一个示例，如果第四消息包括第二感知模式的信息，UE 2可以根据该第二感知模式的信息，确定第二感知模式，并根据第二感知模式，确定接收第二信号。其中，第二感知模式的信息可以是感知模式指示信息或感知模式标识信息等，本申请实施例并不限定于此。
作为另一个示例，UE 2可以根据感知能力信息2，或者根据感知授权信息2，或者根据感知能力信息2和感知授权信息2，确定是否接收第二信号。具体可以参考S502中UE 2根据上述信息确定是否发送第二信号的过程，此处不作赘述。
作为一个示例，UE 2可以根据第二感知模式，接收第二信号。例如，UE 2在接收第四消息后，可以根据第二感知模式尝试接收第一信号，并接收到该第一信号。
作为一个示例，UE 2可以根据第三配置信息，接收第二信号。
可选地，UE 2判断对感知数据的处理结果(和/或感知数据)是否满足预设条件，若满足预设条件则通知UE2的应用层或通知UE 1。预设条件具体可以参考S502和S503中对预设条件的介绍。
值得注意的是，如果UE 2不接受采用第二感知模式，UE 2可以确定其它感知模式，并将该其它感知模式的信息发送给UE 1。其中，UE 2确定其它感知模式的具体实现方式，请参见上述UE 2确定接收第二信号的具体实现方式，在此不再赘述。
S903：UE 2根据第二信号，获取感知业务的感知数据。
UE 2接收到第二信号后，可以根据第二信号获取感知业务的感知数据。其中，感知数据可以是感知图像、或信号变化曲线等，本申请并不限定于此。UE 2接收到第二感知信号并进一步获取感知数据的过程具体可以参考S503的内容，此处不作赘述。
作为另一个示例，UE 2可以向UE 1发送感知数据(或感知数据的处理结果)；相应的，UE 1接收感知数据(或感知数据的处理结果)。例如，第三配置信息包括预设条件，且该感知数据的处理结果满足该预设条件，UE 2根据该预设条件向UE 1发送感知数据或该感知数据的处理结果。又例如，UE 1可以向UE 2发送第二传输指示，相应的，UE 2接收第二传输指示。该第二传输指示用于指示UE 2将感知数据或该感知数据的处理结果发送给UE 1。进一步，UE 2根据第二传输指示向UE 1发送感知数据或该感知数据的处理结果。
下面从UE的各个逻辑层(如图4所示)的交互，对图9所示的终端感知方法进行介绍。
图11示出了本申请实施例提供的终端感知方法的一种流程示意图。其中，步骤S1101、步骤S1105、步骤S1109为可选步骤，图11中用虚线表示。如图11所示，该方法可以包括：
S1101：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
具体可参考图3a至3c的实施例的内容以及S501，S701的内容，此处不再赘述。
在本实施例中，UE 1支持发送感知信号，但不支持接收感知信号；或者，UE 1仅授权发送感知信号，未授权接收感知信号。UE 1通过广播第六消息，能够发现支持接收感知信号的UE 2，从而UE 1可以请求UE 2协助完成感知业务。
作为一个示例，UE 2可以向UE 1发送第五消息；相应的，UE 1接收第五消息。其中，第五消息包括UE 2的感知能力信息(即感知能力信息2)，或者包括UE 2的感知授权信息(即感知授权信息2)，或者包括感知能力信息2和感知授权信息2。具体可参考步骤S501或S701中UE 1接收来自UE 2的第二消息的相关内容，在此不再赘述。
S1102：APP层1向ProSe层1发送感知需求；相应的，ProSe层1接收该感知需求。或者，APP层1向ProSe层1发送感知请求；相应的，ProSe层1接收该感知请求。图11以感知需求为例。
其中，步骤S1102的具体实现过程可参考上述S702的具体实现过程，在此不再赘述。
S1103：ProSe层1确定完成感知业务的模式是第二感知模式。
ProSe层1接收到感知需求后，确定完成感知业务的感知模式。在本实施例中，ProSe层1确定完成感知业务的感知模式是第二感知模式。其中，ProSe层1确定完成感知业务的感知模式是第二感知模式的具体实现方式，请参考步骤S901中UE 1确定完成感知业务的感知模式是第一感知模式的具体实现方式，在此不再赘述。
需要说明的是，UE 1可以通过发现流程发现支持第二感知模式的UE 2；或者，UE 1也可以在与UE 2建立PC5连接后，根据来自UE 2的第五消息(即包括感知能力信息2和感知授权信息2中的至少一个)，确定UE 2支持第二感知模式；本申请实施例并不限定于此。
S1104：ProSe层1向ProSe层2发送第四消息；相应的，ProSe层2接收第四消息。
该第一消息具体可参照S901中对第四消息的介绍，此处不再赘述。
可以理解的是，S901中由UE1执行的发送第四消息或者获取第三配置信息等动作由此处的ProSe层1执行。
S1105：ProSe层2确定UE 2接收第二信号。
可选的，UE 2确定UE 2接收第二信号可以理解为UE 2同意(或接受)采用第二感知模式。
S1105的过程具体请参考步骤S902，在此不再赘述。
S1106：ProSe层2向ProSe层1发送第八消息；相应的，ProSe层1接收第八消息。
可选的，ProSe层2可以向ProSe层1发送第八消息，该第八消息例如可以是感知响应消息或PC 5信令，本申请实施例并不限定于此。该第八消息可用于指示UE 2是否协助UE 1完成感知业务(或指示UE 2是否接受采用第二感知模式)。本申请实施例以UE 2协助UE 1完成感知业务(或UE 2接受采用第二感知模式)为例进行描述。
可选的，ProSe层1接收到第八消息后，还可以向ProSe层2发送第二传输指示(图11中未示出)。第二传输指示用于指示UE 2向UE 1发送该感知业务的感知数据或该感知数据的处理结果。
可选的，如果UE 2不接受采用第二感知模式，第八消息可以包括UE 2确定的其它感知模式的信息。UE 2确定其它感知模式的具体实现方式，请参考前述步骤S1105中UE 2确定自身接收第二信号的相关内容，在此不再赘述。
S1107：ProSe层1向AS层1发送第四配置信息；相应的，AS层1接收第四配置信息。
例如，ProSe层1发送第四消息后或接收到第八消息后，ProSe层1可以获取第四配置信息，并将第四配置信息发送给AS层2。
其中，ProSe层1获取第四配置信息的具体实现过程请，参考前述步骤S902中UE 1获取第四配置信息的相关内容，在此不再赘述。以及，ProSe层1获取第一对应关系的具体实现过程，请参考图8所示内容，在此不再赘述。
S1108：ProSe层2向AS层2发送第三配置信息；相应的，AS层2接收第三配置信息。
示例性的，ProSe层2确定协助UE 1完成感知业务后，可以获取第三配置信息，并将第三配置信息发送给AS层2。该第三配置信息用于接收第二信号，或者用于处理第二信号，或者用于接收和处理第二信号。
例如，ProSe层2可以根据感知业务的标识信息确定第三配置信息。又例如，如果第四消息包括第三配置信息，ProSe层2接收到第四消息后，根据该第四消息可以得到第三配置信息。又例如，ProSe层2可以通过与PCF网元或应用服务器交互，获取第三配置信息。再例如，ProSe层2还可以通过与PCF网元或应用服务器交互，得到第二对应关系，并根据第二对应关系，确定第三配置信息。该第二对应关系可以是预先定义的，或者通过与PCF网元或应用服务器获取的等，本申请实施例对第二对应关系的具体获取方式并不限定于此。其中，ProSe层2获取第三配置信息的具体实现过程，请参考前述步骤S902中UE 2获取第三配置信息的相关内容，在此不再赘述。以及，ProSe层2获取第二对应关系的具体实现过程，请参考图8所示内容，在此不再赘述。
S1109：AS层1与AS层2之间协商AS层配置参数。
可选的，AS层1与AS层2之间可以协商AS层配置参数。该AS层配置参数用于感知信号的发送和接收。该AS层配置参数可以包括承载感知信号的逻辑信道、层2标识、或感知信号的信号特性等信息中的至少一个。
S1110：AS层1发送感知信号；AS层2接收第二信号。
其中，AS层1发送感知信号的具体实现过程，请参考前述步骤S902中UE 1发送感知信号的相关内容，在此不再赘述。
在一种可能的实现方式中，AS层1发送感知信号之前，AS层1可以获取承载感知信号的感知资源(如时域资源、频域资源等)，并基于感知资源发送感知信号。其中，AS层1获取感知资源的具体实现方式，请参考步骤S902中UE 1获取感知资源的相关内容，在此不再赘述。
其中，AS层2接收第二信号的具体实现过程，请参考前述步骤S902中UE 2接收第二信号的相关内容，在此不再赘述。
其中，第二信号可以是AS层1发送的感知信号，或者是AS层1发送的感知信号的回波信号，或者是AS层1发送的感知信号以及AS层1发送的感知信号的回波信号。例如，在感知业务为入侵检测时，第二信号为AS 1发送的感知信号。例如，在感知业务为环境感知时，第二信号为AS 1发送的感知信号的回波信号，回波信号是感知信号经过物体反射所形成的信号。再例如，在感知业务是入侵检测和环境感知时，该第二信号为AS 1发送的感知信号和AS 1发送的感知信号的回波信号。
S1111：AS层2根据第二信号，获取感知业务的感知数据。
示例性的，AS层2接收到第二信号后，可以根据感知信号的处理方式对第二信号处理，得到感知业务的感知数据。例如，感知业务是入侵检测，入侵检测对应的感知信号的 处理方式可以为根据接收到的感知信号生成信号变化曲线。又例如，感知业务是环境感知，环境感知对应的感知信号的处理方式可以为根据感知信号的回波信号生成感知图像。另外，该感知数据可以是信号变化曲线、感知图像等，本申请并不限定于此。
进一步，AS层2可以根据该感知数据和预设条件，确定是否对该感知数据做进一步处理，如将感知数据发送给其它逻辑层(如UE 2的APP层)处理，或者将感知数据发送给UE 2等。
可选的，AS层2获取感知业务的感知数据后，UE 2可以向UE 1发送感知数据(或感知数据的处理结果)，图11中未示出。例如，如果ProSe层1向ProSe层2发送第二传输指示，UE 2可以根据第二传输指示向UE 1发送感知数据或感知数据的处理结果。又例如，如果第三配置信息包括预设条件，且感知数据的处理结果满足该预设条件，UE 2可以根据该预设条件向UE 1发送感知数据或该感知数据的处理结果。
至此，UE 2成功获取感知业务的感知数据，完成了UE 1的感知业务。
上述实施例一和实施例二介绍了UE 1与UE 2相互协助完成感知业务的实现过程。接下来，结合实施例三和实施例四介绍UE 1与UE 2相互协助完成测距业务的实现过程。
实施例三：
图12示出了本申请实施例提供的终端测量方法的一种流程示意图。在本实施例中，UE 1发送测距信号(ranging signal)，通过请求UE 2发送该测距信号的反馈信号来协助完成测距业务。如图12所示，该方法可以包括：
S1201：UE 1向UE 2发送第九消息；相应的，UE 2接收第九消息。
可以理解的是，S1201具体可参考S501，可以将图5实施例中的感知业务相关的消息名称或信息名称，替换为测距业务相关的消息名称或信息名称。
示例性的，UE 1存在测距(ranging)业务需求，UE 1可以向UE 2发送第九消息。
需要说明的是，本申请实施例涉及的测距业务可用于测量UE 1与UE 2之间的相对距离。图13示出了本实施例中测距业务的一种示意图。如图13所示，UE 1向UE 2发送测距信号，并计算发送测距信号与接收该测距信号的反馈信号之间的时长，记为Tround1；UE 2接收到测距信号后，计算接收测距信号与发送反馈信号之间的时长，记为Treply1，以及向UE 1发送携带Treply1的反馈信号；UE 1接收到反馈信号后，根据Tround1和Treply1确定UE 1与UE 2之间的相对距离，记为D1，其中该D1为(Tround1-Treply1)/2与光速的乘积。
S1202：UE 1发送测距信号；UE 2接收测距信号。
示例性的，UE 1可以在发送第九消息后，发送测距信号。或者，UE 1可以在发送第九消息后，先接收该第九消息的响应消息，再发送测距信号。
可以理解的是，S1202具体可参考S502，可以将图5实施例中的感知业务相关的消息名称或信息名称，替换为测距业务相关的消息名称或信息名称。
S1203：UE 2发送测距信号的反馈信号，UE 1接收该反馈信号。
UE 2接收到来自UE 1的测距信号后，可以向UE 1发送该测距信号的反馈信号。相应的，UE 1可以接收该反馈信号。在本实施例中，该反馈信号中携带有UE 2接收测距信号到发送该测距信号的反馈信号之间的时长，即携带有Treply1。
可以理解的是，S1203具体可参考S503，可以将图5实施例中的感知业务相关的消息名称或信息名称，替换为测距业务相关的消息名称或信息名称。
S1204：UE 1根据测距信号和反馈信号，获取测距业务的测距数据。
在S1204中，UE 1接收到反馈信号后，可以根据测距信号和反馈信号获取测距业务的测距数据。例如，UE 1可以根据测距信号和参考信号获取UE 1与UE 2之间的相对距离，该UE 1与UE 2之间的相对距离为(Tround1-Treply1)/2与光速的乘积，如图13所示。
作为另一个示例，UE 1可以向UE 2发送测距数据(或该测距数据的处理结果)；相应的，UE 2接收测距数据(或该测距数据的处理结果)。例如，该测距数据的处理结果满足预设条件，UE 1根据预设条件向UE 2发送测距数据或测距数据的处理结果。又例如，UE2可以向UE 1发送第三传输指示，相应的UE 1接收第三传输指示。该第三传输指示用于指示UE 1将测距数据或测距数据的处理结果发送给UE 2。进一步，UE 1根据第三传输指示向UE 2发送测距数据或测距数据的处理结果。
下面从UE的各个逻辑层(如图4所示)的交互，对图12所示的终端测量方法进行介绍。
图14示出了本申请实施例提供的终端测量方法的一种流程示意图。其中，步骤S1401、步骤S1405、步骤S1406、步骤S1409为可选步骤，即可以执行，也可以不执行，图14中用虚线表示。如图14所示，该方法可以包括：
S1401：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
在本实施例中，UE 1支持发送测距信号，但不支持接收测距信号；或者，UE 1仅授权发送测距信号，未授权接收测距信号；或者，已授权UE 1进行(或执行)测量操作。UE 1通过广播第十一消息，能够发现支持接收测距信号的UE 2，从而UE 1可以请求UE 2协助完成测距业务。其中，S1401的具体实现过程请参考前述S1201的相关内容，此处不再赘述。
S1402：APP层1向ProSe层1发送测距需求；相应的，ProSe层1接收该测距需求。或者，APP层1向ProSe层1发送测距请求；相应的，ProSe层1接收该测距请求。
例如，APP层1具有测距业务需求，生成测距需求(或测距请求)，并将测距需求(或测距请求)发送给ProSe层1。其中，测距需求(或测距请求)可以包括测距业务的标识信息。该测距业务的标识信息用于标识测距业务的类型。
值得注意的是，APP层1可以在UE 1完成发现流程和PC5连接建立流程后，向ProSe层1发送测距需求(或测距请求)；也可以APP层1具有测距业务需求后，触发UE 1发起发现流程和PC5连接建立流程，本申请实施例对此不做限定。
S1403：ProSe层1确定完成测距业务的模式是第一测距模式。
ProSe层1接收到测距需求后，确定完成测距业务的测距模式。在本实施例中，ProSe层1确定完成测距业务的测距模式是第一测距模式。其中，ProSe层1确定完成测距业务的测距模式是第一测距模式的具体实现方式，请参考步骤S501中UE 1确定完成感知业务的感知模式的具体实现方式，在此不再赘述。
S1404：ProSe层1向ProSe层2发送第九消息；相应的，ProSe层2接收第九消息。
第九消息例如可以是测距请求消息或PC5信令等，但本申请对第九消息的具体实现形式并不限定于此。该第九消息可以用于请求通过第一测距模式完成(或实现、执行等)测距业务；或者，用于请求UE 2通过第一测距模式协助UE 1完成(或实现、执行等)测距业务；或者，用于请求UE 2协助UE 1完成(或实现、执行等)测距业务等。
该第九消息可以包括第一测距模式的信息、测距业务的标识信息以及第五配置信息中 的一项或多项，具体请参考前述S501的相关描述，可以理解为将S501中的感知替换为测距，此处不再赘述。
S1405：ProSe层2确定UE 2接收测距信号。
可选的，UE2接收测距信号可以理解为UE 2同意采用第一测距模式，或者理解为UE 2同意接收测距信号，以及向UE 1发送该测距信号的反馈信号。
可选的，UE 2的ProSe层(即ProSe层2)可以确定接收测距信号。例如，ProSe层2接收到第九消息后，响应于该第九消息，可以确定是否接收测距信号。在本实施例中，ProSe层2确定接收测距信号。其中，步骤S1405为可选步骤。其中，ProSe层2确定接收测距信号的具体实现过程请参见前述S1202的相关描述，此处不再赘述。
S1406：ProSe层2向ProSe层1发送第十五消息；相应的，ProSe层1接收第十五消息。
可选的，ProSe层2可以向ProSe层1发送第十五消息，该第十五消息例如可以是测量响应消息或PC 5信令，本申请实施例并不限定于此。该第十五消息可用于指示UE 2是否协助UE 1完成测距业务或指示UE2是否接受采用第一测距模式。本申请实施例以UE 2协助UE 1完成测距业务(UE 2接收采用第一测距模式)为例进行描述。
可选的，该第十五消息可以包括第三传输指示，图14中未示出。第三传输指示用于指示UE 1向UE 2发送该测距数据或测距数据的处理结果。
可选的，若UE 2不接受采用第一测距模式，则第十五消息中还可以包括UE2确定的其他测距模式。UE 2确定的其他测距模式的具体实现方式，请参考步骤图12中的相关描述，在此不再赘述。
S1407：ProSe层1向AS层1发送第六配置信息；相应的，AS层1接收第六配置信息。
例如，ProSe层1发送第九消息后或接收到第十五消息后，ProSe层1可以获取第六配置信息，并将第六配置信息发送给AS层2。其中，第六配置信息的相关描述请参考上述第二配置信息或第四配置信息的相关内容，此处不再赘述。
可选的，ProSe层1可以向AS层1发送测距信号发送指示。例如，ProSe层1可以根据第一测距模式的信息确定测距信号发送指示，并向AS层1发送该测距信号发送指示。其中的测距信号发送指示用于指示发送测距信号。
S1408：ProSe层2向AS层2发送第五配置信息；相应的，AS层2接收第五配置信息。
示例性的，ProSe层2确定协助UE 1完成测距业务后，可以获取第五配置信息，该第五配置信息用于接收测距信号，并将第五配置信息发送给AS层2。
可选的，ProSe层2可以向AS层2发送测距信号接收指示。例如，ProSe层2可以根据第一测距模式的信息确定测距信号接收指示，并向AS层2发送该测距信号接收指示。其中的测距信号接收指示用于指示接收该测距信号。
S1409：AS层1与AS层2之间协商AS层配置参数。
可选的，AS层1与AS层2之间可以协商AS层配置参数。该AS层配置参数用于测距信号的发送和接收。该AS层配置参数可以包括承载测距信号的逻辑信道、层2标识、或测距信号的信号特性等信息中的至少一个。
S1410：AS层1发送测距信号；AS层2接收测距信号。
具体可参考前述AS层1发送感知信号的相关内容，并将感知替换为测距，在此不再赘述。
S1411：AS 2发送反馈信号；AS 1接收反馈信号。
其中，S1411的具体实现过程请参考上述S1203的相关内容，此处不再赘述。
S1412：AS层1根据测距信号和反馈信号，获取测距业务的测距数据。
获取测距数据的过程具体可参考签署获取感知数据的过程，此处不再赘述。需要说明的是，UE还可以包括Ranging层(图4中未示出)，该Ranging层可用于实现测距业务相关的功能。图14中由ProSe层执行的部分或全部步骤可以由Ranging层执行。例如，UE 1的Ranging层可以向UE 2的Ranging层发送测距信号；UE 2的Ranging层接收测距信号，以及向UE 1的Ranging层发送反馈信号；UE 1的Ranging层接收到反馈信号后可以根据测距信号和反馈信号获取测距数据。
至此，UE 1成功获取测距数据，完成了UE 1的测距业务。
上述实施例介绍了具有测距业务需求的UE 1发送测距信号，通过请求UE 2发送该测距信号的反馈信号来完成UE 1的测距业务。接下来，结合实施例四介绍具有测距业务需求的UE 1不发送测距信号，通过请求UE 2发送测距信号来完成UE 1的测距业务的具体实现方式。
实施例四：
图15示出了本申请实施例提供的终端测量方法的另一种流程示意图。在本实施例中，UE 1不发送测距信号，通过请求UE 2发送测距信号获取测距数据来协助完成测距业务。如图15所示，该方法可以包括：
S1501：UE 1向UE 2发送第十二消息；相应的，UE 2接收第十二消息。
具体可参考上述S1201的介绍，此处不作赘述。
需要说明的是，本申请实施例涉及的测距业务可用于测量UE 1与UE 2之间的相对距离。图16示出了本实施例中测距业务的一种示意图。如图16所示，UE 2向UE 1发送测距信号，并计算发送测距信号与接收该测距信号的反馈信号之间的时长，记为Tround2；UE 1接收到测距信号后，计算接收测距信号与发送反馈信号之间的时长，记为Treply2，以及向UE 2发送携带Treply2的反馈信号；UE 2接收到反馈信号后，根据Tround2和Treply2确定UE 1与UE 2之间的相对距离，记为D2，其中该D2为(Tround2-Treply2)/2与光速的乘积。
与S1201中第一测距模式不同的是，第二测距模式可以是UE 1接收测距信号的模式；或者是UE 2发送测距信号的模式；或者是UE 1接收测距信号且UE 2发送测距信号的模式。第二测距模式还可以是UE 1作为测距信号接收端的模式；或者是UE 2作为测距信号发送端的模式；或者是UE 1作为测距信号接收端且UE 2作为测距信号接收端的模式。
S1502：UE 2发送测距信号；UE 1接收测距信号。
具体可参考上述S1202的过程，区别在于此处由UE 2执行发送测距信号的动作，由UE 1执行接收测距信号的动作。
S1503：UE 1发送该测距信号反馈信号，UE 2接收该反馈信号。根据测距信号，获取测距业务的测距数据。
具体可参考上述S1203的过程，区别在于此处由UE 1执行发送该测距信号反馈信号的动作，由UE 1执行接收反馈信号并获取测距数据的动作。
S1504：UE 2根据测距信号和反馈信号，获取测距业务的测距数据。
具体可参考S1505中UE1获取测距数据的动作。
下面从UE的各个逻辑层(如图4所示)的交互，对图15所示的终端测量方法进行介绍。
图17示出了本申请实施例提供的终端测量方法的一种流程示意图。其中，步骤S1701、步骤S1705、步骤S1709为可选步骤，即可以执行，也可以不执行，图17中用虚线表示。如图17所示，该方法可以包括：
S1701：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
具体可参考S1401的介绍。
S1702：APP层1向ProSe层1发送测距需求；相应的，ProSe层1接收该测距需求。或者，APP层1向ProSe层1发送测距请求；相应的，ProSe层1接收该测距请求。
其中，步骤S1702的具体实现过程可参考上述S1402的具体实现过程，在此不再赘述。
S1703：ProSe层1确定完成测距业务的模式是第二测距模式。
具体可参考S1403的介绍。
S1704：ProSe层1向ProSe层2发送第十二消息；相应的，ProSe层2接收第十二消息。
具体可参考S1404的介绍。
S1705：ProSe层2确定UE 2发送测距信号。
具体可参考S1405的介绍，区别在于UE 2从接收测距信号改变为发送测距信号。
S1706：ProSe层2向ProSe层1发送第十六消息；相应的，ProSe层1接收第十六消息。
具体可参考S1406的介绍。
S1707：ProSe层1向AS层1发送第八配置信息；相应的，AS层1接收第八配置信息。
具体可参考S1408的介绍。
S1708：ProSe层2向AS层2发送第七配置信息；相应的，AS层2接收第七配置信息。
具体可参考S1408的介绍。
S1709：AS层1与AS层2之间协商AS层配置参数。
具体可参考S1409的介绍。
S1710：AS层2发送测距信号；AS层1接收测距信号。
S1711：AS层1发送该测距信号的反馈信号；AS层2接收反馈信号。
其中，S1710至S1711的具体实现过程请参考上述S1410和S1411的相关内容，此处不再赘述。
S1712：AS层2根据测距信号和反馈信号，获取测距业务的测距数据。
具体可参考S1412的介绍。
至此，UE 2成功获取测距数据，完成了UE 1的测距业务。
上述实施例三和实施例四介绍了UE 1与UE 2相互协助完成测距业务的实现过程。接下来，结合实施例五和实施例六介绍UE 1与UE 2相互协助完成测角业务的实现过程。
实施例五：
图18示出了本申请实施例提供的终端测量方法的一种流程示意图。在本实施例中，UE 1发送测角信号(angular signal或ranging signal)，通过请求UE 2接收测角信号来协助完成测角业务。如图18所示，该方法可以包括：
S1801：UE 1向UE 2发送第十七消息；相应的，UE 2接收第十七消息。
示例性的，UE 1存在测角(angular)业务需求，UE 1可以向UE 2发送第十七消息。
可以理解的是，S1801具体可参考S501或S901，可以将图5或图9实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
与前述第一感知模式或第一测距模式不同的是，本实施例中第一测角模式可以是UE 1发送测角信号的模式；或者是UE 2接收测角信号的模式；或者是UE 1发送测角信号且UE 2接收测角信号的模式。
或者，第一测角模式可以是UE 1作为测角信号发送端的模式；或者是UE 2作为测角信号接收端的模式；或者是UE 1作为测角信号发送端且UE 2作为测角信号接收端的模式。
或者，第一测角模式还可以是UE 2作为参考UE(reference UE)的模式；或者是UE1作为目标UE(target UE)的模式；或者是UE 2作为参考UE且UE 1作为目标UE的模式。其中，参考UE还可以是观察UE(observer UE)，参考UE的参考平面和参考方向用于计算角度，获得测角数据。
S1802：UE 1发送测角信号；UE 2接收测角信号。
可以理解的是，S1802具体可参考S902，可以将图9实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S1803：UE 2根据测角信号获取测角业务的测角数据。
UE 2接收到来自UE 1的测角信号后，可以根据该测角信号的接收方向(或到达方向)以及参考方向，获取该测角业务的测角数据(例如UE1相对于UE2的角度或方位)。其中，该测角数据为测角信号的接收方向(或到达方向)与参考方向之间的夹角，如图19所示。其中的参考方向可以是预先设定的，或者是UE 1与UE 2预先协商的等本申请实施例对此不作限定。
可以理解的是，S1803具体可参考S903，可以将图9实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
下面从UE的各个逻辑层(如图4所示)的交互，对图18所示的终端测量方法进行介绍。
图20示出了本申请实施例提供的终端测量方法的一种流程示意图。其中，步骤S2001、步骤S2005、步骤S2006、步骤S2009为可选步骤，即可以执行，也可以不执行，图20中用虚线表示。如图20所示，该方法可以包括：
S2001：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
可以理解的是，S2001具体可参考S1101，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2002：APP层1向ProSe层1发送测角需求；相应的，ProSe层1接收该测角需求。或者，APP层1向ProSe层1发送测角请求；相应的，ProSe层1接收该测角请求。
可以理解的是，S2002具体可参考S1102，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2003：ProSe层1确定完成测角业务的模式是第一测角模式。
可以理解的是，S2003具体可参考S1103，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2004：ProSe层1向ProSe层2发送第十七消息；相应的，ProSe层2接收第十七消息。
可以理解的是，S2004具体可参考S1104，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2005：ProSe层2确定UE 2接收测角信号。
可以理解的是，S2005具体可参考S1105，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2006：ProSe层2向ProSe层1发送第二十三消息；相应的，ProSe层1接收第二十三消息。
可以理解的是，S2006具体可参考S1106，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2007：ProSe层1向AS层1发送第十配置信息；相应的，AS层1接收第十配置信息。
可以理解的是，S2007具体可参考S1107，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2008：ProSe层2向AS层2发送第九配置信息；相应的，AS层2接收第九配置信息。
可以理解的是，S2008具体可参考S1108，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2009：AS层1与AS层2之间协商AS层配置参数。
可以理解的是，S2009具体可参考S1109。
S2010：AS层1发送测角信号；AS层2接收测角信号。
可以理解的是，S2010具体可参考S1110，可以将图11实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2011：AS 2根据测角信号，获取测角业务的测角数据。
示例性的，AS层2接收到测角信号后，可以根据测角信号的处理方式获取测角业务的测角数据。测角数据的获取请参考步骤S1803的相关内容，此处不再赘述。
进一步，AS层2可以根据该测角数据和预设条件，确定是否对该测角数据做进一步处理，如将测角数据发送给其它逻辑层(如APP层)处理，或者将测角数据发送给UE 1等。
可选的，AS层2获取测角数据后，UE 2可以向UE 1发送测角数据(或该测角数据的处理结果)，图20中未示出。例如，如果ProSe层1向ProSe层2发送第五传输指示，UE 2可以根据第五传输指示向UE 1发送测角数据或该测角数据的处理结果。又例如，如果第十配置信息包括预设条件，且测角数据的处理结果满足该预设条件，UE 2可以根据该预设条件向UE 1发送测角数据或该测角数据的处理结果。
需要说明的是，UE还可以包括Angular层(或Ranging层)(图4中未示出)，该Angular层可用于实现测角业务相关的功能。图20中由ProSe层执行的部分或全部步骤可以由Angular层执行。例如，UE 1的Angular层可以向UE 2的Angular层发送测角信号；UE 2 的Angular层接收测角信号，并根据该测角信号获取测角数据。
至此，UE 2成功获取测角数据，完成了UE 1的测角业务。
上述实施例介绍了具有测角业务需求的UE 1发送测角信号，通过请求UE 2获取测角数据来完成UE 1的测角业务。接下来，结合实施例六介绍具有测角业务需求的UE 1不发送测角信号，通过请求UE 2发送测角信号来完成UE 1的测角业务的具体实现方式。
实施例六：
图21示出了本申请实施例提供的终端测量方法的另一种流程示意图。在本实施例中，UE 1不发送测角信号，通过请求UE 2发送测角信号来协助完成测角业务。如图21所示，该方法可以包括：
S2101：UE 1向UE 2发送第二十消息；相应的，UE 2接收第二十消息。
可以理解的是，S2101具体可参考S1801。
需要说明的是，本申请实施例涉及的测角业务可用于测量UE 1与UE 2之间的相对角度。图22示出了本实施例中测角业务的一种示意图。如图22所示，UE 2向UE 1发送测角信号；UE 1接收到测角信号后，计算该测角信号的接收方向(或到达方向)与参考方向的夹角，得到UE 1与UE 2之间的相对角度。与图18实施例不同的是，第二测角模式可以是UE 1接收测角信号的模式；或者是UE 2发送测角信号的模式；或者是UE 1接收测角信号且UE 2发送测角信号的模式。
或者，第二测角模式可以是UE 1作为测角信号接收端的模式；或者是UE 2作为测角信号发送端的模式；或者是UE 1作为测角信号接收端且UE 2作为测角信号接收端的模式。
或者，第二测角模式可以是UE 1作为参考UE的模式；或者是UE 2作为目标UE的模式；或者是UE 1作为参考UE且UE 2作为目标UE的模式。其中，参考UE还可以是观察UE，参考UE的参考平面和参考方向用于计算角度，获得测角数据。
S2102：UE 2发送测角信号；UE 1接收测角信号。
可以理解的是，S2101具体可参考S1802。区别在于此处由UE 2执行发送测角信号的动作，由UE 1执行接收测角信号的动作。
S2103：UE 1根据测角信号，获取测角业务的测角数据。
可以理解的是，S2103具体可参考S1803。区别在于此处由UE 1执行获取测角数据的动作。
下面从UE的各个逻辑层(如图4所示)的交互，对图21所示的终端测量方法进行介绍。
图23示出了本申请实施例提供的终端测量方法的一种流程示意图。其中，步骤S2301、步骤S2305、步骤S2309为可选步骤，即可以执行，也可以不执行，图23中用虚线表示。如图23所示，该方法可以包括：
S2301：UE 1与UE 2之间执行发现流程和PC5连接建立流程。
其中，S2301的具体实现过程请参考S2101的相关内容，此处不再赘述。可以理解的是，S2301具体还可参考S701，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2302：APP层1向ProSe层1发送测角需求；相应的，ProSe层1接收该测角需求。或者，APP层1向ProSe层1发送测角请求；相应的，ProSe层1接收该测角请求。
其中，步骤S2302的具体实现过程可参考上述S2102的具体实现过程，在此不再赘述。 可以理解的是，S2302具体还可参考S702，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2303：ProSe层1确定完成测角业务的模式是第二测角模式。
可以理解的是，S2303具体还可参考S703，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2304：ProSe层1向ProSe层2发送第二十消息；相应的，ProSe层2接收第二十消息。
可以理解的是，S2304具体还可参考S704，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2305：ProSe层2确定UE 2发送测角信号。
可以理解的是，S2305具体还可参考S705，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2306：ProSe层2向ProSe层1发送第二十四消息；相应的，ProSe层1接收第二十四消息。
可以理解的是，S2306具体还可参考S706，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2307：ProSe层1向AS层1发送第十二配置信息；相应的，AS层1接收第十二配置信息。
可以理解的是，S2308具体还可参考S708，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2308：ProSe层2向AS层2发送第十一配置信息；相应的，AS层2接收第十一配置信息。
可以理解的是，S2307具体还可参考S707，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2309：AS层1与AS层2之间协商AS层配置参数。
可以理解的是，S2309具体还可参考S709，可以将图7实施例中的感知业务相关的消息名称或信息名称，替换为测角业务相关的消息名称或信息名称。
S2310：AS层2发送测角信号；AS层1接收测角信号。
例如，AS层2可以根据第二测角模式发送测角信号。或者，AS层2可以根据第十一配置信息发送测角信号。或者，AS层2可以根据AS层配置参数发送测角信号。或者，AS层2可以根据第二测角模式以及第四配置信息发送测角信号。或者，AS层2可以根据第二测角模式以及AS层配置参数发送测角信号。或者，AS层2可以根据第十一配置信息和AS层配置参数发送测角信号。或者，AS层2还可以根据第二测角模式、第十一配置信息和AS层配置参数发送测角信号。其中，AS层2发送测角信号的具体实现过程，请参考前述步骤S2102中的相关内容，在此不再赘述。
在一种可能的实现方式中，AS层2发送测角信号之前，AS层2可以获取承载测角信号的测角资源(如时域资源、频域资源等)，并基于测角资源发送测角信号。其中，AS层2获取测角资源的具体实现方式，请参考步骤S2102中UE 2获取测角资源的相关内容，在此不再赘述。
在S2310中，AS层1接收测角信号的具体实现过程，请参考前述步骤S2102中的相 关内容，在此不再赘述。
可选的，AS层2根据从ProSe层2接收的测角信号发送指示，发送测角信号。相应地，AS层1根据从ProSe层1接收的测角信号接收指示，接收测角信号。
S2311：AS层1根据测角信号，获取测角业务的测角数据。
示例性的，AS层1接收到测角信号后，可以根据测角信号的处理方式获取测角业务的测角数据。测角数据的获取请参考步骤S2103的相关内容，此处不再赘述。
至此，UE 1成功获取测角数据，完成了UE 1的测角业务。
上述主要从设备交互的角度对本申请实施例提供的方案进行了介绍。可以理解的是，为了实现上述功能，各个设备可以包括执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请的实施例能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和实现方式约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对设备进行功能单元的划分，例如，可以对应各个功能划分各个功能单元，也可以将两个或两个以上的功能集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
在采用集成的单元的情况下，图24示出了本申请实施例中所涉及的装置的可能的示例性框图。如图24所示，装置2400可以包括：收发模块2401和处理模块2402。处理模块2402用于对装置2400的动作进行控制管理。收发模块2401用于支持装置2400与其他设备的通信。可选的，收发模块2401可以为一个模块，也可以是两个模块(如接收模块和发送模块)，该模块可以用于执行接收和发送操作。可选的，装置2400还可以包括存储模块2403，用于存储装置2400的程序代码和/或数据。
例如，该装置2400可以为上述实施例中的第一终端设备，或者还可以为设置在第一终端设备中的芯片。处理模块2402可以支持装置2400执行上文中各方法示例中第一终端设备的动作。或者，处理模块2402主要执行方法示例中的第一终端设备的内部动作，收发模块2401可以支持装置2400与其它设备之间的通信。
又例如，该装置2400可以为上述实施例中的第二终端设备，或者还可以为设置在第二终端设备中的芯片。处理模块2402可以支持装置2400执行上文中各方法示例中第二终端设备的动作。或者，处理模块2402主要执行方法示例中的第二终端设备的内部动作，收发模块2401可以支持装置2400与其它设备之间的通信。
例如，该装置2400可以为上述实施例中的第一终端设备，或者还可以为设置在第一终端设备中的芯片。处理模块2402可以支持装置2400执行上文中各方法示例中第一终端设备的动作。或者，处理模块2402主要执行方法示例中的第一终端设备的内部动作，收发模块2401可以支持装置2400与其它设备之间的通信。
应理解以上装置中单元的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且装置中的单元可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分单元以软件通过处理元件调用的形式实现，部分单元以硬件的形式实现。例如，各个单元可以为单独设立的处理 元件，也可以集成在装置的某一个芯片中实现，此外，也可以以程序的形式存储于存储器中，由装置的某一个处理元件调用并执行该单元的功能。此外这些单元全部或部分可以集成在一起，也可以独立实现。这里的处理元件又可以成为处理器，可以是一种具有信号的处理能力的集成电路。在实现过程中，上述方法的各操作或以上各个单元可以通过处理器元件中的硬件的集成逻辑电路实现或者以软件通过处理元件调用的形式实现。
在一个例子中，以上任一装置中的单元可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个特定集成电路(application specific integrated circuit，ASIC)，或，一个或多个微处理器(digital singnal processor，DSP)，或，一个或者多个现场可编程门阵列(field programmable gate array，FPGA)，或这些集成电路形式中至少两种的组合。再如，当装置中的单元可以通过处理元件调度程序的形式实现时，该处理元件可以是处理器，比如通用中央处理器(central processing unit，CPU)，或其它可以调用程序的处理器。再如，这些单元可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
以上用于接收的单元是一种该装置的接口电路，用于从其它装置接收信号。例如，当该装置以芯片的方式实现时，该接收单元是该芯片用于从其它芯片或装置接收信号的接口电路。以上用于发送的单元是一种该装置的接口电路，用于向其它装置发送信号。例如，当该装置以芯片的方式实现时，该发送单元是该芯片用于向其它芯片或装置发送信号的接口电路。
图25为本申请实施例提供的一种终端设备的结构示意图，其可以为以上实施例中的第一终端设备或第二终端设备等，用于实现以上实施例中各个设备的操作。如图25所示，该终端设备包括：天线2510、射频部分2520、信号处理部分2530。天线2510与射频部分2520连接。在下行方向上，射频部分2520通过天线2510接收网络设备或其它终端设备发送的信息，将该信息发送给信号处理部分2530进行处理。在上行方向上，信号处理部分2530对终端设备的信息进行处理，并发送给射频部分2520，射频部分2520对终端设备的信息进行处理后经过天线2510发送给网络设备或其它终端设备。
信号处理部分2530可以包括调制解调子系统，用于实现对数据各通信协议层的处理；还可以包括中央处理子系统，用于实现对终端设备操作系统以及应用层的处理；此外，还可以包括其它子系统，例如多媒体子系统，周边子系统等，其中多媒体子系统用于实现对终端设备相机，屏幕显示等的控制，周边子系统用于实现与其它设备的连接。调制解调子系统可以为单独设置的芯片。
调制解调子系统可以包括一个或多个处理元件2531，例如，包括一个主控CPU和其它集成电路。此外，该调制解调子系统还可以包括存储元件2532和接口电路2533。存储元件2532用于存储数据和程序，但用于执行以上方法中终端设备所执行的方法的程序可能不存储于该存储元件2532中，而是存储于调制解调子系统之外的存储器中，使用时调制解调子系统加载使用。接口电路2533用于与其它子系统通信。
该调制解调子系统可以通过芯片实现，该芯片包括至少一个处理元件和接口电路，其中处理元件用于执行以上终端设备执行的任一种方法的各个步骤，接口电路用于与其它装置通信。在一种实现中，终端设备实现以上方法中各个步骤的模块可以通过处理元件调度程序的形式实现，例如用于终端设备的装置包括处理元件和存储元件，处理元件调用存储元件存储的程序，以执行以上方法实施例中终端设备执行的方法。存储元件可以为与处理 元件处于同一芯片上的存储元件，即片内存储元件。
在另一种实现中，用于执行以上方法中终端设备所执行的方法的程序可以在与处理元件处于不同芯片上的存储元件，即片外存储元件。此时，处理元件从片外存储元件调用或加载程序于片内存储元件上，以调用并执行以上方法实施例中终端设备执行的方法。
在又一种实现中，终端设备实现以上方法中各个步骤的模块可以是被配置成一个或多个处理元件，这些处理元件设置于调制解调子系统上，这里的处理元件可以为集成电路，例如：一个或多个ASIC，或，一个或多个DSP，或，一个或者多个FPGA，或者这些类集成电路的组合。这些集成电路可以集成在一起，构成芯片。
终端设备实现以上方法中各个步骤的模块可以集成在一起，以SOC的形式实现，该SOC芯片，用于实现以上方法。该芯片内可以集成至少一个处理元件和存储元件，由处理元件调用存储元件的存储的程序的形式实现以上终端设备执行的方法；或者，该芯片内可以集成至少一个集成电路，用于实现以上终端设备执行的方法；或者，可以结合以上实现方式，部分模块的功能通过处理元件调用程序的形式实现，部分模块的功能通过集成电路的形式实现。
可见，以上用于终端设备的装置可以包括至少一个处理元件和接口电路，其中至少一个处理元件用于执行以上方法实施例所提供的任一种终端设备执行的方法。处理元件可以以第一种方式：即调用存储元件存储的程序的方式执行终端设备执行的部分或全部步骤；也可以以第二种方式：即通过处理器元件中的硬件的集成逻辑电路结合指令的方式执行终端设备执行的部分或全部步骤；当然，也可以结合第一种方式和第二种方式执行终端设备执行的部分或全部步骤。
这里的处理元件同以上描述，可以通过处理器实现，处理元件的功能可以和图24中所描述的处理模块2402的功能相同。示例性地，处理元件可以是通用处理器，例如CPU，还可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个ASIC，或，一个或多个微处理器DSP，或，一个或者多个FPGA等，或这些集成电路形式中至少两种的组合。存储元件可以通过存储器实现，存储元件的功能可以和图24中所描述的存储模块2403的功能相同。存储元件可以通过存储器实现，存储元件的功能可以和图24中所描述的存储模块2403的功能相同。存储元件可以是一个存储器，也可以是多个存储器的统称。
图25所示的终端设备能够实现上述方法实施例中涉及的第一终端设备或第二终端设备的各个过程。图25所示的终端设备中的各个模块的操作和/或功能，分别为了实现上述方法实施例中第一终端设备或第二终端设备的相应流程。具体可参见上述方法实施例中的描述，为避免重复，此处适当省略详述描述。
请参考图26，为本申请实施例提供的一种通信装置示意图，用于实现以上实施例中接入网设备或策略控制功能网元的操作。该通信装置包括：处理器2610和接口2630，可选的，该通信装置还包括存储器2620。接口2630用于实现与其他设备进行通信。
以上实施例中，第一终端设备或第二终端设备执行的方法可以通过处理器2610调用存储器(可以是第一终端设备或第二终端设备中的存储器2620，也可以是外部存储器)中存储的程序来实现。即，用于第一终端设备或第二终端设备的装置可以包括处理器2610，该处理器2610通过调用存储器中的程序，以执行以上方法实施例中的第一终端设备或第 二终端设备执行的方法。这里的处理器可以是一种具有信号的处理能力的集成电路，例如CPU。用于第一终端设备或第二终端设备的装置可以通过配置成实施以上方法的一个或多个集成电路来实现。例如：一个或多个ASIC，或，一个或多个微处理器DSP，或，一个或者多个FPGA等，或这些集成电路形式中至少两种的组合。或者，可以结合以上实现方式。
例如，图24中的处理模块2402的功能/实现过程可以通过图26所示的通信装置2600中的处理器2610调用存储器2620中存储的计算机可执行指令来实现，图24中的收发模块2401的功能/实现过程可以通过图26中所示的通信装置2600中的接口2630来实现。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行该计算机程序指令时，全部或部分地产生按照本申请实施例该的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包括一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。

Claims (54)

  1. 一种终端感知方法，其特征在于，包括：
    第一终端设备向第二终端设备发送第一消息，所述第一消息用于请求通过第一感知模式完成感知业务，所述第一感知模式是所述第一终端设备接收感知信号的模式，或者是所述第二终端设备发送感知信号的模式，或者是所述第一终端设备接收感知信号且所述第二终端设备发送所述感知信号的模式；
    所述第一终端设备接收第一信号，所述第一信号是所述第二终端设备发送的所述感知信号或者是所述第二终端设备发送的所述感知信号的回波信号；
    所述第一终端设备根据所述第一信号，获取所述感知业务的感知数据。
  2. 根据权利要求1所述的方法，其特征在于，所述第一消息中包括所述第一感知模式的信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第一感知能力信息和第一感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第一感知能力信息用于指示所述第一终端设备不支持发送所述感知信号，所述第一感知授权信息用于指示未授权所述第一终端设备发送所述感知信号。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第二感知能力信息和第二感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第二感知能力信息用于指示所述第二终端设备支持发送所述感知信号，所述第二感知授权信息用于指示已授权所述第二终端设备发送所述感知信号。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第二消息，所述第二消息包括所述第二感知能力信息和所述第二感知授权信息中的至少一个。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备发送第三消息，所述第三消息用于发现支持所述第一感知模式的终端设备，或发现支持感知能力的终端设备。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备向所述第二终端设备发送所述感知数据。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第一传输指示，所述第一传输指示用于指示所述第一终端设备向所述第二终端设备发送所述感知数据；
    所述第一终端设备向所述第二终端设备发送所述感知数据，包括：
    所述第一终端设备根据所述第一传输指示向所述第二终端设备发送所述感知数据。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述第一终端设备接收第一信号，包括：
    所述第一终端设备根据所述第一感知模式，接收所述第一信号。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述第一消息还包括第一配置信息，所述第一配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，或者所述感知信号的信号特征。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第一对应关系，确定所述第一配置信息；其中，所述第一对应关系包括如下对应关系中的一项或多项：
    所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，所述第一终端设备接收第一信号，包括：
    所述第一终端设备根据第二配置信息接收所述第一信号，所述第二配置信息包括如下信息中的一项或多项：所述感知业务的时间信息、所述感知信号的信号特征、所述感知信号的处理方式。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第二对应关系，确定所述第二配置信息；其中，所述第二对应关系包括如下对应关系中的一项或多项：
    所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的处理方式之间的对应关系。
  14. 一种终端测量方法，其特征在于，包括：
    第一终端设备向第二终端设备发送第二十消息，所述第二十消息用于请求通过第二测角模式完成测角业务，其中，所述第二测角模式是所述第一终端设备接收测角信号的模式，或者是所述第二终端设备发送测角信号的模式，或者是所述第二终端设备发送测角信号且所述第一终端设备接收所述测角信号的模式；
    所述第一终端设备接收来自所述第二终端设备的所述测角信号；
    所述第一终端设备根据所述测角信号获取所述测角业务的测角数据。
  15. 根据权利要求14所述的方法，其特征在于，所述第二十消息包括所述第二测角模式的信息。
  16. 根据权利要求14或15所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第三测角能力信息和第三测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第三测角能力信息用于指示所述第一终端设备不支持发送所述测角信号，所述第三测角授权信息用于指示未授权所述第一终端设备发送所述测角信号。
  17. 根据权利要求14至16中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第四测角能力信息和第四测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第四测角能力信息用于指示所述第二终端设备支持发送所述测角信号，所述第四测角授权信息用于指示未授权所述第二终端设备发送所述测角信号。
  18. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第二十一消息，所述第二十一消息包括所述第四测角能力信息和所述第四测角授权信息中的至少一个。
  19. 根据权利要求14至18中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备发送第二十二消息，所述第二十二消息用于发现支持所述第二测角模式的终端设备，或发现支持测角能力的终端设备。
  20. 根据权利要求14至19中任一项所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备向所述第二终端设备发送所述测角数据。
  21. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备接收来自所述第二终端设备的第六传输指示，所述第六传输指示用于指示所述第一终端设备向所述第二终端设备发送所述测角数据；
    所述第一终端设备向所述第二终端设备发送所述测角数据，包括：
    所述第一终端设备根据所述第六传输指示，向所述第二终端设备发送所述测角数据。
  22. 根据权利要求14至21中任一项所述的方法，其特征在于，所述第一终端设备接收来自所述第二终端设备的所述测角信号，包括：
    所述第一终端设备根据所述第二测角模式，接收来自所述第二终端设备的所述测角信号。
  23. 根据权利要求14至22中任一项所述的方法，其特征在于，所述第二十消息还包括第十一配置信息，所述第十一配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，或者所述测角信号的信号特征。
  24. 根据权利要求23所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第六对应关系，确定所述第十一配置信息，所述第六对应关系包括如下对应关系中的一项或多项：
    所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系。
  25. 根据权利要求14至24中任一项所述的方法，其特征在于，所述第一终端设备接收来自所述第二终端设备的所述测角信号，包括：
    所述第一终端设备根据所述第二测角模式和第十二配置信息，接收所述测角信号，其中，所述第十二配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，所述测角信号的信号特征，或者所述测角信号的处理方式。
  26. 根据权利要求25所述的方法，其特征在于，所述方法还包括：
    所述第一终端设备根据第五对应关系，确定所述第十二配置信息，其中，所述第五对应关系包括如下对应关系中的一项或多项：
    所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的处理方式之间的对应关系。
  27. 一种通信装置，其特征在于，所述装置包括处理模块和收发模块，其中：
    所述收发模块，用于向第二终端设备发送第一消息，所述第一消息用于请求通过第一感知模式完成感知业务，所述第一感知模式是所述通信装置接收感知信号的模式，或者是所述第二终端设备发送感知信号的模式，或者是所述通信装置接收感知信号且所述第二终端设备发送所述感知信号的模式；以及，接收第一信号，所述第一信号是所述第二终端设备发送的所述感知信号或者是所述第二终端设备发送的所述感知信号的回波信号；
    所述处理模块，用于根据所述第一信号，获取所述感知业务的感知数据。
  28. 根据权利要求27所述的装置，其特征在于，所述第一消息中包括所述第一感知模式的信息。
  29. 根据权利要求27或28所述的装置，其特征在于，所述处理模块，还用于：
    根据第一感知能力信息和第一感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第一感知能力信息用于指示所述通信装置不支持发送所述感知信号，所述第一 感知授权信息用于指示未授权所述通信装置发送所述感知信号。
  30. 根据权利要求27至29中任一项所述的装置，其特征在于，所述处理模块，还用于：
    根据第二感知能力信息和第二感知授权信息中的至少一个，确定所述第一感知模式；其中，所述第二感知能力信息用于指示所述第二终端设备支持发送所述感知信号，所述第二感知授权信息用于指示已授权所述第二终端设备发送所述感知信号。
  31. 根据权利要求30所述的装置，其特征在于，所述收发模块，还用于：
    接收来自所述第二终端设备的第二消息，所述第二消息包括所述第二感知能力信息和所述第二感知授权信息中的至少一个。
  32. 根据权利要求27至31中任一项所述的装置，其特征在于，所述收发模块，还用于：
    发送第三消息，所述第三消息用于发现支持所述第一感知模式的终端设备，或发现支持感知能力的终端设备。
  33. 根据权利要求27至32中任一项所述的装置，其特征在于，所述收发模块，还用于：
    向所述第二终端设备发送所述感知数据。
  34. 根据权利要求33所述的装置，其特征在于，所述收发模块，还用于：
    接收来自所述第二终端设备的第一传输指示，所述第一传输指示用于指示所述通信装置向所述第二终端设备发送所述感知数据；
    所述收发模块，用于通过如下方式向所述第二终端设备发送所述感知数据：
    根据所述第一传输指示向所述第二终端设备发送所述感知数据。
  35. 根据权利要求27至34中任一项所述的装置，其特征在于，所述收发模块，用于通过如下方法接收第一信号：
    根据所述第一感知模式，接收所述第一信号。
  36. 根据权利要求27至35中任一项所述的装置，其特征在于，所述第一消息还包括第一配置信息，所述第一配置信息包括如下信息中的一项或多项：所述感知业务的标识信息，所述感知业务的时间信息，或者所述感知信号的信号特征。
  37. 根据权利要求36所述的装置，其特征在于，所述处理模块，还用于：
    根据第一对应关系，确定所述第一配置信息；其中，所述第一对应关系包括如下对应关系中的一项或多项：
    所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系。
  38. 根据权利要求27至37中任一项所述的装置，其特征在于，所述收发模块，用于通过如下方式接收第一信号：
    根据第二配置信息接收所述第一信号，所述第二配置信息包括如下信息中的一项或多项：所述感知业务的时间信息、所述感知信号的信号特征、所述感知信号的处理方式。
  39. 根据权利要求38所述的装置，其特征在于，所述收发模块，还用于：
    根据第二对应关系，确定所述第二配置信息；其中，所述第二对应关系包括如下对应关系中的一项或多项：
    所述感知业务的标识信息与所述感知业务的时间信息之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的信号特征之间的对应关系；或者，
    所述感知业务的标识信息与所述感知信号的处理方式之间的对应关系。
  40. 一种通信装置，其特征在于，所述装置包括处理模块和收发模块，其中：
    所述收发模块，用于向第二终端设备发送第二十消息，所述第二十消息用于请求通过第二测角模式完成测角业务，其中，所述第二测角模式是所述通信装置接收测角信号的模式，或者是所述第二终端设备发送测角信号的模式，或者是所述第二终端设备发送测角信号且所述通信装置接收所述测角信号的模式；以及，接收来自所述第二终端设备的所述测角信号；
    所述处理模块，用于根据所述测角信号获取所述测角业务的测角数据。
  41. 根据权利要求40所述的装置，其特征在于，所述第二十消息包括所述第二测角模式的信息。
  42. 根据权利要求40或41所述的装置，其特征在于，所述处理模块，还用于：
    根据第三测角能力信息和第三测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第三测角能力信息用于指示所述通信装置不支持发送所述测角信号，所述第三测角授权信息用于指示未授权所述通信装置发送所述测角信号。
  43. 根据权利要求40至42中任一项所述的装置，其特征在于，所述处理模块，还用于：
    根据第四测角能力信息和第四测角授权信息中的至少一个，确定所述第二测角模式；其中，所述第四测角能力信息用于指示所述第二终端设备支持发送所述测角信号，所述第四测角授权信息用于指示未授权所述第二终端设备发送所述测角信号。
  44. 根据权利要求43所述的装置，其特征在于，所述收发模块，还用于：
    接收来自所述第二终端设备的第二十一消息，所述第二十一消息包括所述第四测角能力信息和所述第四测角授权信息中的至少一个。
  45. 根据权利要求40至44中任一项所述的装置，其特征在于，所述收发模块，还用于：
    发送第二十二消息，所述第二十二消息用于发现支持所述第二测角模式的终端设备，或发现支持测角能力的终端设备。
  46. 根据权利要求40至45中任一项所述的装置，其特征在于，所述收发模块，还用于：
    向所述第二终端设备发送所述测角数据。
  47. 根据权利要求46所述的装置，其特征在于，所述收发模块，还用于：
    接收来自所述第二终端设备的第六传输指示，所述第六传输指示用于指示所述通信装置向所述第二终端设备发送所述测角数据；
    所述收发模块，用于通过如下方式向所述第二终端设备发送所述测角数据：
    根据所述第六传输指示，向所述第二终端设备发送所述测角数据。
  48. 根据权利要求40至47中任一项所述的装置，其特征在于，所述收发模块，用于通过如下方式接收来自所述第二终端设备的所述测角信号：
    根据所述第二测角模式，接收来自所述第二终端设备的所述测角信号。
  49. 根据权利要求40至48中任一项所述的装置，其特征在于，所述第二十消息还包括第十一配置信息，所述第十一配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，或者所述测角信号的信号特征。
  50. 根据权利要求49所述的装置，其特征在于，所述处理模块，还用于：
    根据第六对应关系，确定所述第十一配置信息，所述第六对应关系包括如下对应关系中的一项或多项：
    所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系。
  51. 根据权利要求40至50中任一项所述的装置，其特征在于，所述收发模块，用于通过如下方式接收来自所述第二终端设备的所述测角信号：
    根据所述第二测角模式和第十二配置信息，接收所述测角信号，其中，所述第十二配置信息包括如下信息中的一项或多项：所述测角业务的标识信息，所述测角业务的时间信息，所述测角信号的信号特征，或者所述测角信号的处理方式。
  52. 根据权利要求51所述的装置，其特征在于，所述处理模块，还用于：
    根据第五对应关系，确定所述第十二配置信息，其中，所述第五对应关系包括如下对应关系中的一项或多项：
    所述测角业务的标识信息与所述测角业务的时间信息之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的信号特征之间的对应关系；或者，
    所述测角业务的标识信息与所述测角信号的处理方式之间的对应关系。
  53. 一种通信装置，其特征在于，包括一个或多个处理器和存储器，所述一个或多个处理器与所述存储器耦合；
    所述存储器存储有计算机程序；
    所述一个或多个处理器，用于执行所述存储器中存储的计算机程序，以使得所述通信装置执行如权利要求1至26中任一项所述的方法。
  54. 一种计算机可读存储介质，其特征在于，包括程序或指令，当所述程序或指令在计算机上运行时，如权利要求1至26中任一项所述的方法被执行。
PCT/CN2022/123280 2021-09-30 2022-09-30 一种终端感知方法及装置 WO2023051788A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202111161897 2021-09-30
CN202111161897.2 2021-09-30
CN202210248411.7 2022-03-14
CN202210248411.7A CN115915073A (zh) 2021-09-30 2022-03-14 一种终端感知方法及装置

Publications (1)

Publication Number Publication Date
WO2023051788A1 true WO2023051788A1 (zh) 2023-04-06

Family

ID=85770714

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/123280 WO2023051788A1 (zh) 2021-09-30 2022-09-30 一种终端感知方法及装置

Country Status (2)

Country Link
CN (1) CN115915073A (zh)
WO (1) WO2023051788A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117998431A (zh) * 2022-10-28 2024-05-07 维沃移动通信有限公司 信息传输方法、装置及设备

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108616839A (zh) * 2017-01-23 2018-10-02 电信科学技术研究院 选择发送资源及发送共享信息的方法、终端和外部设备
US20210021295A1 (en) * 2019-07-15 2021-01-21 Hyundai Motor Company Vehicle and controlling method of the vehicle
CN112804662A (zh) * 2021-03-18 2021-05-14 成都极米科技股份有限公司 提供无线感知业务的方法、装置、终端设备及存储介质

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108616839A (zh) * 2017-01-23 2018-10-02 电信科学技术研究院 选择发送资源及发送共享信息的方法、终端和外部设备
US20210021295A1 (en) * 2019-07-15 2021-01-21 Hyundai Motor Company Vehicle and controlling method of the vehicle
CN112804662A (zh) * 2021-03-18 2021-05-14 成都极米科技股份有限公司 提供无线感知业务的方法、装置、终端设备及存储介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
XIAOMI COMMUNICATIONS: "Wireless sensing in NR", 3GPP DRAFT; RP-212088, 3RD GENERATION PARTNERSHIP PROJECT (3GPP), MOBILE COMPETENCE CENTRE ; 650, ROUTE DES LUCIOLES ; F-06921 SOPHIA-ANTIPOLIS CEDEX ; FRANCE, vol. TSG RAN, no. Electronic Meeting; 20210913 - 20210917, 3 September 2021 (2021-09-03), Mobile Competence Centre ; 650, route des Lucioles ; F-06921 Sophia-Antipolis Cedex ; France, XP052047733 *

Also Published As

Publication number Publication date
CN115915073A (zh) 2023-04-04

Similar Documents

Publication Publication Date Title
US10536197B2 (en) Device and method for managing spectrum resources, and wireless communication device and method
WO2022011565A1 (zh) 相对定位的方法、终端、基站、通信设备及存储介质
WO2018113357A1 (zh) 处理寻呼的方法和装置
TW202137786A (zh) 側鏈路輔助協同式定位
JP2023518708A (ja) カバレージ外のサイドリンク支援協働測位における測位基準信号リソースの決定
KR102318019B1 (ko) 기기 간(d2d) 통신을 처리하는 방법 및 시스템
KR102631108B1 (ko) 무선 통신 시스템에서 QoS Flow 기반으로 브로드캐스트와 그룹캐스트를 통한 단말 대 단말 직접 통신을 지원하는 방법
KR20200114863A (ko) 무선 통신 시스템에서 일대일 통신 서비스를 제공하는 방법 및 장치
EP3117679B1 (en) Multi-hop peer-to-peer communications
JP2020504520A5 (zh)
WO2023051788A1 (zh) 一种终端感知方法及装置
TW202236868A (zh) 側鏈路中的定位資源池的管理
KR20230121909A (ko) Uwb를 이용한 장치 탐색 방법 및 장치
KR20170002255A (ko) 무선 통신 시스템에서 서비스 제공 방법 및 장치
KR20230081039A (ko) Uwb 통신을 위한 방법 및 장치
CN114731460B (zh) 一种多播会话的建立方法及网络设备
JP2023546231A (ja) サイドリンク通信方法および装置
WO2023143093A1 (zh) 侧行链路定位参考信号sl prs参数配置方法和装置
WO2022247831A1 (zh) 终端设备的通信方法、装置和系统
WO2023115354A1 (zh) 通信方法及装置
WO2019178790A1 (zh) 用于信号传输的方法和设备
WO2024022422A1 (zh) 通信感知方法和装置
WO2023130571A1 (zh) 无线通信的方法及设备
US20240012133A1 (en) Method and device for providing service using uwb communication
WO2023024957A1 (zh) 一种通信方法及装置

Legal Events

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

Ref document number: 22875169

Country of ref document: EP

Kind code of ref document: A1